Robotic apparatus for minimally invasive surgery

A surgical robotic apparatus comprising:

• 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, said robotic arm being coupled to a drive mechanism configured to drive said serially arranged joints, said robotic arm further comprising transmission means placed between said drive means and said serially arranged joints,
• wherein said transmission means comprise a first assembly and a second assembly of three gear wheels, and a train of three additional gear wheels coupling said first and said second-assembly to form a differential mechanism,
• an introducer body for being inserted through a patient's skin to provide an access port to a surgical site, said introducer body comprising an internal longitudinal duct having a proximal inlet section and a distal outlet section, said internal longitudinal duct being suited for allowing the passage of said surgical robotic arm through said introducer body, and
• locking means for integrally connecting a proximal part of said surgical robotic arm to said introducer body.