2019
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners
IROS 2019poster
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DoF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours quickly; however, needle insertion is still performed by hand. Th…