BAX, JEFFREY,COOL, DEREK,GARDI, LORI ANNE,FENSTER, AARON
申请号：
EP07719992
公开号：
EP2034921A4
申请日:
2007.06.19
申请国别(地区):
EP
年份:
2014
代理人:
摘要：
There is provided a guide apparatus for orienting a medical tool relative to and through a remote fulcrum or remote center of motion. The guide apparatus may comprise: at least one crank arm comprising at least a portion of a first hinged coupling for hinged coupling to a stabilizer； at least one link arm comprising at least a portion of a second hinged coupling for hinged coupling to the crank arm at a location spaced from the first hinged coupling； a tool holder for supporting a medical tool on the link arm at a location spaced from the first hinged coupling； wherein the rotational axes of the first and second hinged couplings intersect to define a remote fulcrum. The guide apparatus may be configured to be an open-loop spherical chain or a closed-loop spherical chain.
