Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released. While the brake is held in a released mode,...http://www.google.co.uk/patents/US20010013764?utm_source=gb-gplus-sharePatent US20010013764 - Manipulator positioning linkage for robotic surgery
Manipulator positioning linkage for robotic surgery
