Background Minimally invasive biopsies, drainages and therapies in the soft tissue organs
of the thorax and abdomen are typically performed through a needle, which is inserted …

Numerous research groups in the past have designed and developed robotic needle guide
systems that improve the targeting accuracy and precision by either providing a physical …

Percutaneous needle insertion is amongst the most prevalent clinical procedures. The
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …

This paper describes the design and evaluation of the second generation of a robotic system
called the light puncture robot for thoracic and abdominopelvic interventional radiology …

Background Image‐guided robots are manipulators that operate based on medical images.
Perhaps the most common class of image‐guided robots are robots for needle interventions …

In the last decades we have witnessed the emergence of robotic surgery. The concept of
“Medical Robotics” took time to become feasible and accepted by the medical community …

Needle tip dexterity is advantageous for transthoracic lung biopsies, which are typically
performed with rigid, straight biopsy needles. By providing intraoperative compensation for …

Computed Tomography (CT) image guidance enables accurate and safe minimally invasive
treatment of diseases, including cancer and chronic pain, with needle-like tools via a …

Background Many robotic needle‐biopsy systems have been developed to enhance the
accuracy of needle‐biopsy intervention. These systems can reduce the intervention time and …

This paper presents the design, modeling, force correction strategies and experimental
validation of a force sensor designed for robotized medical applications. The proposed …