Patent ID: 8386019

Claim:
A medical device for performing a percutaneous intervention for a patient, comprising: an imaging device; a robot that is registered with the imaging device; a mounting unit arranged in the robot that mounts an instrument for the intervention; a monitor that captures a movement of the patient and simultaneously transmits data of the movement to the robot; and a processing unit that: receives a 4D image dataset recorded before the intervention that comprises a temporal sequence of 3D images of an area of the patient each assigned a simultaneously recorded movement of the patient; registers the 4D image dataset with an image dataset of the patient recorded by the imaging device immediately before the intervention at a defined movement position of the patient, and generates a predetermined target path for the instrument as a function of the movement of the patient based on the registration, wherein the robot stops inserting the instrument if a deviation between the movements of the patient captured during the intervention and recorded with the 4D image dataset exceeds a predetermined limit value, and wherein the robot holds the instrument and is guided by a person performing the intervention in one movement while blocking other movements to perform a precise puncture.