Patent ID: 8562594

Claim:
An apparatus comprising: a mounting base; a parallelogram linkage base link having a proximal end, a distal end, and a linkage axis coupling the proximal and distal ends, the parallelogram linkage base link proximal end directly coupled to the mounting base, the parallelogram linkage base link 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 link proximal end; a first link having a proximal end and a distal end, the first link proximal end directly coupled to the parallelogram linkage base link distal end; a second link having a proximal end and a distal end, the second link proximal end directly coupled to the first link distal end, the second link constrained from rotating relative to the parallelogram linkage base; and an instrument holder link directly coupled to the second link distal end, the instrument holder link constrained from rotating relative to the first link; at least two directly coupled links offset from each other in different planes.