title: Development of a robotic FD-CT-guided navigation system for needle placement-preliminary accuracy tests.
abstract: BACKGROUND
  A needle placement system using a serial robot arm for manipulation of biopsy and/or treatment needles is introduced. A method for fast calibration of the robot and the preliminary accuracy tests of the robotic system are presented.
  
  
  METHODS
  The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction mounted on a mobile platform, a robot-driven angiographic C-arm system and a navigation system.
  
  
  RESULTS
  Calibration of the robot with the navigation system has a residual error of 0.23 mm (rms) with a standard deviation of ± 0.1 mm. Needle targeting accuracy with different trajectories was 1.2 mm (rms) with a standard deviation of ± 0.4 mm.
  
  
  CONCLUSIONS
  Robot absolute positioning accuracy was reduced to the navigation camera accuracy. The approach includes control strategies that may be very useful for interventional applications.
authors.affiliation: Institute of Medical Physics, University of Erlangen-Nuremberg, Erlangen, Germany. saulotov@yahoo.com.mx
authors.forename: Saúl
authors.initials: S
authors.lastname: Tovar-Arriaga
authors.forename: Ralf
authors.initials: R
authors.lastname: Tita
authors.forename: Jesús Carlos
authors.initials: JC
authors.lastname: Pedraza-Ortega
authors.forename: Efren
authors.initials: E
authors.lastname: Gorrostieta
authors.forename: Willi A
authors.initials: WA
authors.lastname: Kalender
mesh_terms: D000792:Angiography / Q000295:instrumentation* / Q000379:methods; D001706:Biopsy / Q000295:instrumentation* / Q000379:methods; D001707:Biopsy, Needle / Q000295:instrumentation* / Q000379:methods; D002138:Calibration; D003196:Computer Graphics; D004867:Equipment Design; D006801:Humans; D007091:Image Processing, Computer-Assisted; D009339:Needles; D015203:Reproducibility of Results; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014057:Tomography, X-Ray Computed / Q000379:methods*