Patent ID: 7494494

Claim:
An apparatus for placing a proximal portion of a needle in a target area after the apparatus is positioned in proximity to an entry point of an object containing the target area by a manipulation device, the needle having a translational axis, said apparatus comprising: a first arm being configured and arranged to rotatably support a distal portion of the needle about its translational axis; a first drive mechanism being coupled to the first arm and being configured and arranged to translate the first arm from an initial position to any of a number of other positions spaced from the initial position, thereby also translating the needle along its translational axis in a direction towards the target area, wherein one of the any of a number of other positions corresponds to a condition where the needle proximal portion is disposed in the target area; wherein the first arm and first drive mechanism are coupled to the manipulation device such that the manipulation device can position the apparatus in proximity to the entry point of the object containing the target area; and a second drive mechanism being coupled to the needle and being configured and arranged so as to cause the needle to rotate about translational axis of the needle; and a second arm spaced apart from the first arm, configured and arranged to support a proximal portion of the needle, said second arm being aligned with the first arm so that the first arm and distal portion of the needle are movable toward the second arm.