MRI-guided medical interventional systems and methods

An MRI-guided interventional system, comprising:

• a frame that supports a cooperating targeting cannula that is movable along a Z-direction, wherein the frame is configured to move such that the targeting cannula can be positioned to a desired intrabody trajectory, and wherein the targeting cannula includes a guide bore therethrough that is configured to guide placement of an interventional device in vivo, wherein the frame comprises:
• a base having a patient access aperture formed therein, wherein the base is configured to be secured to the body of a patient;
• a yoke movably mounted to the base and rotatable about a roll axis;
• and
• a platform movably mounted to the yoke and rotatable about a pitch axis, wherein an X-Y support table is mounted to the platform and is configured to translate in both an X-direction and a Y-direction relative to the Z-direction;
• a plurality of user-activatable actuators operably connected to the frame that are configured to rotate the frame relative to the body of the patient so as to position the targeting cannula to a desired intrabody trajectory;
• and
• wherein the system further comprises at least one of the following:
• color-coded actuators wherein each actuator has a respective different color;
• or
• a remote control unit comprising a plurality of elongate control devices, wherein each control device comprises first and second elongate rods axially connected at respective first ends via a first cable, wherein the first rod second end is operably connected to a respective actuator via a second cable, and wherein rotational movement of the second end of the second rod operates the actuator via the second cable.