A new robotic system for CT-guided percutaneous procedures with haptic feedback

In this paper, we present a new design for a teleoperated robotic percutaneous intervention with computed tomography guidance. Percutaneous needle insertions are widely used in interventional radiology for radiofrequency ablations or biopsy procedures. Needle insertion robots guided by CT images should improve accuracy and reduce X-ray exposure of the radiologist. We propose a new design with force feedback and CT guidance. A prototype is presented, together with a complete workflow of the system. (C) 2004 CARS and Elsevier B.V. All rights reserved.