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 is ocentric motions. The developed system mechanically consists of: (1) a gantry and (2) a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360 degree rotation.The robotic body is capable of one vertical and two isocentricrotational motions used to position the gantry. Unlike existing Carms and mobile CT scanners, each is ocentric motion is achieve during 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 CT scanning motion.
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