Robotically assisted, image guided planning and execution of percutaneous therapies
نویسنده
چکیده
Short description: We developed a unified framework for percutaneous therapies utilizing localization frames and implemented an application using CT imaging and a robot. Description: The planning and execution of percutaneous therapies are very diverse. We investigated those that make use of a localization frame. When using a so called stereotacic frame, a base is rigidly attached to the patient that provides the coordinate system (Figure 1). Execution can be done using robots when the localization frame is attached rigidly to the robot itself.
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