A modular surgical robotic system for image guided percutaneous procedures

Abstract

This paper presents a robotic system for precise needle insertion under radiological guidance for surgical interventions and for delivery of therapy. It is extremely compact and is compatible with portable X-ray units and computer tomography scanners. The system presents a modular structure comprising a global positioning module, a miniature robotic module, and a radiolucent needle driver module. This system is the newest member of a growing family of modular surgical robots under development. The system may be operated stand-alone under joystick control making it readily adaptable to any operating room, or under full image guided computer control.