Sanagoo, ArashArashSanagoo2022-03-082022-03-082014https://publica.fraunhofer.de/handle/publica/310171The invention relates to a manipulator for minimally invasive surgery, comprising an instrument retainer, which can bear a surgical instrument, a first retaining arm having two segments, and a second retaining arm having two segments, wherein in each retaining arm, the first segment is connected to the second segment by means of a single-axis connecting joint. The axes of rotation of the connecting joints extend through a pivot point that lies on the longitudinal axis of the instrument retainer. The manipulator according to the invention has at least one drive, preferably two drives, by means of which the instrument retainer can be moved about the pivot point in two rotational degrees of freedom.depatent102012018533