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. Author manuscript; available in PMC: 2011 Jun 6.
Published in final edited form as: Minim Invasive Ther Allied Technol. 2010 Aug;19(4):189–202. doi: 10.3109/13645706.2010.497000

Figure 4.

Figure 4

Robot registration in the MR environment using a gel phantom; (a) the gold marker seed (left) to be implanted in the test media is 4 mm in length. It will show a stronger signal on the CBCT than the steel dummy seed (right); (b) the target and robot-placed seeds are indicated by the arrows in the center of the gel. The needle track is visible: the target track enters from the left and the dummy seed from the right; (c) gel phantom with ceramic target seed (on right, white) and robot-placed steel seed (left).