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Javad Rahimian, Amir Rombod Rahimian: Systems and methods for frameless image-guided biopsy and therapeutic intervention. Voxel Rad, Knobbe Martens Olson & Bear, June 24, 2014: US08758263 (8 worldwide citation)

A system and a method of performing a frameless image-guided biopsy uses imaging, a six-dimensional robotic couch system, a laser guidance system, an optical distance indicator, and a needle control apparatus. A planning CT scan is made of the patient with stereotactic fiduciary markers to localize ...


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Javad Rahimian, Amir Rombod Rahimian: Systems and methods for frameless image-guided biopsy and therapeutic intervention. Voxel Rad, Knobbe Martens Olson & Bear, May 16, 2017: US09649168 (1 worldwide citation)

A system and a method of performing a frameless image-guided biopsy uses imaging, a six-dimensional robotic couch system, a laser guidance system, an optical distance indicator, and a needle control apparatus. A planning CT scan is made of the patient with stereotactic fiduciary markers to localize ...