Patent ID: 6853856

Claim:
A medical imaging system for conducting an image-guided medical procedure on a subject, the system comprising: a medical imaging apparatus for obtaining volumetric images of the subject; means for planning an interventional procedure on a subject using the volumetric images; a mechanical arm assembly disposed in proximity to the medical imaging apparatus, the mechanical arm assembly comprising a base support, a distal end, a plurality of arm segments, and a plurality of joints between the arm segments for carrying out the interventional procedure; and an end-effector disposed at the distal end of the mechanical arm assembly, the end-effector comprising gripping means for selectively gripping a surgical instrument during the interventional procedure with a gripping force ranging from zero to a force which prevents relative movement between the gripping means and the surgical instrument wherein the end-effector further comprises; a first finger portion having a first gripping surface; a second finger portion having a second gripping surface, the first and second gripping surfaces being opposed to one another for applying a gripping force to the surgical instrument; a first surgical instrument guide disposed on the first finger portion and extending towards the second finger portion; and a second surgical instrument guide disposed on the second finger portion end extending towards the first finger portion.