Device for controlling corporeal structures

An apparatus for controlling a targeting device for precisely positioning a medical instrument in preparation for introducing the medical instrument into a patient at a desired entrance point and at a desired entrance angle, comprising:

• a scaffold-like frame that is configured for surrounding the patient;
• first and second base holders repositionably attached in a spaced apart manner to the scaffold-like frame;
• first and second holding rods with proximal ends attached to the first and second base holders in an articulated manner;
• first and second ball joint bearings attached to a distal end, respectively, of a corresponding one of the first and second holding rods;
• first and second actuating drives attached to a corresponding one of the first and second ball joint bearings, the first and second actuating drives arranged substantially above one another, the first and second actuating drives repositionable relative to one another;
• first and second fine-position adjustment arms extending from the first and second actuating drives, respectively, each of the first and second fine-position adjustment arms independently movable in an X- and/or Y-plane by the corresponding actuating drive, and
• a guide tube for the medical instrument, the guide tube having a tip, a first portion of the guide tube pivotally mounted to a free end of the first fine-position adjustment arm and a second portion of the guide tube pivotally mounted to a free end of the second fine-position adjustment arm such that repositioning of the first and second actuating drives, movement of the first and second fine-position adjustment arms, or both, interoperate to move the tip of the guide tube and vary an angle of the guide tube;
• wherein
• the first and second holding rods are articulated relative to the scaffold-like frame via the first and second base holders for a coarse preliminary positioning and holding of the tip of the guide tube near the desired entrance point and near the desired entrance angle;
• the first and second actuating drives are pre-positioned with the first and second ball joint bearings relative to one another for an intermediate positioning and holding of the tip of the guide tube near the desired entrance point and near the desired entrance angle;
• and
• the first and second fine-position adjustment arms are moved in the X- and/or Y-plane by the first and second actuating drives, respectively, for a fine sub-millimeter positioning and holding of the tip of the guide tube at the desired entrance point and at the desired entrance angle.