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. Author manuscript; available in PMC: 2020 May 12.
Published in final edited form as: Ann Biomed Eng. 2017 Nov 17;46(3):475–487. doi: 10.1007/s10439-017-1960-z

Figure 1.

Figure 1.

(a) Block diagram overview of robotic system and its setup in MRI and control rooms. (b) CAD assembly of the 4DOF SpinoBot. (c) The assembled SpinoBot. (d) Close-up of the actuated rotation stage. (e) Close-up of needle guide. The following components are visible in (b) and (c): (1) coil support, (2) x-axis actuator, (3) y-axis actuator; (2) and (3) are connected to (4) translating stage. (d) and (e) show: (5,6) angulation actuators, which are connected to (7) angulation stage. (8) theta (θ) angulation unit allowing rotation in 2 DOF (See Fig. 2 for details), (9) phi (φ) angulation unit. Embedded in (9) is (10) a needle insertion guide containing (11) gadolinium image contrast agent (yellow fluid) for needle guide visualization.