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. Author manuscript; available in PMC: 2014 Aug 12.
Published in final edited form as: Rep U S. 2013;2013:4092–4098. doi: 10.1109/IROS.2013.6696942

Fig. 10.

Fig. 10

MRI-compatible teleoperation system setup with a Siemens 3 Tesla MRI scanner. A clinical MRI display resides besides the scanner to visualize the teleoperated needle placement procedure.