This invention relates to an apparatus for positioning a surgical instrument in relation to a target. In a preferred embodiment, the apparatus comprises a first positioning mechanism arranged to move the surgical instrument along a L axis a second positioning mechanism comprising a γ axis rotation mechanism arranged to rotate the first positioning mechanism about a γ axis perpendicular to the L axis a β axis rotation mechanism arranged to rotate the γ axis rotation mechanism about a β axis perpendicular to the γ axis and the L axis and a third positioning mechanism comprising a R axis rotating mechanism arranged to rotate the second positioning mechanism about a R axis parallel to the β axis a Y axis movement mechanism arranged to move the R axis rotating mechanism along a Y axis parallel to the R axis and a X axis movement mechanism arranged to move the Y axis movement mechanism along a X axis perpendicular to the Y axis.本發明關於用於相對於一目標定位一外科手術儀器之裝置。在一較佳具體實施例中,該裝置包括:一第一定位機構,配置成沿著一L軸移動該外科手術儀器;一第二定位機構,包括一γ軸旋轉機構,該機構配置成繞著與該L軸垂直的一γ軸旋轉該第一定位機構;以及一β軸旋轉機構,配置成繞著與該γ軸和該L軸垂直的一β軸旋轉該γ軸旋轉機構;以及一第三定位機構,包括一R軸旋轉機構,該機構配置成繞著與該β軸平行的一R軸旋轉該第二定位機構;一Y軸移動機構,配置成沿著與該R軸平行的一Y軸移動該R軸旋轉機構;以及一X軸移動機構,配置成沿著與該Y軸垂直的一X軸移動該Y軸移動機構。100...裝置102...移動台104...旋轉系統106...3D外科手術定位臂108...機器人控制器110...彈性支撐臂
