Fig. 12.

Phantom experiment demonstrates hemorrhage clot evacuation with the proposed MR-conditional ICH robotic system. The dark point on each figure indicates the aspiration tube tip position. The height of soft gelatin is labeled with the white lines. Evacuation is performed at t=6.8s; from 111.3s to 155.1s, surgeon monitors the intra-operative surgical outcome and hence the height is constant; the inner tube breaks the gel phantom from 155.1s to 159.6s; the aspiration is continued to the end of the experiment.