Figure 2 | Scientific Reports

Figure 2

From: Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model

Figure 2

Components of the robotic device. The device is composed of a mobile robot, navigation and display carts. Needle guide is attached to the robot arm and provides mechanical guidance for rigid straight needles. Patient reference (with 4 embedded radiopaque markers) is adhesively attached on to the patient’s skin and enables to monitor respiratory motion.

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