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. Author manuscript; available in PMC: 2011 Jun 13.
Published in final edited form as: IEEE Int Conf Robot Autom. 2008 Jun 13;2008:2489–2495. doi: 10.1109/ROBOT.2008.4543587

Fig. 5.

Fig. 5

Robotic needle placement mechanism with two active DOF and one passive, encoded needle insertion. Actuation is by custom, MR compatible pneumatic cylinder and position sensing by optical encoders. Dynamic global registration is achieved with the attached tracking fiducial.