Patent ID: 8175677

Claim:
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 translate and rotate 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 movably mounted to the platform and is configured to translate in both an X-direction and Y-direction relative to the Z-direction; and a plurality of user-activatable actuators operably connected to the frame that are configured to translate and rotate the frame relative to the body of the patient so as to position the targeting cannula to a desired intrabody trajectory.