Northwestern University

Kenneth W Grace

Mathew R Glucksberg

Ledward Colgate

A device is provided for precision positioning of a medical instrument within a biotic structure through a hole in an exterior wall of the biotic structure. A structural member of the instrument extends through the hole of the biotic structure at a puncture point with the instrument disposed on the structural member at a first end within the biotic structure. A medical instrument holder disposed at a second end of the structural member outside the biotic structure is provided for retaining a medical instrument at a predetermined angle. The device also includes instrument manipulating apparatus for supporting and positioning the instrument holder to position the medical instrument at the desired location while maintaining the structural member substantially stationary in the plane of the exterior wall at the puncture point. A selectively moveable support has legs that are independently pivotally rotatable about a joint, such as a ball and socket joint. The moveable support is coupled to actuators for activating the selectively moveable support. An input device, which generates a positioning signal that corresponds to the surgeon's desired positioning of the medical instrument, is also included. A computer for controlling the actuators determines the correct movement of the selectively moveable support based on the electronic signal of the input device, which thereby positions the medical instrument at the correct location.

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Evanston, IL, United States of America

Kenneth W Grace