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. Author manuscript; available in PMC: 2022 Feb 18.
Published in final edited form as: IEEE ASME Trans Mechatron. 2021 Mar 9;27(1):407–417. doi: 10.1109/tmech.2021.3064954

Fig. 8.

Fig. 8.

Experimental setup inside Siemens 1.5T Espree MRI scanner for the MRI-guided navigational test, with deflectable stylet assembly and prostate phantom depicted in the MRI.