CT-directed robotic biopsy testbed: Motivation and concept

K. Cleary, D. Stoianovici, N. Glossop, K. Gary, S. Onda, R. Cody, D. Lindisch, A. Stanimir, D. Mazilu, A. Patriciu, V. Watson, E. Levy

Research output: Contribution to journalArticlepeer-review

7 Scopus citations


As a demonstration platform, we are developing a robotic biopsy testbed incorporating a mobile CT scanner, a small "needle driver" robot, and an optical localizer. This testbed will be used to compare robotically assisted biopsy to the current manual technique, and allow us to investigate software architectures for integrating multiple medical devices. This is a collaboration between engineers and physicians from three universities and a commercial vendor. In this paper we describe the CT-directed biopsy technique, review some other biopsy systems including passive and semi-autonomous devices, describe our testbed components, and present our software architecture. This testbed is a first step in developing the image-guided, robotically assisted, physician directed, biopsy systems of the future.

Original languageEnglish (US)
Pages (from-to)231-236
Number of pages6
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - 2001
Externally publishedYes


  • Biopsy
  • Medical robotics
  • Software architecture

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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