Patent ID: 7008373

Claim:
A method for guiding an instrument to a target position, said method comprising steps of: orienting an imager in a first imager orientation to image a target and an instrument to create first imager-orientation imaging data about said target and said instrument; placing said instrument in an initial position with a fulcrum end of the instrument at a fulcrum point; moving a moveable end of the instrument alone a curve while maintaining the fulcrum end of the instrument at the fulcrum point, whereby the instrument moves along a conical trajectory; determining a servo-plane based on the first imager-orientation imaging data taken while moving the instrument along the conical trajectory; orienting said imager in a second imager orientation to image said target and said instrument to create second imager-orientation imaging data about said target and said instrument; and performing allignment of said instrument in a second view while maintaining the instrument in the servo-plane, based on said second imager-orientation imaging data; wherein said first orientation and said second orientation are dissimilar.