Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: A Prototype Manipulator for Magnetic Resonance-Guided Interventions Inside Standard Cylindrical Magnetic Resonance Imaging Scanners J Biomech Eng. 2005;127(6):972-980. doi:10.1115/1.2049339 Figure Legend: Photographs of the system. (a) The major hardware components: the manipulator, the IOE host PC, the real-time embedded PC, the motor control electronics and the wire interface boxes (which reside inside the Faraday cage). (b) Side view photograph of the manipulator with the arm and the XYZ positioner anchored on the base. (c) Close-up of the end-effector with a biopsy needle attached on it. (d) Close-up of the first elbow showing the “through-joint transmission train,” based on double universal joints, and the bevel gears for the actuation of the joint.