Positioning Accuracy and Precision of a Three-Degrees-of-Freedom Manipulator Guided by Tilting-Collimator Scintillation Camera

In our previous studies we have considered a possible use of a manipulator for biomedical applications guided by the so-called tilting-collimator (TC) scintillation gamma-ray camera. The imaged gamma-ray emitting object is localized exploiting our patented method to determine the camera-to-object distance using a TC camera (patent No RM 2006 A 000216, UIBM Roma). Thus the three coordinates of the object are obtained without moving either the camera or the object.