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. Author manuscript; available in PMC: 2011 Jun 3.
Published in final edited form as: Radiology. 2002 Oct;225(1):277–282. doi: 10.1148/radiol.2251011133

Figure 1.

Figure 1

A, The robot. The black frame (arrow) is attached to the bed of the CT scanner. The patient slides his or her legs through the frame. The robotic arm (arrowhead) holds the needle. One joystick controls orientation, and the other controls needle advancement. These commands are separated for safety. The computer workstation is located in the CT control room. B, Close-up view of the sterilizable radiolucent needle holder (arrow) of the robot. The holder creates no scatter artifact on the image. The needle is advanced by a rolling mechanism that propels the needle in forward and reverse directions.