Abstract: The present invention relates to a probe-insertion guiding apparatus for guiding a user towards correct insertion of therapeutic probes into a patient. The apparatus comprises a template which comprises a plurality of apertures sized to accommodate therapeutic probes and to guide insertion of such probes into a body, a probe command receiver for receiving probe insertion commands specifying template apertures through which probes are to be inserted, and at least one of a) a sensory output device operable to indicate to a user which aperture is to receive a next inserted probe, and b) a probe detection device operable to detect insertion of a probe into an aperture. Preferred embodiments include feedback modules providing feedback to a user indicating whether the user's probe did or did not correspond to a probe insertion specified by a received probe insertion command.

Abstract: The present invention relates to devices and methods for planning and supervising minimally invasive surgery. Included are enhancements to systems for planning, monitoring, and controlling cryosurgery.

Abstract: Methods and systems for inserting therapeutic probes into a patient are present. Embodiments include an automated probe insertion system and a probe insertion guide comprising a moveable probe guide sleeve; a positioner for positioning said probe guide sleeve; and a controller operable to receive a definition of a locus within a body of a patient and to direct positioning and orienting of said probe guide sleeve so that a probe advanced through said sleeve will advance in direction of said locus. Cryosurgery applications are presented.