Goniometrische Robotanordnung

摘要

In a robotic arrangement an elongate telescope(10) is provided adapted to be inserted into a patient(6). A drive arm(8) is connected to the telescope and means(7) are provided to rotate the drive arm about a substantially vertical axis. Drive means are provided associated with the drive arm(8) to adjust the angle of inclination of the cannula. This may comprise means to adjust the angle of inclination of the drive arm(8) itself.