System for positioning a medical instrument within a biotic structure using a micromanipulator

A device for precision positioning of an instrument within a biotic structure through a hole in an exterior wall of the biotic structure, said device comprising:

• a structural member of the instrument extending through the hole of the biotic structure at a puncture point with the instrument disposed on the structural member at a first end within the biotic structure;
• an instrument holding means disposed at a second end of the structural member outside the biotic structure for retaining an instrument at a predetermined angle;
• selectively moveable support means for supporting said instrument holding means, said moveable support means being rotatably coupled to said instrument holding means;
• actuator means for activating said selectively moveable support means;
• input means for generating electronic positioning signals responsive in realtime to indicia, inputted by a user, of desired movement of said instrument manipulating means;
• and
• means for controlling said selectively moveable support means by determining a correct movement of said selectively moveable support means responsive to said positioning signals, said control means being in communication with said actuator means and said input means, said control means being adapted to activate said actuator means to position said selectively moveable support means while maintaining the structural member substantially stationary in the plane of the exterior wall at the puncture point.

A device for precision positioning of an instrument within a biotic structure through a hole in an exterior wall of the biotic structure, said device comprising:

• a structural member of the instrument extending through the hole of the biotic structure at a puncture point with the instrument disposed on the structural member at a first end within the biotic structure
• an instrument holding means disposed at a second end of the structural member outside the biotic structure for retaining an instrument at a predetermined angle;
• an attachment platform for supporting said instrument holding means;
• a plurality of support legs comprising a first end and a second end opposite said first end, said first end of said support legs being pivotally, movably coupled to said attachment platform;
• actuator means for selectively positioning said support legs and said attachment platform, said actuator means being pivotally, movably coupled to said second end of said support legs;
• input means for generating electronic positioning signals responsive in realtime to indicia, inputted by a user, of desired movement of said instrument;
• and
• means for controlling the positioning of said attachment platform while maintaining the structural member substantially stationary in a plane of the exterior wall at the puncture point comprising means for determining a correct movement of said support legs responsive to said positioning signals, said control means being in communication with said actuator means and said input means, said control means being adapted to activate said actuator means to position said attachment platform.