| 摘要 |
<p>A surgical instrument guidance apparatus is proposed to guide a surgical instrument or tool. The apparatus includes a device guiding mechanism, composed of inner and outer sheaths, for defining a longitudinal path along which the surgical instrument is to be moved. The guidance apparatus includes two mechanisms which independently control two degrees of freedom in the position of the device guiding mechanism relative to a central axis of the apparatus: (i) a device swing mechanism which sets an angle between the longitudinal path and the central axis; and (ii) a device rotator which sets the rotational position of the longitudinal path about that central axis. In other words, using the device rotator the longitudinal path can sweep out a conical surface about the central axis, the semi-vertical angle of that cone being selected using the device swing mechanism.</p> |
