Fig. 1From: Developing and testing a robotic MRI/CT fusion biopsy technique using a purpose-built interventional phantomConcentrations and core adequacy of gelatin, agar, and mixed gelatin/agar samples. Concentrations (shown as white text overlaid on images) denote ratios of gelatin or agar to water, by weight ratio. Mixed gelatin/agar samples contain equal volumes of gelatin and agar solutions at specified concentrations. Biopsy samples taken on day 1 are shown below each trayBack to article page