The intabenshiyonaru expedient where the picture conversion device which it is related (100) with the guide device which is used (200) it has, the picture conversion device (100) the patient who is arranged (20) confronts and is related (192) the movement is indicated. The aforementioned guide device (200), the aforementioned guide device is included the aforementioned robot expedient (190) the picture conversion device which the point is related (100) with the connector which is connected (210). It is supported vis-a-vis the picture conversion device which it is related the main body section (220) the aforementioned connector (210) with the description above. guritsupingueria (230), the aforementioned main body section (220) the 1st edge (222) it is formed, the aforementioned guide device in order manual grip to do (200) it receives with the operator whom it is related. The holding area (240) is formed, the aforementioned main body section (220) the 2nd edge (224). That holding area (240), the linear pass which is selected (P) paralleling, in order in order to move the aforementioned patient (20) vis-a-vis the aforementioned medical device (191) to keep in ideal direction, it is constituted, the description above the linear pass which is selected (P) paralleling according to the power which is added aforementioned guritsupingueria (230) with the description above by the human operator whom it is related in order the aforementioned medical device (191) to advance side by side to move it operates. The robot arm (190), on the basis of hypothetical planned torajiekutori the device which keeps raw meter reading vis-a-vis the patient is positioned. The linear slider pass (P) restricts the movement of the needle, makes the manual insertion and touching intellectual feedback of the needle possible.関連する画像化装置(100)と使用するガイド装置(200)を備え、画像化装置(100)に配置された患者(20)に対する関連するインターベンショナル手段(192)の動きを指示する。前記ガイド装置(200)は、前記ガイド装置を前記ロボット手段(190)の先端の関連した画像化装置(100)と結合するコネクター部(210)を含む。メインボディ部(220)が前記コ
