Patent ID: 7235084

Claim:
An access device for guiding an instrument along a trajectory through an entry portal in a surface, the entry portal defining an entry plane and a rotation axis normal to the entry plane, the access device including: a base, configured to be mounted to the surface in or about the entry portal; an instrument guide assembly, rotatably coupled to the base to allow rotation of the instrument guide assembly about the rotation axis; an instrument guide, including at least one first guide lumen for guiding the instrument, the at least one first guide lumen defining a corresponding at least one first insertion axis, the instrument guide coupled to the instrument guide assembly using an arc-shaped sliding joint capable of adjusting an insertion angle of the at least one insertion axis with respect to the rotation axis; and wherein the base and the instrument guide assembly are sized and shaped to allow viewing of the entry portal during the insertion of the instrument through the entry portal as directed by the instrument guide.