Table 1.

Test configurations with and without the robot.

Test with	Description
No Robot (N)	Mockup at MR isocenter with MR coils in place, manipulator and Interface controller outside of the MR shield and unpowered.
Robot Active (A)	Mockup and coils unchanged from N, manipulator in operative position about the MR isocenter, and the Interface controller outside the 5-Gauss line. All system components connected, powered, robot in ready to move state but at rest.
Robot in Motion (M)	Same as A-test, but with the robot in continuous motion.

Note: We found that it is preferable to perform the tests in the reversed order, because it is easier to remove rather than placing components without changing the mockup and coils position.