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. Author manuscript; available in PMC: 2012 Mar 12.
Published in final edited form as: Med Image Comput Comput Assist Interv. 2007;10(Pt 2):59–67. doi: 10.1007/978-3-540-75759-7_8

Fig. 1.

Fig. 1

Left: Photograph of the MRI guided transrectal manipulator with the endorectal imaging coil placed in a prostate phantom. Biopsy gun, surface imaging coil and mounting arm are also visible. Right: Closeup photograph of the manipulator. Turning the knobs on the left rotate the endorectal sheath with hinge and needle channel and change the angle of the steerable needle channel respectively. An endorectal, single loop imaging coil is integrated into the sheath.