De revolutionibus orbium coelestium (On the Revolutions of the Heavenly Spheres) is the seminal work on the heliocentric theory of the Renaissance astronomer Nicolaus Copernicus (1473–1543). The book, first printed in 1543 in Nuremberg, Holy Roman Empire, offered an alternative model of the universe to Ptolemy's geocentric system, which had been widely accepted since ancient times.