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. Author manuscript; available in PMC: 2016 May 1.
Published in final edited form as: IEEE Int Conf Robot Autom. 2015 May;2015:2263–2243. doi: 10.1109/ICRA.2015.7139495

Fig. 3.

Fig. 3

The PRBM of the catheter and the MRI’s magnetic field is different configurations. In (a) and (b), the catheter is actuation singular. In (c) it is joint-space singular and in (d) it is task-space singular.