CT-directed robotic biopsy testbed: user interface and coordinate transformations

CT-guided percutaneous biopsy is a widely accepted practice in the medical field. Because efficient and safe CT-guided percutaneous interventions require accurate needle placement, there are limitations to the accuracy obtainable using free-hand techniques, particularly for small or deeply situated target areas. In addition, CT-directed percutaneous biopsy can be tedious and time consuming, since frequent re-imaging may be required. As a …