In this paper, the application of a robotic arm for needle-based medical interventions under a preoperative CT-scan is investigated. The proposed setup consists of a robot manipulator with a customized needle guide mounted on its end-effector. A workflow that considers all the issues related to the registration and needle positioning algorithms is proposed. The so-called constrained admittance control approach is proposed to provide semi-autonomous positioning of the needle guide on the target path based on CT-scan images. The proposed algorithms are verified experimentally through phantom studies.
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