Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous
  Manipulation within Imaging Bores   Physicians perform minimally invasive percutaneous procedures under Computed
Tomography (CT) image guidance both for the diagnosis and treatment of numerous
diseases. For these procedures performed within Computed Tomography Scanners,
robots can enable physicians to more accurately target sub-dermal lesions while
increasing safety. However, existing robots for this application have limited
dexterity, workspace, or accuracy. This paper describes the design,
manufacture, and performance of a highly dexterous, low-profile, 8+2
Degree-ofFreedom (DoF) robotic arm for CT guided percutaneous needle biopsy. In
this article, we propose CRANE: CT Robot and Needle Emplacer. The design
focuses on system dexterity with high accuracy: extending physicians' ability
to manipulate and insert needles within the scanner bore while providing the
high accuracy possible with a robot. We also propose and validate a system
architecture and control scheme for low profile and highly accurate
image-guided robotics, that meets the clinical requirements for target accuracy
during an in-situ evaluation. The accuracy is additionally evaluated through a
trajectory tracking evaluation resulting in <0.2mm and <0.71degree tracking
error. Finally, we present a novel needle driving and grasping mechanism with
controlling electronics that provides simple manufacturing, sterilization, and
adaptability to accommodate different sizes and types of needles.

13
The categories of this paper are: quant-ph
4
The categories of this paper are: cond-mat
35
The categories of this paper are: mtrl-th
0
The categories of this paper are: hep-ph
11
The categories of this paper are: hep-lat
15
The categories of this paper are: nucl-ex
24
The categories of this paper are: dg-ga
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
22
The categories of this paper are: chao-dyn
16
The categories of this paper are: stat
18
The categories of this paper are: econ
25
The categories of this paper are: patt-sol
17
The categories of this paper are: q-fin
14
The categories of this paper are: math-ph
2
The categories of this paper are: math