R.K.
There's a really good contraption called Arm's reach cosleeper:
http://www.armsreach.com/shop-3/the-original-1/
They are expensive, but maybe you can find a used one on Craigslist or eBay. We had one and it was great. Good luck!
Updated
Also, there's good information about co-sleeping safely at:
http://www.askdrsears.com/html/7/T070600.asp