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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. 6.

Fig. 6

(Left) MRI robot controller enclosed inside a carry on travel case. (Right) Piezoelectric motor controller. Red box shows the digital control section with microcontroller for closed loop control and FPGA for waveform synthesis. Blue box shows the high speed parallel DACs and preamplifier circuits. Yellow box shows the high power filtered linear amplifier stage.