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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. 10.

Fig. 10

(First row) The robot prototype configuration in a 3-Tesla MRI scanner with a feature-rich PIQT phantom for the evaluation studies. (Second row) Representative T1-weighted fast field echo images of the cylindrical cross section for each of four configurations. (Third row) Coresponding T1-weighted fast field echo images of the arch/pin cross sections.