Evaluation of the Safety, Effectiveness & Usability of the XACT Robotic System for Image Guided Percutaneous Procedures

Inclusion Criteria: * Men and women over 18 years of age * Subjects undergoing CT-guided, minimally invasive percutaneous procedures in the interventional radiology suite, e.g., core biopsy, fine needle aspiration (FNA), tumor ablation, etc. * Subject is capable and willing to provide informed consent. * Subject is capable and willing to adhere to the study procedures Exclusion Criteria: * Subjects in whom the target is written 1 cm of a major blood vessel or major nerve. * Subject with lesions in the central and peripheral nervous system and the spine. * Subject with significant coagulopathy * Subjects with a preexisting conditions, which, in the opinion of the investigator, may interfere with the conduct of the study * Subjects with an unstable medical condition, e.g. unstable hypertension, unstable cardiac disease, etc. * Subjects who are uncooperative or cannot follow instructions * Subjects with a mental state that may preclude completion of the study procedure * Female subjects who are pregnant or nursing