Patent ID: 8029229

Claim:
A robotic arm compensator comprising: a housing having an instrument side and an adapter side; a lock mandrel disposed between the instrument side and the adaptor side, the lock mandrel having a projection defining at least two angled surfaces; a first lock slide being configured to engage a first surface of the angled surfaces in a first state and to disengage the first surface in a second state; a second lock slide opposing the first lock slide and being configured to engage a second surface of the angled surfaces in the first state and to disengage the second surface in the second state; and an instrument attached to the lock mandrel proximate the instrument side, wherein, in or approaching the second state, the lock mandrel is configured to float between the first and second lock slides such that the instrument may move laterally and radially, the lock mandrel being disposed in the housing to limit axial movement of the lock mandrel.