Remote centre of motion positioner

An apparatus for generating motion around a remote centre of rotary motion, comprising:

• a member arranged to revolve about the remote centre of motion;
• a base link adapted to be coupled to a mounting fixture;
• a first link and a second link arranged at a distance from each other and linearly translatable relative to the base link, relative to each other and parallel to each other along a first direction, such that a translational displacement of the first link relative to the base link and of the second link relative to the base link along the first direction occurs at a fixed ratio of displacement, said translational displacement of the first link being smaller than said translational displacement of the second link;
• wherein the first link is connected to the second link such that the first link and second link translate dependently in the first direction;
• wherein the first link and the second link are pivotably coupled to the member at respective distances from the remote centre of motion, such that the ratio of said respective distances equals said fixed ratio of displacement, enabling the member to revolve about the remote centre of motion;
• and
• a motion generator configured for generating translational motion of a first element and of a second element along parallel but opposite directions and parallel to the first direction, wherein the motion generator is fixedly secured to the first link to translate together with the first link such that when translational motion is generated the base link is fixed in a position, the first element is fixedly secured to the base link and the second element is fixedly secured to the second link, such that the motion generator enables the first link and the second link to translate relative to the base link with said fixed ratio of displacement.