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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. 17.

Fig. 17

(a) High resolution MR images of MINIR-II in a watermelon and SNR changes when the robot was actuated (b) High resolution MR images of MINIR-II in a gelatin slab: (i) Home configuration (ii) End segment bending (iii) End and middle segments bending (iv) End, middle and base segments bending