Gromniak, MartinMartinGromniakNeidhardt, MaximilianMaximilianNeidhardtHeinemann, AxelAxelHeinemannPüschel, KlausKlausPüschelSchlaefer, AlexanderAlexanderSchlaefer2020-11-022020-11-022020-05-01Current Directions in Biomedical Engineering 1 (6): 20200031 (2020)http://hdl.handle.net/11420/7735© 2020 Martin Gromniak et al., published by De Gruyter, Berlin/Boston 2020. Forensic autopsies include a thorough examination of the corpse to detect the source or alleged manner of death as well as to estimate the time since death. However, a full autopsy may be not feasible due to limited time, cost or ethical objections by relatives. Hence, we propose an automated minimal invasive needle biopsy system with a robotic arm, which does not require any online calibrations during a procedure. The proposed system can be easily integrated into the workflow of a forensic biopsy since the robot can be flexibly positioned relative to the corpse. With our proposed system, we performed needle insertions into wax phantoms and livers of two corpses and achieved an accuracy of 4.34 ± 1.27 mm and 10.81 ± 4.44 mm respectively.en2364-550420201de Gruyterhttps://creativecommons.org/licenses/by/4.0/biopsyCT imagingforensic autopsyroboticsBiowissenschaften, BiologieMedizinJournal Article10.15480/882.304110.1515/cdbme-2020-003110.15480/882.3041Journal Article