Jointed control platform

A medical device comprising:

• means for pivotally supporting an axle that defines a first axis of rotation;
• means for rotating the axle around the first axis of rotation, the axle having a first end, a second end opposite the first end, and a second axis of rotation defined between the first and second ends of the axle, the second axis of rotation being perpendicular to the first axis of rotation;
• means for rotating a first control arm coupled to the first end of the axle around the second axis of rotation;
• and
• means for rotating a second control arm coupled to the second end of the axle around the second axis of rotation independently of the first control arm.

An apparatus comprising:

• a proximal mechanism, a distal component, and first, second, third, and fourth drive elements;
• the proximal mechanism comprising a pivotal support, an axle, a first control arm, and a second control arm;
• the pivotal support defining a first axis of rotation;
• the axle comprising a first end and a second end opposite the first end, a second axis of rotation being defined through the first and second ends of the axle, the axle being supported by the pivotal support so that the axle is free to rotate in the pivotal support around the first axis of rotation, and the second axis of rotation is perpendicular to the first axis of rotation;
• a first control point being defined on the first control arm, and a second control point being defined on the first control arm spaced apart from the first control point;
• a third control point being defined on the second control arm, and a fourth control point being defined on the second control arm spaced apart from the third control point;
• the first end of the axle being coupled to the first control arm between the first and second control points, the second end of the axle being coupled to the second control arm between the third and fourth control points, and the first and second control arms each being free to rotate around the second axis of rotation;
• the first drive element being coupled between the first control point and the distal component;
• the second drive element being coupled between the second control point and the distal component;
• the third drive element being coupled between the third control point and the distal component;
• and
• the fourth drive element being coupled between the fourth control point and the distal component.