Trajectory guide with dual gimbal drive arrangement

A trajectory guiding apparatus, comprising:

• a base support comprising a frame portion and a first pivot housing portion, the frame portion having a first aperture sized to surround a burr hole opening in a patient's cranium and the frame portion configured for fastening the base support to the patient's cranium, wherein the base support further includes a first gimbal coupler;
• a pivotally rotatable stage pivotally coupled to the base support at the first pivot housing portion defining a first pivotal axis, wherein the pivotally rotatable stage includes a stage portion and a second pivot housing portion, the stage portion having a second gimbal coupler and a third gimbal coupler;
• a vertical support having a bottom end and a top end, the bottom end pivotally coupled to the pivotally rotatable stage at the second pivot housing portion defining a second pivotal axis, wherein the first and second pivotal axes are perpendicular to each other, the bottom end including a fourth gimbal coupler;
• and
• a slider assembly removably coupled to the vertical support at the top end, the slider assembly including a second aperture at least as large as the first aperture in the frame portion and configured to accommodate an instrumentation column having a columnar passage therethrough and coupled to a drive assembly for advancing a distal end of an elongate medical device through the columnar passage of the instrumentation column,
• wherein a first gimbal drive is coupled between the first gimbal coupler of the base support and the second gimbal coupler of the stage portion of the pivotally rotatable stage, the first gimbal drive actuatable to cause a first pivotal motion of the slider assembly including the instrumentation column, the first pivotal motion defined along a first arcuate path pivoted around the first pivotal axis,
• wherein a second gimbal drive is coupled between the third gimbal coupler of the stage portion of the pivotally rotatable stage and the fourth gimbal coupler of the bottom end of the vertical support, the second gimbal drive actuatable to cause a second pivotal motion of the slider assembly including the instrumentation column, the second pivotal motion defined along a second arcuate path pivoted around the second pivotal axis, the first and second arcuate paths being perpendicular to each other, and
• wherein the first and second gimbal drives are independently actuatable such that after aligning a distal end of the instrumentation column with a target entry point in the burr hole using the slider assembly, an axial angle of the instrumentation column is operative to be adjusted by actuating at least one of the first and second gimbal drives while maintaining the alignment of the distal end of the instrumentation column with the target entry point in the burr hole.