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Fig. 1 | European Radiology Experimental

Fig. 1

From: Robotic assistance for percutaneous needle insertion in the kidney: preclinical proof on a swine animal model

Fig. 1

Skyview of the whole new robotic system (a) and the operator’s hands during the procedure (b). The device is composed of the mobiles display cart (a), navigation cart (b) and robot cart (c). The patient reference (d) is attached to the skin of the animal, the robotic arm bears a needle guide (e) in which the needle is inserted by the radiologist. The needle guide is automatically positioned at the entry skin point (f) for needle (g) insertion. The needle is manually inserted inside of the needle guide and pushed until the end position. The needle is then released from the needle guide and the robot arm is manually moved away from the puncture site

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