Patent ID: 9480531
Filing Date: 2016-11-01
CPC Classification: A61B

Claim Text:
1. An active positioning device for a surgical instrument for use on a robot arm comprising: a carrier plate connected to a robot arm, a port mechanism that is arranged on the carrier plate and intended as an entry point into an interior of a body, at least one guide device for inserting a surgical instrument into the body, whereby a shaft of the surgical instrument extends through a guide device of the at least one guide device, and whereby the guide device is variably connected to the port mechanism via a compensating element, and an adjustment device for the guide device opposite to the port mechanism, wherein the adjustment device is arranged on one of the carrier plate, the port mechanism, or the guide device in such a way that the shaft of the surgical instrument is movable about a pivot point in two directions orthogonal to each other, an x-direction and a y-direction in relation to the port mechanism, in which a longitudinal extension of the surgical instrument runs parallel to a longitudinal extension of the port mechanism, wherein the adjustment device comprises exactly two controllable actuators which are designed as actuating drives that are arranged orthogonally to each other, whereby a ball lever mechanism is provided in-between the guide device and the carrier plate or the port mechanism in such a way that, per the actuating the drives, by means of the ball lever mechanism, the guide device is independently positioned in the x-direction by a first one of the two actuators and the y-direction by a second one of the two actuators in relation to the port mechanism.