Multicenter Study to Evaluate a New Robotic Device for Image-guided Percutaneous Needle Placement

Inclusion Criteria: * Patient is at least 18 years old, * Patient for whom an ablation procedure under CT guidance in liver organ has been prescribed and consensually agreed by a multidisciplinary team of radiologists, surgeons and clinicians, * Patient not taking platelet antiaggregant or having stopped taking it for 5 days and not taking anticoagulant (thrombocytes ≥ 50 000/mm3, TP \> 50%), * Patient who agrees to participate in the evaluation and who has signed the inform consent, * Patient covered by social security system. Exclusion Criteria: * Patient unable to undergo general anesthesia, * Patient unable to tolerate CT contrast agent * Patient already participating in another clinical study * Pregnant or breast-feeding woman.