2019/10/07 by Dimitri A. Schreiber, Hanpeng Jiang, Schreiber, Dimitri A. +14
Engineering · Medicine · #Cardiac and Coronary Surgery Techniques #FOS: Computer and information sciences #Robotics (cs.RO) #Soft Robotics and Applications #Surgical Simulation and Training #Teleoperation and Haptic Systems
paper · pdf · doi:10.48550/arxiv.1910.03063
openalex publication_date 2019/10/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Interventional Radiology (IR) enables earlier diagnosis and less invasive\ntreatment of numerous ailments. Here we present our ongoing development of\nCRANE: CT RoboticArm and Needle Emplacer, a robotic needle positioning system\nfor CT guided procedures. The robot has 8 active Degrees-of-Freedom (DoF) and a\nnovel infinite travel needle insertion mechanism. The control system is\ndistributed using the RobotOperating System (ROS) across a low latency network\nthat interconnects a real-time low-jitter controller, with a desktop computer\nwhich hosts the User Interface (UI) and high-level control. This platform can\nserve to evaluate limitations in the current procedures and to prototype\npotential solutions to these challenges in-situ.\n