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Our view was that we wanted to change as little as possible in the way the doctor currently positions a needle, and that we only wanted to help him with this one critical task. We first explored the current solutions, and learned how not to do it from these attempts. We then elaborated on the current, manual workflow. What is unique about this system is that it looks simple on the outside, and that operating it is extremely easy, even though its development took a great deal of time and effort. Particularly from a mechanical aspect, it’s a complicated device. Central to the design process were the multiple material innovations needed to make the system CT-compatible. The project was powered by ITEA2 and SNN.