Patent ID: 8256319
Filing Date: 2012-09-04
Classification: A61B,Y10S,Y10T

Abstract:
1. An apparatus comprising: a mounting base; a parallelogram linkage base having a proximal end, a distal end, and a linkage axis coupling the proximal and distal ends, the parallelogram linkage base proximal end coupled to the mounting base, the parallelogram linkage base proximal end further rotatable relative to the mounting base about a first axis, the linkage axis and the first axis intersecting at the parallelogram linkage base proximal end; a first link having a proximal end and a distal end, the first link proximal end coupled to the parallelogram linkage base distal end; a second link having a proximal end and a distal end, the second link proximal end coupled to the first link distal end, the second link constrained from rotating relative to the parallelogram linkage base; and an instrument holder coupled to the second link distal end, the instrument holder constrained from rotating relative to the first link, the instrument holder configured to slide along an insertion axis.