Simulator apparatus with at least two degrees of freedom of movement for an instrument

摘要

A simulator apparatus with at least two degrees of freedom of movement for an instrument that has an elongated shaft, having a holding device for the instrument, the holding device being designed such that the instrument has at least a first degree of freedom of a swiveling movement about a first swivel axis and at least a second degree of freedom of swiveling movement about a second swivel axis, running perpendicular to the first swivel axis. The holding device has a cardanic suspension that has a spherical element which is suspended such that it can rotate about the first swivel axis and about the second swivel axis, and in which the shaft is partly held.