A Modular Surgical Robotic System For Image Guided Percutaneous Procedures Lecture Notes In Computer Science 1998 Vol 1496 pp404-410

This paper presents a robotic system for precise needle insertion under radiological guidance for surgical interventions and for delivery of therapy. It is extremely compact and is compatible with portable X-ray units and computer tomography scanners. The system presents a modular structure comprising a global positioning module, a miniature robotic module, and a radiolucent needle driver module. This system is the newest member of a growing family of modular surgical robots under development. The system may be operated stand-alone under joystick control making it readily adaptable to any operating room, or under full image guided computer control.

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