A medical instrument holding device includes a grasping portion onto which a medical instrument is mounted, an acceptant arm supported by a link mechanism, and a ball joint element adapted to be fixed to and released from the acceptant arm. The grasping portion is connected to the acceptant arm by the...http://www.google.es/patents/US7189246?utm_source=gb-gplus-sharePatente US7189246 - Medical instrument holding device
