(a) InnoMotion by Synthes Inc.

(b) Niobe by Stereotaxis

(c) Sensei X by Hansen Medical

Figure 4: Real-time image guided percutaneous (a) and catheter robots ((b) and (c)). The InnoMotion image is ©2012 Synthes Inc. The Niobe image is ©2012 Stereotaxis. The Sensei X image is ©2012 Hansen Medical.