Device for anatomical sensing system-guided endorectal prostate biopsy

An anatomical sensing system-guided prostate procedure device, comprising:

• a housing having a proximal housing section, a mid housing section, and a distal housing section;
• an instrument convergence point disposed within the mid housing section, the instrument convergence point defined by an intersection of a proximal cone and a distal cone defining the range of motion of an instrument both proximal and distal to the instrument convergence point, and configured to allow the instrument to pass through the instrument convergence point at a variable and selectable angle, wherein the instrument convergence point is translatable along an axis running from a proximal end of the housing to a distal end of the housing;
• and
• an instrument angle orienting system at the proximal housing section, the instrument angle orienting system directing an orientation of the variable angle in three-dimensions about the instrument convergence point.

An anatomical sensing system-guided prostate procedure device, comprising:

• a housing having a proximal housing section, a mid housing section, and a distal housing section;
• an instrument convergence point disposed within the mid housing section, the instrument convergence point defined by an intersection of a proximal cone and a distal cone defining the range of motion of an instrument both proximal and distal to the instrument convergence point, and configured to allow the instrument to pass through the instrument convergence point at a variable and selectable angle;
• and
• a fixed array instrument angle orienting system at the proximal housing section, the fixed array instrument angle orienting system directing an orientation of the variable angle in three-dimensions about the instrument convergence point.

An anatomical sensing system-guided prostate procedure device, comprising:

• a housing having a proximal housing section, a mid housing section, and a distal housing section, wherein the mid housing section is configured for positioning outside of a rectum adjacent to a perineum of the subject, wherein the distal housing section is configured for insertion into an anus and retention in the rectum of a subject;
• an instrument convergence point disposed within the mid housing section, the instrument convergence point defined by an intersection of a proximal cone and a distal cone defining the range of motion of an instrument both proximal and distal to the instrument convergence point, and configured to allow the instrument to pass through the instrument convergence point at a variable and selectable angle;
• an instrument angle orienting system at the proximal housing section, the instrument angle orienting system directing an orientation of the variable angle in three-dimensions about the instrument convergence point;
• an instrument guide;
• and
• a spherical targeting ball rotationally constrained within the mid housing section and centered about the instrument convergence point, wherein the spherical targeting ball comprises a proximal side and a distal side, and wherein the spherical targeting ball includes a conical cutout on the proximal side configured to receive the instrument passing therethrough.