A hand-held image guided medical robotic system consisting of a reusable handheld device, a disposable cartridge containing a needle, guide wire, dilator and sheath, an ultrasound transducer probe and chipset, liquid crystal display, software for calculating vessel depth, and mechanical means to adjust disposable cartridge inclination and provide physical penetration depth stop for use in accessing select body veins, arteries, conduits, cavities, organs, muscle, tissue, and other anatomical regions

'access':58 'adjust':45 'anatom':70 'arteri':62 'bodi':60 'calcul':38 'cartridg':18,47 'caviti':64 'chipset':32 'conduit':63 'consist':10 'contain':19 'crystal':34 'depth':40,53 'devic':15 'dilat':24 'display':35 'dispos':17,46 'guid':6,22 'hand':3 'hand-held':2 'handheld':14 'held':4 'imag':5 'inclin':48 'liquid':33 'mean':43 'mechan':42 'medic':7 'muscl':66 'needl':21 'organ':65 'penetr':52 'physic':51 'probe':30 'provid':50 'region':71 'reusabl':13 'robot':8 'select':59 'sheath':26 'softwar':36 'stop':54 'system':9 'tissu':67 'transduc':29 'ultrasound':28 'use':56 'vein':61 'vessel':39 'wire':23

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