Funding for this research was provided by:
Deutsche Forschungsgemeinschaft (YU215/3-1645423)
China Scholarship Council (Yi Chen)
Received: 11 August 2018
Accepted: 11 May 2019
First Online: 10 June 2019
: X.Y. and Y.C. are co-authors of a patent that describes the mechanical design of the MRI-guided robotic arm (EP3315064). The other authors declare no competing interests.