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. Author manuscript; available in PMC: 2017 Dec 12.
Published in final edited form as: Proc Int Conf Adv Robot. 2015 Sep 10;2015:130–136. doi: 10.1109/ICAR.2015.7251445

Fig. 2.

Fig. 2

The needle driver module: (a) The biopsy gun is held in a casing that slides and clicks onto the module. (b) 3 non-magnetic ultrasonic motors are used to provide axial rotation, translation and triggering functions without disrupting MRI compatibility.