| 摘要 |
A guide apparatus ( 200 ) is provided for use with an associated imaging device ( 100 ) to direct movement of an associated interventional implement ( 192 ) relative to a patient ( 20 ) disposed on the imaging device ( 100 ). The guide apparatus includes a connector portion ( 210 ) coupling the guide apparatus with the associated imaging device ( 100 ). A main body portion ( 220 ) of the apparatus is supported relative to the associated imaging device by the connector portion ( 210 ). A gripping area ( 230 ) is formed at a first end ( 222 ) of the main body portion ( 220 ), the gripping area ( 230 ) being adapted to the guide apparatus ( 200 ) for manual gripping by an associated operator. A holding area ( 240 ) is formed at a second end ( 224 ) of the main body portion ( 220 ). The holding area ( 240 ) is adapted to hold the associated interventional implement ( 192 ) in an orientation suitable for motion relative to said patient ( 20 ) along a selected linear path (P) and also operative to translate the associated interventional implement ( 192 ) along said selected linear path (P) in response to manual force applied by the associated human operator at said gripping area ( 230 ). A robot arm ( 190 ) positions the apparatus to hold a biopsy needle relative to the patient based on a virtual planned trajectory. A linear slider joint constrains movement of the needle to the path (P) and permits manual insertion of the needle and attendant tactile feedback.
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