Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions J. Med. Devices. 2015;9(1):011008-011008-11. doi:10.1115/1.4028944 Figure Legend: (a) Prototype on a scanner table with a model patient and torso coil. (b) End-view from patient’s feet, with patient and manipulator in procedure position for transperineal access. (c) Axial localizer image of the pelvis, with prostate outlined. (d) Fast spin echo image (ETL 14, TE 96.9, TR 4205) of the prostate of a canine taken from an animal study using the manipulator to guide a needle to targets in the prostate. Workspace of interest in (a) and (b) outlined as a square in the XY plane.