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[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 View PDF HTML (experimental) 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) Full-text links: Access Paper: 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 View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs References & Citations SciX Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)