English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

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. This system is mounted to a fully active motion stage superior to the patient's head and teleoperated by a radiologist. Unlike other similar robots, this robot's fully serial-link approach uses a unique combination of belt and cable drives for high-transparency and minimal-backlash, allowing for an expansive working area and numerous approach angles to targets, all while maintaining a small in-bore cross-section of less than 16cm<sup>2</sup>. Simulations verified the system's expansive collision free work-space and ability to hit targets across the entire chest, as required for lung cancer biopsy. Targeting error was on average &lt;; 1mm on a teleoperated accuracy task, illustrating the system's sufficient accuracy to perform biopsy procedures. While this system was developed for lung biopsies, it can be easily modified for other CT-guided needle based procedures. Additionally, this system is open-hardware.

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners