Integrated Respiratory Sensing and Gated Control for Autonomous Needle Insertion Via CT Bore Robotic Arm

Emma Huang; Moira Bohley; Krishna Jamakhandi; Rebecca Fellbaum; Sophia Tang; Sean Tutton; Albert Hsiao; Alexander Norbash; Changwei Chen; Derek Chen; Ananya Rao; Lizzie Peiros; Michael C. Yip

arXiv · 2610.30452

Integrated Respiratory Sensing and Gated Control for Autonomous Needle Insertion Via CT Bore Robotic Arm

Emma Huang·Moira Bohley·Krishna Jamakhandi·Rebecca Fellbaum·Sophia Tang·Sean Tutton·Albert Hsiao·Alexander Norbash·Changwei Chen·Derek Chen·Ananya Rao·Lizzie Peiros·Michael C. Yip

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Abstract

Currently, CT-guided lung biopsy is a highly manual procedure requiring patient breath-holding, iterative manual needle insertions, and repeated CT confirmation scans to accurately target a tumor. Automating this process within the CT bore--without relying on manual needle placement or patient breath-holding--has the potential to reduce procedure time, patient discomfort, and radiation exposure. In this work, we present an integrated sensing and control system capable of performing a gated needle insertion within the CT bore. The experiments demonstrate the system's ability to track and predict patient breath cycles, perform autonomous respiratory-gated needle insertion, and detect breath cycle anomalies.

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Emma Huang, Moira Bohley, Krishna Jamakhandi, Rebecca Fellbaum, Sophia Tang, Sean Tutton, Albert Hsiao, Alexander Norbash, Changwei Chen, Derek Chen, Ananya Rao, Lizzie Peiros, Michael C. Yip. 2026-10-21. Integrated Respiratory Sensing and Gated Control for Autonomous Needle Insertion Via CT Bore Robotic Arm. https://arxiv.org/abs/2610.30452

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