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. Author manuscript; available in PMC: 2017 Jun 23.
Published in final edited form as: Cardiovasc Intervent Radiol. 2014 Nov 7;38(5):1252–1260. doi: 10.1007/s00270-014-1016-9

Figure 1. Robotic Positioning System.

Figure 1

Overview of the Robotic Positioning System used for performing the experiments.

A: Articulated arm capable of motion along three separate axes.

B: End effector of the robotic arm with the needle guide. Capable of motion around two axes for orienting the needle towards the target.

C: Monitor showing view of the onboard software used for planning needle placement and operating the robot.

D: Cart enclosing computer, control equipment and the robotic arm.

E: Docking plate used to accurately position the cart adjacent to the CT table and register the robot with the CT imaging workspace.