Gripper for robotic image guided needle insertion

A system for inserting a medical tool into a subject, the system comprising:

• a controllable drive mechanism configured for inserting the medical tool into the subject in a series of insertion steps;
• a capture unit configured for alternately and repeatedly gripping and releasing either of the medical tool or a holder configured for holding the medical tool;
• and
• a tracking system configured for determining the position of the medical tool or the holder relative to the capture unit;
• wherein the controllable drive mechanism is configured to be synchronized with the capture unit to enable gripping of the medical tool or the holder by the capture unit during an insertion step and releasing of the medical tool or the holder from the capture unit between insertion steps, and
• wherein the system is configured to correlate the position of the capture unit to the position of the medical tool or the holder, using the tracking system, and to position the controllable drive mechanism such that each gripping action is executed at essentially the same position in space as the respective position of release of the medical tool or the holder following the previous insertion step.

A method for controllably inserting a medical tool into a subject, the method comprising:

• inserting the medical tool into the subject in a series of insertion steps;
• activating a capture unit to grip either of the medical tool or a holder configured to hold the medical tool during an insertion step;
• activating the capture unit to release the medical tool or the holder between insertion steps;
• tracking the position of the medical tool or the holder relative to the capture unit;
• and
• moving the capture unit toward the medical tool or the holder based on the tracked relative position.