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cs.RO2024
CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore
Dimitrious Schreiber, Zhaowei Yu, Taylor Henderson +3
Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutan…
cs.RO2019
CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures
Dimitri A. Schreiber, Hanpeng Jiang, Guosong Li +5
Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle…
cs.RO2019
ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments
Dimitri A. Schreiber, Florian Richter, Andrew Bilan +5
This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archi…