9 Electronic control unit, connected to hardware, software and medical devices for image guided medical procedures, namely, robotic insertion and non-linear steering of medical instruments; electronic control unit, connected to hardware, software and medical devices, all incorporated in path planning, robotic insertion and non-linear steering systems; computer hardware, downloadable firmware and downloadable software for image guided procedures, namely, registration of the robotic insertion and non-linear steering system of medical instruments in the images, path planning, robotic insertion and non-linear steering of medical instruments; downloadable computer software for processing images, namely, digital images, for image guided procedures, namely, path planning, robotic insertion and non-linear steering of medical instruments; downloadable computer software that assists computers in deploying parallel applications and performing parallel computations in relation to image guided procedures, namely, path planning, robotic insertion and non-linear steering of medical instruments; downloadable computer software and telecommunications apparatus, namely, modems, to enable connection to databases, computer networks, global computer networks and the Internet for image guided procedures, namely, path planning, robotic insertion and non-linear steering of medical instruments; downloadable real time decision support software, and applications using deep learning, algorithm-based machine learning, and imaging-based automatic inspection and analysis technologies for image guided procedures, namely, path planning, target tracking, path updating, robotic insertion and non-linear steering of medical instruments; downloadable artificial intelligence software for image guided procedures, namely, path planning, target tracking, path updating, target movement prediction, robotic insertion and non-linear steering of medical instruments; downloadable artificial intelligence software for analysis for image guided procedures, namely, path planning, target tracking, path updating, target movement prediction, robotic insertion and non-linear steering of medical instruments; downloadable artificial intelligence and machine learning software for image guided procedures, namely, path planning, target tracking, path updating, target movement prediction, robotic insertion and non-linear steering of medical instruments