Abstract: A method of monitoring the progress of labor in a mother during childbirth, by attaching a position sensor to a predetermined point on the mother's pelvic bones; monitoring the location of the position sensor in three- dimensional space relative to a reference; and monitoring the location of the fetal presenting part with respect to the predetermined point on the mother's pelvic bones. The location of the fetal presenting part may be indicated by a similar position sensor, or by imaging. Other conditions, such as effacement, cervical dilatation, and cervical position may also be monitored in a similar manner.

Abstract: An apparatus configured to direct a medical needle onto a target inside a living body as indicated by an ultrasound imaging device includes an ultrasound transducer and a needle guide holding the medical needle, both attached to a vertical post by movable arms, an ultrasound imaging device and a computer-controller. The arms are provided with links connected by universal joints which permit positioning by the physician of the transducer and the needle guide in any place on the body in the desired direction. The position of the components is indicated to the computer controller by sensors mounted in the joints of the arms or by wireless transmission. The transducer issues signals regarding the target point to the imaging device which transmits the information to the computer controller, the latter adjusting the angular direction of the needle trajectory onto the target.