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

<div>Five different array patterns formed in BSA phantom at plane perpendicular to HIFU beam: (a) 3 × 3 array with 2-mm spacing, (b) 3 × 3 array with 3-mm spacing, (c) 3 × 3 array with 1.5-mm spacing, (d) 5 × 5 array with 2-mm spacing, and (e) 6 × 6 array with 1.5-mm spacing.</div>

Applied Bionics and Biomechanics

fig13

Figure 13

Figure 13: Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 

Figure 13 | Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 