Patent ID: 8221436

Claim:
An apparatus for the positioning and orientating of a medical instrument, comprising; a first mechanism having two degrees of freedom and consisting of first, second, third and fourth bars linked sequentially, the first mechanism rotationally connected at the first and fourth bars to a base by first and second actuated driven joints, a second mechanism having one degree of freedom more than the first mechanism and consisting of fifth, sixth, seventh and eighth bars linked sequentially, the second mechanism rotationally connected at the fifth and eighth bars to said base by third and fourth actuated driven joints, an instrument driving means, said instrument driving means being held by said first and second mechanisms, the instrument driving means adapted to hold a medical instrument and adapted to drive said instrument to move along its own axis and to rotate on its own axis where, the first bar is connected to the first actuated driven joint at one end, and by a first revolute joint to the second bar at the other end; the second bar is connected to the first bar at one end, and by a second revolute joint to the third bar at the other end; the third bar is connected to the second bar at one end, and by a third revolute joint to the fourth bar at the other end; the fourth bar is connected to the third bar at one end, and to the second actuated driven joint at the other end; the fifth bar is connected to the third actuated driven joint at one end, and by a first universal joint to the sixth bar at the other end; the sixth bar is connected to the fifth bar at one end, and by a fourth revolute joint to the seventh bar at the other end; the seventh bar is connected to the sixth bar at one end, and by a second universal joint to the fourth bar at the other end; and the eighth bar is connected to the seventh bar at one end, and to the fourth actuated driven joint at the other end.