Abstract: An optical orientation device includes a support structure; an optical element having an optical surface interacting with a laser beam; and a mechanism mounted on the support structure rotating the optical element around mutually perpendicular first and second fixed rotation axes. The mechanism includes a first rotary assembly articulated around a first mobile support axis, which is rotary and perpendicular relative to the first rotation axis. The first rotary assembly is coupled to the support structure to rotate around the first rotation axis, so the optical element rotates around the first rotation axis and the first mobile support axis. A second rotary assembly rotates around a second mobile support axis perpendicular to the first mobile support axis. The beam passes through a cavity around the first rotation axis, the cavity facing the optical element. First and second linear actuators rotate the first rotary assembly and the second rotary assembly, respectively.

Abstract: A module includes an oblong structure; an optical apparatus associated with the oblong structure for facing a segment arranged inside a body cavity of a patient. An actuating device is for controlling the position of the oblong structure so as to orient the optical apparatus in the body cavity. The oblong structure has a proximal portion and an end portion, which is deformable, so as to tend to remain in and elastically return to a bent condition, in which it is normally flexed. The actuating device includes a pusher member, which moves in a guided manner relative to the oblong structure and is suited to act upon the end portion, so as to angularly move it from the bent condition towards a substantially straight condition.

Abstract: An electronic measurement unit for a polymorphous device, comprising a number of lateral structures, each lateral structure including: a support structure; at least one sensor constrained to the support structure and generating an electrical signal indicative of a deformation of the support structure; and a coupling structure that constrains a corresponding external covering element to the support structure in a releasable manner, so that when the external covering element is constrained to the support structure and an external force acts on the external covering element, the electrical signal is indicative of the external force.

Abstract: An optical orientation device includes a support structure; an optical element having an optical surface interacting with a laser beam; and a mechanism mounted on the support structure rotating the optical element around mutually perpendicular first and second fixed rotation axes. The mechanism includes a first rotary assembly articulated around a first mobile support axis, which is rotary and perpendicular relative to the first rotation axis. The first rotary assembly is coupled to the support structure to rotate around the first rotation axis, so the optical element rotates around the first rotation axis and the first mobile support axis. A second rotary assembly rotates around a second mobile support axis perpendicular to the first mobile support axis. The beam passes through a cavity around the first rotation axis, the cavity facing the optical element. First and second linear actuators rotate the first rotary assembly and the second rotary assembly, respectively.

Abstract: A module includes an oblong structure; an optical apparatus associated with the oblong structure for facing a segment arranged inside a body cavity of a patient. An actuating device is for controlling the position of the oblong structure so as to orient the optical apparatus in the body cavity. The oblong structure has a proximal portion and an end portion, which is deformable, so as to tend to remain in and elastically return to a bent condition, in which it is normally flexed. The actuating device includes a pusher member, which moves in a guided manner relative to the oblong structure and is suited to act upon the end portion, so as to angularly move it from the bent condition towards a substantially straight condition.

Abstract: An actuated joint comprising a first element and a second element movable one with respect to the other, a first actuator and a second actuator connected to said first and second element for controlling the movement of said joint in an agonist-antagonist way, wherein said first actuator has a nominal or maximum power greater than that of said second actuator and said second actuator comprises at least a first elastic element extendable so as to store a maximum amount of elastic energy greater than that storable by said first actuator.

Abstract: An electronic measurement unit for a polymorphous device, comprising a number of lateral structures, each lateral structure including: a support structure; at least one sensor constrained to the support structure and generating an electrical signal indicative of a deformation of the support structure; and a coupling structure that constrains a corresponding external covering element to the support structure in a releasable manner, so that when the external covering element is constrained to the support structure and an external force acts on the external covering element, the electrical signal is indicative of the external force.

Abstract: A rotary joint (10; 110) includes an output member (12; 112) rotatable about a first axis of rotation (x1), a first actuator device (14) arranged to generate a rotary motion about the first axis (x1), an input member (16; 116) driven by the first actuator device (14; 114) about the first axis (x1), elastic elements (20, 64; 120) between the input member (16; 116) and the output member (12; 112) and configured such that the transmission of the torque takes place via the elastic elements (20, 64; 120). A second actuator device (22; 122) is arranged to change the stiffness of the rotary joint (10; 110).

Abstract: A surgical lift device includes a suction member for detachably contacting an external skin surface of a human body wall and holding the external skin surface by application of negative pressure between the suction member and the external skin surface. The suction member has a gripping force sufficient to permit lifting of the human body wall to an elevated position and to hold the human body wall in the elevated position. The suction member has a load-bearing domed structure which determines the lifting of the human body wall during application of negative pressure. The surgical lift device further includes a low friction entry port device arranged on the dome structure, wherein the low friction entry port device has a low friction port fixture for inserting a tool.