Robotic manipulator for guiding an endoscope having a parallel linkage

A surgical manipulator device for positioning a surgical instrument, the surgical manipulator device comprising:

• a frame;
• a first mount and a second mount for mounting the surgical instrument;
• a first suspension arm arrangement supported on the frame and connecting the frame to the first mount in an articulated manner;
• and
• a second suspension arm arrangement supported on the frame and connecting the frame to the second mount in an articulated manner,
• wherein the first and the second suspension arm arrangements are each displaceable relative to the frame in first and second motion planes parallel to each other and spaced apart, so that the first mount is displaceable in the first motion plane and the second mount is displaceable in the second motion plane, and
• wherein the first suspension arm arrangement is coupled to the frame at four first lever pivot points of the first suspension arm arrangement and the second suspension arm arrangement is coupled to the frame at four second lever pivot points of the second suspension arm arrangement.