Abstract: Apparatus 10 includes arcuate links 12, 14, a block-like hub 16 adapted to hold a surgical tool 50, and a frame 26 for supporting the links 12, 14. Each link 12, 14 includes a curved portion extending from a first extremity at an end of the link 12, 14 to an extremity at an opposite end thereof. The hub 16 is slidably mounted to the links 12, 14. The hub 16 moves along arcuate paths defined by the links 12, 14, for guiding manipulation of the tool 50 about a pivot point 40. The frame 26 includes a lateral wall having a first pair of opposed guiding slots 28 and a second pair of opposed guiding slots 29. The slots 28 slidingly receive the extremities of the link 12 and have a degree of curvature equivalent to the degree of curvature of the link 14. The slots 29 slidingly receive the extremities of the link 14 and have a degree of curvature equivalent to the degree of curvature of the link 12.

Abstract: The invention is a novel compact robotic manipulator with a special configuration that supports a remote center-of-motion attribute, so it has the ability to accurately and conveniently manipulate and re-orient in 2 degrees of freedom, and to firmly “lock” in place, special purpose surgical tools necessary for minimally invasive therapy. The new features include a sophisticated joint-link structure and configuration that comprises two arcuate links that enable comfortable maneuverability of the end effector or the tool about a pivot point, typically the port of entry of the tool to the patient's body, while preventing the enlargement of the key hole, in the constrained and limited workspace of surgical environments. Also the configuration of the joints provides an open structure that keeps the robots' main parts out of the surgeon's field of view and out of the work area, providing sufficient space in the vicinity of the operative field, or the entry port of the tool to the patient's internal organs.