Robotic apparatus for minimally invasive surgery
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United States of America Patent
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May 12, 2015
Grant Date -
May 23, 2013
app pub date -
Apr 22, 2011
filing date -
Apr 26, 2010
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.
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