[Submitted on 21 Oct 2026]
Title:Integrated Respiratory Sensing and Gated Control for Autonomous Needle Insertion Via CT Bore Robotic Arm
View a PDF of the paper titled Integrated Respiratory Sensing and Gated Control for Autonomous Needle Insertion Via CT Bore Robotic Arm, by Emma Huang and 12 other authors
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Abstract:Currently, CT-guided lung biopsy is a highly manual procedure requiring patient breath-holding, iterative manual needle insertions, and repeated CT confirmation scans to accurately target a tumor. Automating this process within the CT bore--without relying on manual needle placement or patient breath-holding--has the potential to reduce procedure time, patient discomfort, and radiation exposure. In this work, we present an integrated sensing and control system capable of performing a gated needle insertion within the CT bore. The experiments demonstrate the system's ability to track and predict patient breath cycles, perform autonomous respiratory-gated needle insertion, and detect breath cycle anomalies.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2610.30452 [cs.RO]
(or arXiv:2610.30452v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.30452
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Emma Huang [view email] [v1] Wed, 21 Oct 2026 21:08:43 UTC (6,301 KB)
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