Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis
Figure 7
(a) Patient setup for radiosurgery with the use of fine and high-power radiation beams delivered by a miniature linear accelerator and positioned by a robotically controlled arm in CyberKnife by Accuray Inc. [15, 16]. (b) Cyberknife schematic for non-invasive image-guided therapy.
