Example of a multi-pinhole SPECT implementation in a catheterization room using a six-axis arm robot. (A, B) The orbit motion above the patient. (C) The end-stage rotation drive of the robot rotates the detector around itself to turn the collimator side upward. (D, E) The orbit motion under the patient. (F) In home position, the system leaves the space around the patient free. During the orbit motion, the robot rotates slowly on its pedestal to provide a helical acquisition. See animation in Additional file 1.