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. Author manuscript; available in PMC: 2013 Jun 7.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Apr 3;59(7):1902–1911. doi: 10.1109/TBME.2012.2192118

Fig. 1.

Fig. 1

Photograph of the needle artifact study experimental setup, showing the APT transrectal prostate interventional robot with a 14G biopsy gun inserted into custom made gel phantom in a 3T Philips Achieva MRI scanner.