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

<div>Comparison between nominal and actual positions of the HIFU focal spots for three array patterns created in the BSA phantom: (a) the overlay of the nominal and actual positions and (b) the offset between the nominal and actual positions. Error bars in each plot represent the measured positional accuracies of the transducer movement.</div>

Applied Bionics and Biomechanics

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Figure 14

Figure 14: Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 

Figure 14 | Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 