| 摘要 |
<p>A tool positioning system (66) adapted for use with an imaging system (20) is provided. The tool positioning system is configured to accurately position a guide (76), the guide (76) being suitable for inserting an interventional tool from an insertion point to a target point inside a patient. The tool positioning system (66) is configured to be docked at a pre-defmed docking position (74) along a movable patient cradle (28) of the imaging system (20). The tool positioning system (66) includes standalone device (68) and a robotic positioner (70). The robotic positioner (70) is coupled to the standalone device (68) and configured to grip and move the guide (76) to a desired position. The system further includes a movement sensing module (72) coupled to the standalone device (68) and configured to calculate movement of the patient from breathing and processing circuitry configured to determine the pre-defmed docking position (74) and the desired position.</p> |
