Design and Development of a Mobile Robotic CT System for Intraoperative Use

This paper presents the design of a mobile robotic computed tomography (CT) system for intraoperative use. In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of a gantry and a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360{^\circ } rotation. The robotic body is capable of one vertical and two isocentric rotational motions used to position the gantry. Unlike existing C-arms and mobile CT scanners, each isocentric motion is achieved using a single-DOF mechanism. With these robotic motions, the mobile robotic CT system can be used intraoperatively in both CT and fluoroscopic imaging modes. The mobile platform enables installation and removal of the device from a surgical bed. The performance of the proposed system was investigated using a laser tracking system. Experimental results show that no significant vibrations or position deviations of the X-ray modules were observed during the CT scanning motion.