| abstract |
A medical tool insertion guide device includes a base portion composed primarily of electromagnetically transmissive material but has a first component composed of electromagnetically absorptive material. The device also includes a movable portion composed primarily of the electromagnetically transmissive material, but has a second component composed of absorptive material. The movable portion is mounted, but movable by rotation or translation relative, to the base portion. An encoder sensor is mounted to one portion, and an encoder scale is mounted to the other, and the sensor faces the scale when mounted. The components can include fiducial markers. The transmissivity and absorptivity can be in a particular band(s), such as an X-ray band. The medical tool can be a needle, a medical probe, a scalpel, etc. A computer based method of providing control guidance for the device is provided, and a program therefor can be stored in a storage medium. |