CT and MR Compatible Light Puncture Robot: Architectural Design and First Experiments

  • Elise Taillant
  • Juan-Carlos Avila-Vilchis
  • Christophe Allegrini
  • Ivan Bricault
  • Philippe Cinquin
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3217)


This paper presents a new robotic architecture designed to perform interventional CT/MR procedures, particularly punctures. Such procedures are very popular nowadays for diagnostic or therapeutic purposes. Innovations concerning the robotic architecture, materials and energy sources are exposed. We also introduce the control loop we use to check the movements and the positioning of the robot, including a new method to localize the robot thanks to the images coming from the imaging devices (CT or MRI). Finally, the results of the first experiments are presented.


Pneumatic Actuator Computer Assist Surgery Transrectal Prostate Biopsy Robot Architecture Somatom Volume Zoom 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Elise Taillant
    • 1
    • 2
  • Juan-Carlos Avila-Vilchis
    • 1
    • 3
  • Christophe Allegrini
    • 1
  • Ivan Bricault
    • 1
    • 4
  • Philippe Cinquin
    • 1
  1. 1.Laboratoire TIMC-IMAGEquipe GMCAOLa Tronche CEDEXFrance
  2. 2.PRAXIM Medivision SALa TroncheFrance
  3. 3.Universidad Autónoma del Estado de MéxicoTolucaMexico
  4. 4.Service Central d’Imagerie Médicale CHU GrenobleLa TroncheFrance

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