Positioning system for an imaging device

A positioning system for positioning an insertion element on or in the body of a subject, the positioning system comprising an imaging device, wherein the imaging device comprises a bore, in which the subject is received, wherein the positioning system further comprising a robot, which is at least partially arranged in the bore of the imaging device and comprises a holding element to hold the insertion element;

• wherein
• the robot further comprises at least one actuator, wherein said at least one actuator is arranged with a distance D from the bore to minimize magnetic and/or electromagnetic interferences between the imaging device and a first actuator of the at least one actuator, wherein said distance D is between 1.5 and 4.7 meters, and said first actuator is coupled to the holding element in a form-fit- and/or a force-fit-manner;
• wherein the coupling of the first actuator to the holding element in the form-fit and/or the force-fit-manner is achieved by a belt drive, wherein a first belt is looped over a first pulley and a pulley connected to the first actuator, and wherein the connection between the first belt and the first pulley is in a form-fit manner and said first actuator acts on the holding element via the first belt and first pulley such that the end portion of the insertion element is linearly movable;
• wherein the bore has a longitudinal expansion along an X-axis and further expands along a Z-axis and a Y-axis, wherein said X-axis, Y-axis and Z-axis are orthogonal to each other, wherein at least the end portion of the insertion element has a longitudinal extension along an A-axis, wherein the A-axis and the Z-axis form an angle α, which is in the range between 0° and ±90°;
• wherein the robot comprises a head part, a first and a second drive mechanism, wherein the first actuator acts on the holding element via the first drive mechanism such that the end portion of the insertion element is linearly movable along the A-axis, wherein a second actuator of the at least one actuator acts on the holding element via the second drive mechanism such that the end portion of the insertion element can be pivoted about a pivot axis B, wherein by said pivoting-motion the angle α is adjusted;
• the head part of the robot is connected to a holding rod via a connection element, wherein the robot further comprises a third actuator of the at least one actuator which acts on the holding rod via a third drive mechanism, such that the head part of the robot can be moved along the Y-axis, wherein the robot further comprises a fourth actuator of the at least one actuator which acts on the holding rod via a fourth drive mechanism, such that the head part of the robot can be moved along the X-axis;
• the third drive mechanism comprises a third pulley, which is connected to the third actuator by a third belt, wherein the third pulley is rigidly connected to a threaded spindle on which a nut is arranged, wherein the nut is connected to the holding rod of the robot, wherein the threaded spindle is arranged perpendicularly to the holding rod, wherein a rotation of the third pulley causes a rotation of the threaded spindle and a movement of the nut and the holding rod along the Y-axis.