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AssigneeScuola Superiore De Studi Universitari E Di Per- Fezionamento Sant'anna
InventorsUmberto Scarfogliero, Claudio Quaglia, Marco Piccigallo, Selene Tognarelli, Pietro Valdastri, Arianna Menciassi, Paolo Dario
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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.
A surgical robotic arm comprising a torsional joint and a flexural joint forming serially arranged joints, said serially arranged joints providing respective degrees of freedom for said arm,
The robotic arm according to the previous claim, wherein the gear wheels of each of said first assembly and second assembly are arranged to form a substantially C-shaped structure, adjacent wheels having mutually orthogonal rotation axes, in which a side wheel of each assembly has a rotation axis substantially parallel to an axis of said torsional joint and an intermediate wheel of each assembly has a rotation axis substantially parallel to, or coinciding with an axis of said flexural joint.
Dependencies are inferred from the claim text.