Abstract: A high torque limited angle compact and lightweight actuator that comprises a driven pulley (11), a flexible tie-member (6), which is wound about the driven pulley (11), a linear actuator (7) and an inversion mechanism (8). In particular, the linear actuator (7), which is located with respect to the driven pulley (11) such that the direction is substantially tangent to it, comprises a movable element (10) that carries out a linear movement along a line according to two opposite directions (10?), (10?). The inversion mechanism is such that when an input portion (8?) moves along a line (first straight line), tangential to the driven pulley, of a certain an amount a output portion (8?) moves along another line (second straight line), which is also tangential to the driven pulley, for a same movement amount, such that the total length of the tie-member (6) is unchanged. (FIG.

Abstract: Auxiliary forceps are provided for video-assisted minimally-invasive surgery, such as hand-assisted laparoscopic surgery, the forceps being intended for operation by a surgeon's non-dominant hand inserted through an incision for entering a patient's natural body cavity. The forceps comprises a plurality of actuating plates hinged elastically to one another and having a size and shape suitable for operation when held by the tips of two fingers. The forceps also has a plurality of jaws extending from each actuating plate, and a member for temporarily connecting the forceps to the surgeon's hand so as to maintain the forceps at an adjustable distance from the hand of not greater than a predetermined value. In addition, a structure is provided for housing the jaws relatively close to one another, within which the jaws are engaged during operation when the forceps is not in use.

Abstract: A surgical drill (1), comprising a rotating head (2) having a drill bit (3) suitable to bore a body (4) and support means (7) to which the head (2) is pivotally connected. An actuating unit (10) of the movement of the drill bit (3) with respect to the body to bore (4) is provided for, comprising a first support (11) comprising the head (2) and a second support (12), suitable for resting directly upon the body (4) and translating with respect to the first support (11) parallel to the drill bit (3). The movement between drill bit (3) and body (4) is caused by the relative movement between drill bit (3) and second support (12). Means (21) for the detection of the force acting on the drill bit and means for the control of the drill bit displacement in function of the drilling force are provided for. The drill, manually holdable, presents both a reference with respect to the patient body and allows a precise control of the drill bit displacement.

Abstract: A device operable to supply a force feedback to a physiological unit to be sed as an advanced interface for machines and computers, including an exoskeleton which includes kinematic elements articulated about articulation axes arranged coincident with or in close proximity to the physiological axes of the physiological unit such as, for example, the flexion-extension axes of the phalanges of the fingers of a hand of an operator. A series of electrical actuators controls the degree of tension on traction cables applying a force feedback to the kinematic elements and consequently to the physiological unit, so as to simulate an interaction between the operator and a virtual object. The device includes position sensors for detecting the configuration of the physiological unit and force sensors for measuring the strength of the force locally applied thereto by the actuators controlled by a processing system.

Abstract: An endoscopic robot (1), designed for being inserted into a body cavity (C) f a patient and advanced therein in a prefixed direction (A) with a so-called inchworm-like motion, comprising a variable length segment (2) and aspiration means (12, 13) for selectively producing a pneumatic vacuum (V) between the robot (1) and the body cavity (C) at the robot ends (3, 4) sufficient to produce a substantial anchorage to the body cavity walls, thereby allowing the inchworm-like motion and avoiding, at the same time, any pushing action against the body cavity walls which causes discomfort and pain to the patient.

Abstract: A device for monitoring the configuration of a distal physiological unit prises first position sensors for detecting quantities relating to the relative positions of a digit of an extremity of a limb and to the adduction-abduction of the digit. The device also comprises second position sensors for detecting quantities relating to the pronation-supination position of a distal portion of the limb, to the flexion-extension position of the wrist and to the adduction-abduction position of the wrist. The device comprises a glove structure bearing the fist sensors and an exoskeleton structure bearing the second sensors.