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

<div>Principle of converting the linear oscillating motions of the pistons into rotational motion of the geared axle through sequential pressure application, illustrating five sequential states labeled as (a) through (e).</div>

Applied Bionics and Biomechanics

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Figure 4

Figure 4: Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 

Figure 4 | Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 