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

<div>Zigzag raster scanning employed to generate a 2D array of HIFU focal spots, as illustrated by a 3 × 3 array example. The numbers indicate the scanning order, and the red arrow lines depict the trajectories of transducer motion. Stepwise scanning facilitates the fusion of HIFU focal spots into larger thermal lesions.</div>

Applied Bionics and Biomechanics

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Figure 9

Figure 9: Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 

Figure 9 | Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease 