Abstract
The biopsy operation, especially in lungs, is essential to inspect whether some detected tumors are malignant or benign. But it requires a series of precise and careful actions which is time-consuming and the operator is easy to be exposed to over-radiation. We developed a distantly controlled robot for the CT-guided biopsy which is radiation-free. The robot system is easily and precisely controlled in distant from the radiation source and most actions of the biopsy operation can be automated. Also this robot has a specially designed needle insertion device which does less pain to the patient.
