LPR: A Light Puncture Robot for CT and MRI Interventions

International audienceThis paper presents a new robotic architecture designed to perform abdominal and thoracic punctures under CT (Computer Tomography) or MRI (Magnetic Resonance Imaging) guidance for diagnostic or therapeutic purposes. Innovations concerning the robotic architecture, materials and energy sources are described. Segmentation and registration algorithms have been developed to localize the robot on images coming from CT or MRI devices, and a specific control loop is used to check the movements and the positioning of the robot. The results of the initial experiments that were made under CT and MRI environments are presented