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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. 6.

Fig. 6

Diagram representing controller connection to a single representative actuator. All low-level control takes place inside of the scanner room; embedded computer and valves are in an enclosure placed in the scanner room at the foot of the bed and robot actuators and position sensors are inside of the scanner bore. The controller communicates with high-level planning software through a fiber optic connection.