Fig. 6: Biopsy introducer robot with MRI-compatible servomotor places introducer sheath at desired target location in ex vivo tissue.

Photographs of introducer robot prior to introducer insertion (a), at target insertion depth (b), and during cutting stylet removal (c) are shown. The corresponding simultaneous MR images obtained during robot operation are shown in (d), (e), and (f), respectively. g Sagittal MR image of tissue sample showing target lesion prior to biopsy introducer placement. h Sagittal MR image following introducer sheath placement showing that desired placement position of introducer sheath was achieved.