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. Author manuscript; available in PMC: 2013 Jan 14.
Published in final edited form as: IEEE ASME Trans Mechatron. 2011 Oct 17;18(1):273–284. doi: 10.1109/TMECH.2011.2163523

Fig. 9.

Fig. 9

Representative T2 phantom images from the SNR tests showing (from top to bottom) 1. Baseline; 2,3: Off; 4,5: Disabled; 6,7: Roll; 8,9: Pitch; and 10,11: Both. Left images are for the case of the unshielded robot. Right images are for the case of the shielded robot. T2 MRI scan parameters are given in Table I. Eleven different robot test configurations (labeled 1–11) are given in Table II. SNR values are given in parenthesis for each scan.