CT-directed robotic biopsy testbed: Motivation and concept

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 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)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
EditorsS.K. Mun
Number of pages6
StatePublished - 2001
Externally publishedYes
EventMedical Imaging 2001: Visualization, Display, and Image-Guided Procedures - San Diego, CA, United States
Duration: Feb 18 2001Feb 20 2001


OtherMedical Imaging 2001: Visualization, Display, and Image-Guided Procedures
Country/TerritoryUnited States
CitySan Diego, CA


  • Biopsy
  • Medical robotics
  • Software architecture

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Condensed Matter Physics


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