Patent ID: 8388516

Claim:
A method for controlling the spatial position of an endoscope, comprising the steps of: providing a pivoting support; coupling said pivoting support to an endoscope; thereby enabling said endoscope to pivot around said pivoting support at an insertion point into a body of a subject independent of the distance between said pivoting support and said insertion point; providing a mechanism for moving said pivoting support independently in two arc-shaped paths; providing an arc shaped housing in which said mechanism moves said pivoting support along an arc shaped guide disposed within said arc shaped housing, said arc shaped housing comprising a base, said base comprising a housing containing a lead screw ( 15 ) constrained to remain in one position, rotation of said lead screw moving a nut ( 10 ) through which the screw is threaded moving the nut; said moving nut physically connected to a gimbal ( 50 ) with links ( 20 ) adapted to transfer linear movement of the nut to said gimbal resulting in movement of said gimbal back and forth along said arc shaped guide, whereby a sliding degree of freedom is obtained; and, mechanically connecting said mechanism to said pivoting support, thereby enabling said endoscope to rotate around said insertion point.