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. Author manuscript; available in PMC: 2021 Aug 19.
Published in final edited form as: IEEE Int Conf Robot Autom. 2020 Sep 15;2020:10.1109/icra40945.2020.9197534. doi: 10.1109/icra40945.2020.9197534

Fig. 1.

Fig. 1.

System setup of the robotic assistant inside an MRI scanner. A volunteer was placed on the scanner table in prone position and the robot was attached to the back using straps. The 2-DOF needle driver was remotely actuated through beaded chain transmission by the actuation box placed at the end of the table.