7D Surgical Inc.

Jean-Francois Paul

Beau Anthony Standish

Victor X D Yang

Peter Siegler

Adrian Mariampillai

Michael Leung

Alignment systems and devices are provided for controlling the alignment of an optical payload. In some embodiments, an optical positioning system is provided that includes a yoke supporting an optical payload. The yoke, which includes a plurality of articulated segments and associated pivot joints, is mechanically coupled to the optical payload, such that when the optical payload is oriented in a given direction, such as towards a distal target, the optical payload is rotatable about a distal pivot axis associated with a distal pivot joint of the yoke. The pivot joints of the yoke may be configured such that the rotation axis associated with a given pivot joint passes sufficiently close to a respective center of mass of a distalward portion of the optical alignment system beyond the given pivot joint, such that the position and orientation of the optical payload is maintained in the absence of external forces.

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Ste-Catherine, Canada

Jean-Francois Paul