Table I.

Technical specifications of the SACRTD.

X-ray source:	GE Seifert X-ray tube Isovolt titan 225 M2
Model:	NDI 225M metal ceramic dual focal spot
Focal spot size:	0.4 mm/3 mm
Power:	640 W/3000 W
Inherent filtration	0.8 mm Be
Additional filtration:	0.5 mm Cu
Generator:	GE IsoVolt Titan 225
Target angle:	20°
Robot manufacturer:	Adept Inc., Livermore, CA, USA
Model:	Adept Viper s650
Overall arm length:	565 mm (270 mm first arm and 295 second arm)
Motion range:	J1 ± 170°, J2 = −190°, +45, J3 = −29°, +256°, J4 = ±190°, J5 = ±120°, J6 = ±360°
Maximum pay load:	5 kg
Positional repeatability:	±0.02 mm in each of X, Y and Z direction,
Drive motor and break:	AC servo motors for all joints and breaks for joint J2 and J6
Controller:	Adept smart controller and Adept T1 pendent
Flat-panel x-ray detector:	Perkin-Elmer, Wiesbaden, Germany
Model:	XRD 0820 CN3 digital x-ray detector
Detector size:	20.48 cm × 20.48 cm
Pixel matrix format:	1024 × 1024
Pixel pitch:	0.2 mm
Scintillator:	CsI (T1)
Maximum frame rate:	7 fps