A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery

@article{Kwoh1988ARW,
  title={A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery},
  author={Yik S. Kwoh and Juanru Hou and E. Jonckheere and Saboktakin Hayati},
  journal={IEEE Transactions on Biomedical Engineering},
  year={1988},
  volume={35},
  pages={153-160}
}
The use of a Unimation Puma 200 robot, properly interfaced with a computerized tomographic (CT) scanner and with a probe guide mounted at its end effector for CT-guided brain tumor biopsis is discussed. Once the target is identified on the CT picture, a simple command allows the robot to move to a position such that the end-effector probe guide points toward the target. This results in a procedure faster than one using a manually adjustable frame. Probably the most important advantage, as is… 

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