Patent ID: 8062288

Claim:
A manipulator for constraining a position of a surgical instrument, the manipulator comprising: a mounting base; a parallelogram linkage base having a proximal end and a distal end, the parallelogram linkage base proximal end coupled to the mounting base, the parallelogram linkage base proximal end rotatable relative to the mounting base about a first axis, the parallelogram linkage base distal end lying on an axis offset from the first axis; 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 support a surgical instrument for extension along a longitudinal axis of the surgical instrument.