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. Author manuscript; available in PMC: 2012 Mar 13.
Published in final edited form as: IEEE Int Conf Robot Autom. 2011 Aug 15;2011:4834–4839. doi: 10.1109/ICRA.2011.5980309

Fig. 5.

Fig. 5

MRI needle void locations for titanium needle (blue) and glass rod (red) and corresponding least-square best fit lines (solid black lines). Left plot shows coronal view with phase-encoding direction along the Y-axis, and the B0-field along the X-axis. Right plot shows sagittal view with frequency encoding direction along the Y-axis and the B0-field along the X-axis.