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. Author manuscript; available in PMC: 2020 Jun 21.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2018 Sep 1;14(1):105–115. doi: 10.1007/s11548-018-1854-z

Fig. 1.

Fig. 1.

(A) Schematic diagram of MR-conditional ICH robotic system in a 3T MRI scanner; (B) The ICH concentric tube robot with the custom designed aiming device; (C) Schematic diagram when the concentric tube inside the hematoma.