Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease

<div>Displacement error of transducer during stepwise scanning: (a) ten successive forward steps followed by ten successive backward steps along <i>Z</i>-axis with 3-mm step increments without backlash compensation, (b) while ten successive CW steps followed by ten successive CCW steps along <i>Φ</i>-axis with 8.6° step increments without backlash compensation. By contrast, (c, d) same motion as (a, b), respectively, but with backlash compensation.</div>

Applied Bionics and Biomechanics

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Figure 11

Figure 11: Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 

Figure 11 | Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 