Abstract: A crimping device includes a housing defining a bore and at least three extendable mechanisms angularly equispaced about the axis of the bore. Each of the extendable mechanisms include: (i) a first elongate arm hingedly connected at or near a first axial end of the first arm to the housing; (ii) a second elongate arm hingedly connected at or near a first axial end of the second arm to the housing, wherein: the first axial ends of the first and second arms are displaceable relative to each other; and the first and second arms are hingedly connected at or near their second axial ends to each other.

Abstract: A crimping device includes a housing defining a bore and at least three extendable mechanisms angularly equispaced about the axis of the bore. Each of the extendable mechanisms include: (i) a first elongate arm hingedly connected at or near a first axial end of the first arm to the housing; (ii) a second elongate arm hingedly connected at or near a first axial end of the second arm to the housing, wherein: the first axial ends of the first and second arms are displaceable relative to each other; and the first and second arms are hingedly connected at or near their second axial ends to each other.

Abstract: A method of positioning a surgical instrument is provided which includes mapping a volume adjacent an operating table by taking mapping images from two orientations of a calibration object which includes a 3-dimensional array of radio opaque markers in a known configuration. A patient is positioned on the operating table with a patient target area within a mapped volume, and an instrument holder carrying a known configuration of radio opaque markers positioned adjacent the target area. Further fluoroscopic target images of the target area and instrument holder are obtained from the two orientations and the target area then reconstructed in 3-dimensions by comparing the target images to the mapping images. An instrument holder orientation is then calculated from the reconstruction.