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. Author manuscript; available in PMC: 2018 Dec 1.
Published in final edited form as: IEEE Trans Robot. 2017 Jul 27;33(6):1386–1397. doi: 10.1109/TRO.2017.2719035

Fig. 16.

Fig. 16

(a) Schematic of the MRI compatibility experiment in gelatin slab and cantaloupe (b) Detailed schematic of the laser setup to provide SMA spring displacement feedback for control (c) Actual photo of the experimental setup in the MRI room