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. Author manuscript; available in PMC: 2015 Sep 23.
Published in final edited form as: IEEE ASME Trans Mechatron. 2014 Nov 5;20(4):1920–1932. doi: 10.1109/TMECH.2014.2359413

Fig. 1.

Fig. 1

(Left) A radiologist reaching the perineum of the patient inside closed-bore MRI while unable to see the navigation software, and (right) a mechanical grid template to guide manual needle placement. Figures are adapted from [2].