Patent ID: 10695087

Abstract:
An apparatus (51) includes a needle placement manipulator (1) and an attachment (52) for the manipulator. The manipulator includes a needle holder and a rotary mechanism. The rotary mechanism (3, 4) has a remote center of motion (RCM: 11) and is configured to position a needle holder (5) such that the axis of the needle holder traces a conical region of coverage (108), the conical region of coverage having the apex thereof at the RCM and the base thereof in a direction towards a subject of needle placement (14). The attachment supports the guide mechanism and is configured to be mounted onto the subject of needle placement. The attachment includes a guide portion (183c) configured to change an inclination of the rotary mechanism with respect to the subject of needle placement such that the axis of the needle holder intersects an insertion target (14) located outside of the conical region of coverage.