| 主权项 |
1. A system for inserting a medical device into a patient, the system including an imaging device scanning the patient to generate a volumetric image data set of the patient, a human readable device for displaying an image of the patient derived from said volumetric image data set, means for selecting a virtual trajectory defining a path for inserting the medical device into said patient, robotic means on said imaging device and movable into selected positions relative to the imaging device, and a guide apparatus disposed on the robotic means to direct movement of the medical device relative to the patient, the guide apparatus comprising:
a connector portion coupling the guide apparatus with the imaging device at a distal end of the robotic means, and comprising a linear slider mechanism which restricts movement of the guide apparatus to a single linear path; a main body portion supported relative to the imaging device by the connector portion; a gripping area formed at a first end of the main body portion, the gripping area adapting the guide apparatus for manual gripping by an associated operator; and, a holding area formed at a second end of the main body portion, the holding area holding the medical device in an orientation suitable for motion relative to said patient along a selected linear path, the guide apparatus being operative to translate the medical device along said selected linear path in response to manual force applied by the associated operator at said gripping area during insertion of the medical device as restricted by the linear slider mechanism. |
