02223nas a2200241   4500008004100000020001400041245009600055210006900151260000900220300001200229490000600241520140600247100002301653700002601676700002401702700001901726700002001745700002301765700001801788700002201806700002101828856013201849       2002                        eng d  a1076-633200aSystem for robotically assisted prostate biopsy and therapy with intraoperative CT guidance0 aSystem for robotically assisted prostate biopsy and therapy with  c2002  a60 - 740 v93 aRationale and Objectives. The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles into the prostate with intraoperative image guidance inside the gantry of a computed tomographic (CT) scanner. Materials and Methods. The coach-mounted system consists of a seven-degrees-of-freedom, passive mounting arm; a remote-center-of-motion robot; and a motorized, radiolucent needle-insertion device to deliver 17-18-gauge implant and biopsy needles into the prostate with the transperineal route. The robot is registered to the image space with a stereotactic adapter. The surgeon plans and controls the intervention in the CT scanner room with a desktop computer that receives DICOM images from the CT scanner. The complete system fits in a carry-on suitcase, does not need calibration, and does not utilize vendor-specific features of the CT scanner. Results. In open air, the average accuracy was better than 1 mm at a 5-8-cm depth. In various phantoms, the average orientation error was 1.3°, and the average distance between the needle tip and the target was 2 mm. Conclusion. Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications.1 aFichtinger, Gábor1 aDeWeese, Theodore, L.1 aPatriciu, Alexandru1 aTanacs, Attila1 aMazilu, Dumitru1 aAnderson, James, H1 aMasamune, Ken1 aTaylor, Russel, H1 aStoianovici, Dan  uhttps://inf.u-szeged.hu/publication/system-for-robotically-assisted-prostate-biopsy-and-therapy-with-intraoperative-ct-guidance