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1. 发明授权

US6149592A Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data 失效
标题翻译：集成荧光投影图像数据，体积图像数据和手术装置位置数据
公开(公告)号：US6149592A
公开(公告)日：2000-11-21
申请号：US980171
申请日：1997-11-26
申请人： Jeffrey H. Yanof , Pieter Gerhard Roos , Kenneth L. Freeman , Joseph S. Deucher , Andrew J. Ivan , Dominic J. Heuscher
发明人： Jeffrey H. Yanof , Pieter Gerhard Roos , Kenneth L. Freeman , Joseph S. Deucher , Andrew J. Ivan , Dominic J. Heuscher
IPC分类号： G01B15/00 , A61B6/03 , A61B6/12 , A61B19/00 , G06T1/00 , H04N7/18 , A61B5/00
CPC分类号： A61B90/36 , A61B6/027 , A61B6/584
摘要： A patient supported on a patient support (12) is moved into a bore (22) of a planning imaging device, such as a CT scanner (20). A three-dimensional diagnostic image in three-dimensional diagnostic image space is generated and stored in a memory (130). The patient is repositioned outside of the bore with a region of interest in alignment with a real time imaging device, such as a fluoroscopic imaging device (40). A surgical planning instrument (60), such as a pointer or biopsy needle (62), is mounted on an articulated arm (64). As the instrument is inserted into the region of interest, fluoroscopic images are generated and stored in a memory (140). The coordinate systems of the CT scanner, the fluoroscopic device, and the surgical instrument are correlated (102, 104, 112, 120) such that the instrument is displayed on both the CT images (134) and the fluoroscopic images (50), such that cursors move concurrently along the fluoroscopic and CT images, and the like. In a preferred embodiment in which the cursor on the CT image display is at an intersection of transverse, sagittal, and coronal planes, the displayed planes change as the cursor moves coordinating the displayed CT image planes with the position of the cursor on the fluoroscopic image.
摘要翻译：支撑在患者支架（12）上的患者被移动到诸如CT扫描器（20）的规划成像装置的孔（22）中。生成三维诊断图像空间中的三维诊断图像并将其存储在存储器（130）中。将患者重新定位在具有与实时成像装置（例如透视成像装置（40））对准的感兴趣区域的孔外。诸如指针或活检针（62）的手术计划仪器（60）安装在关节臂（64）上。当仪器被插入到感兴趣的区域中时，产生荧光图像并将其存储在存储器（140）中。 CT扫描仪，荧光检查装置和手术器械的坐标系相关（102,104,112,120），使得仪器显示在CT图像（134）和透视图像（50）两者上该光标沿荧光镜和CT图像同时移动等。在CT图像显示器上的光标位于横向，矢状和冠状平面的交叉处的优选实施例中，随着光标移动，显示的平面随着光标在荧光镜图像上的位置协调所显示的CT图像平面而变化。

2. 发明授权

US5734384A Cross-referenced sectioning and reprojection of diagnostic image volumes 失效
标题翻译：诊断图像体积的交叉参考切片和重新投影
公开(公告)号：US5734384A
公开(公告)日：1998-03-31
申请号：US729314
申请日：1996-10-15
申请人： Jeffrey H. Yanof , Dominic J. Heuscher
发明人： Jeffrey H. Yanof , Dominic J. Heuscher
IPC分类号： G06T17/10 , G06T17/40
CPC分类号： G06T17/10
摘要： A CT scanner non-invasively examines a volumetric region and generates voxel values. A user adjustable 3D axis system defines mutually orthogonal sections and volume reprojections thus defining a cross reference relation between them. An affine transform translates and rotates the axis system from object space to image space whereby each axis defines the orientation of origin intersecting sections in one view port and the viewing direction of volume reprojections in another view port. An operator console selects an angular orientation of the coordinate axis. A cursor position designates coordinates in image space causing the cursor, typically crossed axes, to be displayed on a monitor at a corresponding location in each displayed image. The view port rotation and translation of the projected crossed cursors are reverse affine transformed to rotate and translate the axis system. While viewing and cross referencing the polyhedral volume reprojection, the cursor selects points along a curved object which are interpolated into a smooth curve to define curved section images. Multiple projection views define the medial axis within a straight or curved tubular structure. The medial axis generates transverse and longitudinal medial sections and sets of volume reprojections cross referenced to the projection views to generate the medial axis for side by side or fly through display.
摘要翻译： CT扫描仪非侵入性地检查体积区域并产生体素值。用户可调节的3D轴系统定义相互正交的部分和体积重映射，从而定义它们之间的交叉参考关系。仿射变换将轴系统从对象空间转换为图像空间，从而每个轴定义一个视图端口中原点相交部分的方向和另一个视图端口中卷重播的观察方向。操作员控制台选择坐标轴的角度方向。光标位置指定导致光标（通常是交叉轴）的图像空间中的坐标，以显示在每个显示图像中相应位置的监视器上。投影交叉光标的视口旋转和平移是反向仿射变换以旋转和平移轴系。在查看和交叉引用多面体体重映射时，光标选择沿着曲线对象的点，这些点被插值为平滑曲线以定义弯曲部分图像。多个突出视图将直线或弯曲管状结构内的中间轴定义。中间轴产生横向和纵向中间部分以及与投影视图交叉参考的体积重复组，以生成并列显示的中间轴或通过显示。

3. 发明授权

US6052611A Frameless stereotactic tomographic scanner for image guided interventional procedures 失效
标题翻译：无框架立体定向断层扫描仪，用于图像引导介入程序
公开(公告)号：US6052611A
公开(公告)日：2000-04-18
申请号：US980382
申请日：1997-11-28
申请人： Jeffrey H. Yanof , Joseph S. Deucher , Fred C. Jensen , Anton Z. Zupancic , Henry S. Novak , Karl J. West
发明人： Jeffrey H. Yanof , Joseph S. Deucher , Fred C. Jensen , Anton Z. Zupancic , Henry S. Novak , Karl J. West
IPC分类号： A61B5/055 , A61B6/03 , A61B8/14 , A61B17/00 , A61B19/00 , B25J19/04 , G01B21/00
CPC分类号： A61B90/10 , A61B2017/00725 , A61B34/70 , A61B6/584
摘要： A frameless stereotactic tomographic scanner includes an imaging device defining a coordinate system in scanner space (.PI.). A localizer device includes a base portion mounted in a fixed relationship to the imaging device and a free end adapted for selective movement into varied positions near a patient body disposed on the imaging device. A position transducer associated with the localizer device generates, in a localizer space (), localizer device tip location information as the localizer device is moved near the patient body. A localizer space to scanner space transform processor converts the localizer tip location information to converted localizer tip location information in an image space (). The imaging device is adapted to generate patient body image information in the image space () regarding the patient body disposed on the device. A display unit is included for displaying the patient body image information together with the localizer tip position information on a human readable display monitor. The base portion of the localizer device is adapted for mounting onto the imaging device at a plurality of fixed positions. The imaging device includes an overhead track assembly defining the set of fixed localizer device positions. A calibration phantom is provided including a set of imagable touch point sites for generating a localizer space to scanner space vector based on a pair of centroids developed in the scanner space (TT) and the localizer space (RR) during a calibration and verification process.
摘要翻译：无框架立体定向断层扫描仪包括在扫描仪空间（+529）中定义坐标系的成像装置。定位器装置包括安装成与成像装置固定关系的基部，以及适于选择性移动到设置在成像装置上的患者身体附近的不同位置的自由端。与定位器装置相关联的位置传感器在定位器空间（+ Z））中产生定位器装置尖端位置信息，因为定位器装置在病人身体附近移动。扫描仪空间变换处理器的定位器空间将定位器提示位置信息转换为图像空间（+ Z）中的转换的定位器提示位置信息。成像装置适于在关于设置在装置上的患者体的图像空间（+ Z）中产生患者体图像信息。包括显示单元，用于在人类可读显示监视器上显示患者身体图像信息以及定位器尖端位置信息。定位器装置的基部适于在多个固定位置安装到成像装置上。成像装置包括定义固定定位器装置位置集合的架空轨道组件。提供校准体模，其包括一组可成像的触摸点位置，用于在校准和验证过程期间基于在扫描器空间（TT）和定位器空间（RR）中形成的一对质心来产生扫描器空间矢量的定位器空间。

4. 发明授权

US5371778A Concurrent display and adjustment of 3D projection, coronal slice, sagittal slice, and transverse slice images 失效
标题翻译：同时显示和调整3D投影，冠状切片，矢状切片和横切片图像
公开(公告)号：US5371778A
公开(公告)日：1994-12-06
申请号：US800242
申请日：1991-11-29
申请人： Jeffrey H. Yanof , Rodney A. Mattson , Paula I. Patel
发明人： Jeffrey H. Yanof , Rodney A. Mattson , Paula I. Patel
IPC分类号： G06F3/033 , G06F3/048 , G06T17/00 , G06F15/42 , G06F15/62
CPC分类号： G06F3/04845 , G06T17/00 , Y10S128/922 , Y10S378/901
摘要： A CT scanner (A) non-invasively examines a volumetric region of a subject and generates volumetric image data indicative thereof. An object memory (B) stores the data values corresponding to each voxel of the volume region. An affine transform algorithm (60) operates on the visible faces (24, 26, 28) of the volumetric region to translate the faces from object space to projections of the faces onto a viewing plane in image space. An operator control console (E) includes operator controls for selecting an angular orientation of a projection image of the volumetric region relative to a viewing plane, i.e. a plane of the video display (20). A cursor positioning trackball (90) inputs i- and j-coordinate locations in image space which are converted (92) into a cursor crosshair display (30) on the projection image (22). A depth dimension k between the viewing plane and the volumetric region in a viewing direction perpendicular to the viewing plane is determined (74). The (i,j,k) image space location of the cursor is operated upon by the reverse of the selected transform to identify a corresponding (x,y,z) cursor coordinate in object space. The cursor coordinate in object space is translated (100, 102,104) into corresponding addresses of the object memory for transverse, coronal, and sagittal planes (10, 12, 14) through the volumetric region.
摘要翻译： CT扫描仪（A）非侵入性地检查受检者的体积区域并产生指示其的体积图像数据。对象存储器（B）存储对应于体积区域的每个体素的数据值。仿射变换算法（60）对体积区域的可见面（24,26,28）进行操作，以将面部从对象空间转移到图像空间中的观察平面上。操作员控制台（E）包括用于选择相对于观看平面（即，视频显示器（20）的平面）的体积区域的投影图像的角度定向的操作者控制。光标定位轨迹球（90）将图像空间中的i和j坐标位置输入（92）转换成投影图像（22）上的光标十字准线显示（30）。确定垂直于观察平面的观察方向的观察平面和体积区域之间的深度尺寸k（74）。光标的（i，j，k）图像空间位置通过所选变换的相反操作，以识别对象空间中的对应（x，y，z）光标坐标。对象空间中的光标坐标通过体积区域被翻译（100,102,104）到对象存储器的横向，冠状和矢状平面（10,12,14）的相应地址。

5. 发明授权

US6064904A Frameless stereotactic CT scanner with virtual needle display for planning image guided interventional procedures 失效
标题翻译：无框架立体定向CT扫描仪，具有虚拟针显示，用于规划图像引导介入程序
公开(公告)号：US6064904A
公开(公告)日：2000-05-16
申请号：US980337
申请日：1997-11-28
申请人： Jeffrey H. Yanof , Paul H. Klahr , Lauren O'Donnell
发明人： Jeffrey H. Yanof , Paul H. Klahr , Lauren O'Donnell
IPC分类号： A61B10/00 , A61B10/02 , A61B17/00 , A61B19/00 , B25J19/04 , G01B7/00 , H04N7/18 , A61B5/00
CPC分类号： A61B90/36 , A61B90/10 , A61B10/0233 , A61B17/00234 , A61B2017/00482 , A61B2090/363 , A61B34/10 , A61B90/11
摘要： A frameless stereotactic CT scanner includes a virtual needle display for planning image-guided interventional procedures. The virtual needle is useful for planning the introduction of an object such as a biopsy probe into a patient at an entry point along a trajectory to a target point within the patient. Using an imaging device, the patient is scanned to generate an image volume data set of an area of the patient. Using a stereotactic mechanical arm assembly mounted on one end to the imaging device, a surgical planning device is positioned adjacent the patient on the imaging device. A display includes a first transverse axial view of the patient taking through an image slice corresponding to the virtual needle entry point on the patient and, a second transverse axial view of the patient taken on an image slice of the image volume data set corresponding to a target point within the patient. A first oblique axial/coronal view is also displayed together with the first and second transverse axial views, the oblique coronal view being co-planar with the virtual needle trajectory and closest to the coronal axis. An oblique sagittal view is displayed together with the above images, the oblique sagittal view being co-planar with the virtual needle. A manually adjustable virtual needle depth control member is used to adjust the "length" of a virtual needle displayed within the image volume data set. Each of the views displayed are simultaneously updated to reflect the then current position and orientation of a surgical planning device on a stereotactic mechanical arm assembly.
摘要翻译：无框立体定向CT扫描器包括用于规划图像引导介入程序的虚拟针显示。虚拟针对于计划将诸如活检探针的物体在沿着轨迹的入口处引入到患者体内的目标点的引入是有用的。使用成像装置，扫描患者以产生患者区域的图像体积数据集。使用安装在成像装置的一端上的立体定向机械臂组件，外科计划装置邻近患者放置在成像装置上。显示器包括患者的第一横向轴向视图，所述第一横向轴向视图涉及对应于患者上的虚拟针入口点的图像切片，以及拍摄在对应于所述患者的图像体积数据集的图像切片上的患者的第二横向轴向视图患者内的目标点。第一倾斜轴向/冠状视图也与第一和第二横向轴向视图一起显示，倾斜冠状视图与虚拟针轨迹共同平行并且最接近冠状轴线。与上述图像一起显示斜矢状视图，斜矢状视图与虚拟针共面。使用可手动调节的虚拟针深度控制构件来调整在图像体积数据组中显示的虚拟针的“长度”。所显示的每个视图被同时更新以反映立体定向机械臂组件上的手术计划装置的当前位置和方位。

6. 发明授权

US6035228A Frameless stereotactic arm apparatus and method of using same 失效
标题翻译：无框立体定向手臂装置及其使用方法
公开(公告)号：US6035228A
公开(公告)日：2000-03-07
申请号：US980443
申请日：1997-11-28
申请人： Jeffrey H. Yanof , Ronald B. Sharpless , David Jeri , Christopher Bauer , Daniel S. Furst
发明人： Jeffrey H. Yanof , Ronald B. Sharpless , David Jeri , Christopher Bauer , Daniel S. Furst
IPC分类号： G01B7/00 , A61B5/055 , A61B6/03 , A61B8/14 , A61B19/00 , B25J19/04 , A61B5/00
CPC分类号： A61B90/11 , A61B34/70
摘要： An imaging apparatus (18) includes a frameless stereotactic arm apparatus (30) including a first base portion (42) mounted in a fixed relationship to the imaging device. A second free end (40) of the arm assembly is adapted to move into varied positions near a specimen disposed on the imaging apparatus. At least one pivot joint (44, 48, 52, 56, 60) is provided between the first base portion and the free end of the arm for permitting selective relevant movement between the arm members. Electro-mechanical and electro-magnetic brake devices are provided at respective joints to selectively lock the free end of the arm assembly to the base portion. The brakes are responsive to a brake command signal (210) generated by the imaging device. A low pass filter (240) conditions the brake command signal to substantially eliminate high frequency electromagnetic switching noise in the stereotactic arm. So that the arm is movable in emergency situations, the brakes are adapted to rebase in response to application of a force in excess of a predetermined breakaway threshold force.
摘要翻译：成像装置（18）包括无架立体定向臂装置（30），该装置包括与成像装置成固定关系的第一基部（42）。臂组件的第二自由端（40）适于移动到设置在成像装置上的样本附近的不同位置。至少一个枢转接头（44,48,52,56,60）设置在第一基座部分和臂的自由端之间，以允许臂部件之间的选择性相关的运动。机电和电磁制动装置设置在各个接头处以选择性地将臂组件的自由端锁定到基部。制动器响应于由成像装置产生的制动指令信号（210）。低通滤波器（240）调节制动指令信号，以基本上消除立体定向臂中的高频电磁开关噪声。因此，臂在紧急情况下是可移动的，所以制动器响应于施加超过预定的分离阈值力的力而被适应。

7. 发明授权

US5957933A Interchangeable guidance devices for C.T. assisted surgery and method of using same 失效
标题翻译： C.T.可互换导向装置辅助手术及其使用方法
公开(公告)号：US5957933A
公开(公告)日：1999-09-28
申请号：US980253
申请日：1997-11-28
申请人： Jeffrey H. Yanof , Laura L. Goldstein , Fred C. Jensen , James C. Foster , Christopher Bauer
发明人： Jeffrey H. Yanof , Laura L. Goldstein , Fred C. Jensen , James C. Foster , Christopher Bauer
IPC分类号： A61B10/02 , A61B5/055 , A61B6/03 , A61B6/12 , A61B19/00
CPC分类号： A61B90/13 , A61B90/11 , A61B6/584
摘要： A stereotactic guide apparatus 100 is provided for use with a CT scanner device 18 for guiding the entry of a probe into a patient's body. The CT scanner device is provided with a stereotactic arm member 30 having a first base end 42 connected to the CT scanner device 18 and a second free end 40 movable relative to the CT scanner device. The stereotactic surgical instrument guide apparatus includes a first end effector member 106 including a guide channel 152 defining a probe insertion path 150. The surgical instrument guidance device further includes a second end effector member 104 on the free end of the stereotactic arm member and including a laser light source 108 generating a light guide beam along the probe insertion path 150. Each of the first and second end effector members are selectively releasably attached to the free end of the stereotactic arm member and, further, are adapted to provide respective first and second device identification signals to the CT scanner device through the stereotactic arm member. The top end effector member 104 is preferably stationary in use during interventional procedures and the bottom end effector member 106 is selectively retractable into a hollow support tube 142. Alternatively, the first and second end effector members are selectively pivotally attached to the free end of the stereotactic arm member.
摘要翻译：提供了立体定向引导装置100，用于与CT扫描器装置18一起用于将探针进入患者体内。 CT扫描器装置设置有立体定向臂构件30，其具有连接到CT扫描器装置18的第一基端42和相对于CT扫描器装置可移动的第二自由端40。立体定向手术器械引导装置包括第一端部执行器构件106，其包括限定探针插入路径150的引导通道152.外科器械引导装置还包括在立体定向臂构件的自由端上的第二端部执行器构件104，激光光源108沿着探针插入路径150产生光导光束。第一和第二端部执行器部件中的每一个选择性地可释放地附接到立体定向臂部件的自由端，并且还适于提供相应的第一和第二通过立体定向臂构件将装置识别信号传送到CT扫描装置。顶部执行器构件104在介入操作期间优选地是静止的，并且底端执行器构件106选择性地可缩回到中空支撑管142中。或者，第一和第二端部执行器构件选择性地枢转地附接到立体定向臂构件。

8. 发明授权

US07182083B2 CT integrated respiratory monitor 有权
标题翻译： CT综合呼吸监护仪
公开(公告)号：US07182083B2
公开(公告)日：2007-02-27
申请号：US10280626
申请日：2002-10-25
申请人： Jeffrey H. Yanof , Peter C. Johnson
发明人： Jeffrey H. Yanof , Peter C. Johnson
IPC分类号： A61M16/00 , A62B7/00 , F16K31/02
CPC分类号： A61B6/541 , A61B5/1135 , G06F19/00 , Y10S128/916
摘要： An integrated respiratory monitor and imaging device apparatus (10) is provided. The apparatus is useful for establishing pre-operative and intra-operative breath hold congruency in patients and for other interventional work. The apparatus (10) includes a respiratory monitor system (12) and an imaging device (14). The respiratory monitor system is adapted to engage a patient and generate a respiratory signal representative of a breath hold level of the patient during a breath hold. The imaging device (14) is adapted to scan the patient during the breath hold and generate a volumetric image data set of the patient. The respiratory sensor and imaging device are operatively connected to associate the respiratory signal representative of the breath hold level of the patient together with the volumetric image data set of the patient. A data storage device (64) is provided for storing a set of respiratory signals in association with a corresponding set of volumetric image data sets in the subject apparatus (10). A scanner gating function is provided to center the image acquisition time at selected points in the respiratory cycle such as at a minimum to minimize motion artifacts in the resultant image.
摘要翻译：提供了一种综合的呼吸监测器和成像装置装置（10）。该装置对于在患者和其他介入工作中建立术前和术中的呼吸保持一致性是有用的。所述装置（10）包括呼吸监测系统（12）和成像装置（14）。呼吸监测器系统适于接合患者并且在呼吸保持期间产生代表患者的呼吸保持水平的呼吸信号。成像装置（14）适于在呼吸保持期间扫描患者并产生患者的体积图像数据集。呼吸传感器和成像装置可操作地连接以将代表患者的呼吸保持水平的呼吸信号与患者的体积图像数据集相关联。数据存储装置（64）被提供用于与目标装置（10）中相应的一组体积图像数据组相关联地存储一组呼吸信号。提供扫描器门控功能，以使得在呼吸周期中的选定点处的图像采集时间居中，例如最小化以最小化所得图像中的运动伪影。

9. 发明授权

US06505065B1 Methods and apparatus for planning and executing minimally invasive procedures for in-vivo placement of objects 有权
标题翻译：用于规划和执行体内放置物体的微创程序的方法和装置
公开(公告)号：US06505065B1
公开(公告)日：2003-01-07
申请号：US09697805
申请日：2000-10-27
申请人： Jeffrey H. Yanof , Paul Klahr , Andy Ivan , Dave Hoffmeyer
发明人： Jeffrey H. Yanof , Paul Klahr , Andy Ivan , Dave Hoffmeyer
IPC分类号： A61B5055
CPC分类号： A61N5/103 , A61B6/584 , A61B34/10 , A61B90/10 , A61B90/36 , A61N5/1027
摘要： A method (310) and apparatus (1) are provided for planning an executing minimally invasive procedures for in-vivo placement of objects within the body of a patient. The method and apparatus enable non-invasive pre-operation virtual seed placement and dose distribution planning using visualization information showing a patient's anatomy together with a set of single point targets (182) within the patient's body and a corresponding set of trajectories (184) through the skin and body of the patient leading to the selected target points. For enhanced visualization, multiplanar reformatted images (166, 168) are derived from CT image data sets and are angled to always contain the plane of the virtual needle (300) in the pseudo-axial image and its 90 degree slice counterpart. In an implementation stage, a stereotactic arm (40) spatially referenced to the patient's data set acts a needle guide (52) and is used to locate preplanned image planes containing virtual seed deposition points. A physical needle (50) is aligned with preplanned virtual needle trajectories (282, 284, 286) so that one or more seeds or other objects can be precisely placed within the patient's body.
摘要翻译：提供了一种方法（310）和装置（1），用于规划用于体内放置患者体内的物体的执行的微创程序。该方法和装置使得能够使用可视化信息显示患者解剖结构的无创术前操作虚拟种子放置和剂量分布规划以及患者体内的一组单点目标（182）和相应的一组轨迹（184）通过导致选定目标点的患者的皮肤和身体。为了增强可视化，多平面重新格式化图像（166,168）从CT图像数据集导出，并且成角度以在伪轴图像及其90度切片对应物中始终包含虚拟针（300）的平面。在实施阶段中，以空间参考患者数据集的立体定向臂（40）作用于针引导件（52），并用于定位包含虚拟种子沉积点的预先计划的图像平面。物理针（50）与预先计划的虚拟针轨迹（282,284,286）对准，使得一个或多个种子或其他物体可以精确地放置在患者体内。

10. 发明授权

US09259195B2 Remotely held needle guide for CT fluoroscopy 有权
标题翻译：用于CT透视的远程针导向器
公开(公告)号：US09259195B2
公开(公告)日：2016-02-16
申请号：US10560217
申请日：2004-06-17
申请人： Jeffrey H. Yanof , Chris Bauer
发明人： Jeffrey H. Yanof , Chris Bauer
IPC分类号： A61B5/05 , A61B6/12 , A61B17/34 , A61B19/00 , A61B17/00
CPC分类号： A61B6/12 , A61B17/3403 , A61B34/70 , A61B90/50 , A61B2017/00911 , A61B2017/3405 , A61B2090/376
摘要： A guide apparatus is provided for use with an associated imaging device to direct movement of an associated interventional implement relative to a patient disposed on the imaging device. A gripping area is adapted to the guide apparatus for manual gripping by an associated operator. A holding area is adapted to hold the associated interventional implement in an orientation suitable for motion relative to said patient along a selected linear path and also operative to translate the associated interventional implement along said selected linear path in response to manual force applied by the associated human operator at said gripping area.
摘要翻译：引导装置被提供用于与相关联的成像装置一起使用以相对于设置在成像装置上的患者引导相关联的介入器具的移动。抓握区域适于由相关联的操作者手动夹持的引导装置。保持区域适于以相对于所述患者沿所选择的线性路径运动的适合的方向保持相关联的介入器具，并且还可操作以响应于由相关联的人施加的手动力而沿着所述选择的线性路径平移相关联的介入器具操作者在所述抓握区域。

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