Table 1.

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:	565mm (270 mm first arm and 295 second arm)
Motion Range:	J1±1700, J2=−1900, +45, J3=−290,+2560,J4=±1900, J5=±1200, J6=±3600
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 andJ6
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 (Tl)
Maximum frame rate:	7 fps