Figure 3.

Example images from a successful robotic biopsy of a left adrenal metastasis in a 67-year-old man. (A) Volume rendered CT image demonstrating the out-of-plane approach taken by a rigid 15-gauge x 11.1 cm co-axial needle, as to avoid the lung base. (B) Screenshot from the MAXIO planning software showing fused unenhanced planning and control CT images. The dotted pink line demonstrates the planned needle path on the planning CT, and the solid green line is the distal aspect of the needle (for illustrative purposes, tip out of plane) on the control CT, with 1 mm path deviation and tip deviation.