This paper describes Robopsy, an economical, patient-mounted, telerobotic, needle
guidance and insertion system, that enables faster, more accurate targeting during CT …

This paper describes the design and evaluation of the second generation of a robotic system
called the light puncture robot for thoracic and abdominopelvic interventional radiology …

Computed tomography (CT) plays an important role in interventional procedures such as
biopsy, abscess drainage, tumor ablation, catheter placement, and orthopedic …

Lung cancer is the most common cause of cancer-related death, and early detection can
reduce the mortality rate. Patients with lung nodules greater than 10 mm usually undergo a …

Purpose Currently, lung brachytherapy in clinical setting is a complex procedure. Operation
accuracy depends on accurate positioning of the template; however, it is difficult to …

Computed Tomography (CT) image guidance enables accurate and safe minimally invasive
treatment of diseases, including cancer and chronic pain, with needle-like tools via a …

Accurately targeting multi-adjacent points (MAPs) during image-guided percutaneous
procedures is challenging due to needle deflection and misalignment. The associated errors …

The focus of this paper is on the design and evaluation of a robust drive mechanism
intended to robotically steer a thermal ablation electrode or similar percutaneous instrument …

An MR-compatible biopsy needle stylet is instrumented with optical fibers that provide
information about contact conditions between the needle tip and organs or hard tissues such …

This paper presents a 6-DOF hybrid robot for percutaneous needle intervention procedures.
The new robot combines the advantages of both serial robots and parallel robots, featuring …