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.
April 22, 2011
May 23, 2013
SCUOLA SUPERIORE DE STUDI UNIVERSITARI E DI PER- FEZIONAMENTO SANT'ANNA
Umberto Scarfogliero, Claudio Quaglia, Marco Piccigallo, Selene Tognarelli, Pietro Valdastri, Arianna Menciassi, Paolo Dario