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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 5.

Figure 5

Test of robot registration in a non-homogeneous (bovine muscle) environment and test of robot registration using MRS imaging to define the target in a gel phantom with MRS-imageable metabolite: (a) The target location is indicated by the arrow. (b) The robot’s needle has been inserted (orientated into the plane of the page) to the target location. (c) The seed has been dropped and the needle retracted. (d) The target as defined by the MRS analysis. (e) Robot needle is inserted to the location defined by the choline. The seed is laterally located 2 mm from the target location. The center of the seed is one slice in front of the slice shown. With a slice thickness of 2 mm, the seed was placed within 3 mm of the target.