. 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

TABLE II.

Eleven robot test configurations for SNR test.

LABEL	TEST CONDITION
1. Baseline:	Image the phantom with no robot or controller present in the scanner room.
2. Off-US:	Image the phantom after placing the robot next to the phantom and the transrectal probe on top of the phantom. The phantom and sheath position approximate prostate and sheath position in a clinical procedure. The controller is located in the scanner room, connected, but powered off.
3. Off-SH:	As per (2), with additional shielding on robot.
4. Disab-US:	Image the phantom after powering on the controller, but disabling the motor amplifiers.
5. Disab-SH:	As per (4), with additional shielding on the robot.
6. Roll-US:	Image the phantom with the roll motor amplifier enabled, but the motor not moving.
7. Roll-SH:	As per (6), with additional shielding on the robot.
8. Pitch-US:	Image the phantom with the pitch (translation) motor amplifier enabled.
9. Pitch-SH:	As per (8), with additional shielding on the robot.
10. Both-US:	Image the phantom with both roll and pitch (translation) motor amplifiers enabled.
11. Both-SH:	As per (10), with additional shielding on robot.