Abstract: A medical instrument holding apparatus includes an attachment device attached to a longitudinal shaft and having a casing, a coupling device attached to the casing of the attachment device, and a carrying device attached to the coupling device, and the carrying device includes an orifice and an aperture, and the aperture of the carrying device is tilted and inclined relative to the orifice of the carrying device, a medical instrument includes an insertion tube engaged into the orifice of the carrying device, and a projecting device is engaged in the aperture of the carrying device for projecting a light onto the insertion tube of the medical instrument at an index mark.

Abstract: Disclosed is an actuation system for adjusting the rigidity of elastic elements by using two sets of transmission modules together with a link gear and two sets of nonlinear elastic elements. The actuation system actuates an external arm by controlling the two sets of transmission modules to rotate in different directions and adjusts the rigidity of the elastic elements by controlling the two sets of transmission modules to rotate in the same direction, so as to achieve the effects of reducing the number of actuation modules used, minimizing the volume of the actuation system, and reducing production cost.

Abstract: A Support arm with brake mechanism, characterized in that: a resilient component generates a resilient force acting in opposition to gravity, such that a supporting rod can move an object steadily; and, in the course of moving the object, a brake is started as needed to brake the supporting rod and fasten the supporting rod to a predetermined position.

Abstract: A medical instrument holding apparatus includes a supporting mechanism having an extension which includes a bore, a medical instrument, and an attachment device includes a shaft slidably engaged in the bore of the extension, and the shaft includes one end portion secured to the medical instrument, and the attachment device includes a handle provided on the shaft, and the shaft is adjustable relative to the extension of the supporting mechanism to a selected position. The extension includes a slot communicating with the bore of the extension for forming two separated flaps, and includes a fastener engaged with the flaps for forcing the flaps to engage with the shaft and to detachably and adjustably secure the shaft to the extension of the supporting mechanism.

Abstract: A support arm with a multiple degree of freedom locking device includes a support arm unit, an outer housing unit, a feed screw, a conical push block, and two conical baffles. When the feed screw rotates in a first direction, the conical push block and the conical baffle are driven are rotated to make the outer annular baffle slanting surface press against the inner surface of the pivot space and the first and second pivot portions, so that the lateral housing is unable to pivot with respect to the upper and lower housing, and the first and second pivot portions are positioned between the two ears in a non-rotatable manner, when the feed screw rotates reversely, the lateral housing will be able to pivot with respect to the upper and lower housing, and the first and second pivot portions are able to pivot with respect to the two ears.

Abstract: A medical instrument holding apparatus includes an attachment device attached to a longitudinal shaft and having a casing, a coupling device attached to the casing of the attachment device, and a carrying device attached to the coupling device, and the carrying device includes an orifice and an aperture, and the aperture of the carrying device is tilted and inclined relative to the orifice of the carrying device, a medical instrument includes an insertion tube engaged into the orifice of the carrying device, and a projecting device is engaged in the aperture of the carrying device for projecting a light onto the insertion tube of the medical instrument at an index mark.

Abstract: A robotic arm includes first and second bent links and a tool link pivotally connected in order, first to third wheels, and first to fourth imaginary axes intersecting at a center of spherical rotation. The first bent link and wheel are driven to rotate about the first and third imaginary axes respectively. A first flexible rope is wound around the first and second wheels and fixed to the second bent link for driving the second wheel and bent link to rotate about the second imaginary axis when the first wheel rotates. A second flexible rope is wound around the second and third wheels and fixed to the first bent link for driving the third wheel and the tool link to rotate about the fourth imaginary axis when the second wheel rotates. The robotic arm is relatively smaller, obstructs the operator less and produces a wider sphere of action.

Abstract: A Force feedback type compliant orthotic device includes a fixing base, driving unit, first limb supporting unit, and second limb supporting unit. The driving unit has a motor disposed at the fixing base and an output shaft connected to the motor. The output shaft is inserted into a joint base to connect with a resilience unit. The first limb supporting unit has a first supporting element fixed at the fixing base and a first electromyographic signal sensor disposed at the first supporting element. The second limb supporting unit has a second supporting element disposed at the joint base and a second electromyographic signal sensor disposed at the second supporting element. The motor generates appropriate auxiliary power according to the sensing result of the first and second electromyographic signal sensors, such that the first and second supporting elements move relative to each other precisely.

Abstract: A Support arm with brake mechanism, characterized in that: a resilient component generates a resilient force acting in opposition to gravity, such that a supporting rod can move an object steadily; and, in the course of moving the object, a brake is started as needed to brake the supporting rod and fasten the supporting rod to a predetermined position.

Abstract: In order to reduce the calculation in robotic arm allocation, the invention provides a spherical linkage type surgical robotic arm, which includes a first curved bar having a first axis center and a second axis center, a second curved bar being equal to the first curved bar in length and having a third axis center and a fourth axis center, the third axis center in coincidence with the first axis center, a third curved bar having a fifth axis center and a sixth axis center and being pivoted to the second curved bar, and a fourth curved bar having a seventh axis center and an eighth axis center and being pivoted to the third curved bar and the first curved bar, thereby reducing the calculation burden and facilitating control and allocation.

Abstract: Disclosed is an actuation system for adjusting the rigidity of elastic elements by using two sets of transmission modules together with a link gear and two sets of nonlinear elastic elements. The actuation system actuates an external arm by controlling the two sets of transmission modules to rotate in different directions and adjusts the rigidity of the elastic elements by controlling the two sets of transmission modules to rotate in the same direction, so as to achieve the effects of reducing the number of actuation modules used, minimizing the volume of the actuation system, and reducing production cost.

Abstract: A differential transmission apparatus. The differential transmission apparatus includes a base, a fixed gear, a rotating member, an output shaft, a reduction gear, an acceleration gear, a shifting device, at least one transmission shaft, at least one first gear, at least one second gear, and at least one third gear. The fixed gear is fixed on the base. The rotating member is adjacent to the fixed gear. The output shaft rotatably fits in the rotating member, fixed gear, and base. The reduction gear is slidably disposed on the output shaft. The acceleration gear is slidably disposed on the output shaft and connected to the reduction gear. The shifting device is disposed on the base and output shaft. The first, second, and third gears are fixed on the transmission shaft and the third gear is between the second gear and the rotating member.

Abstract: A coaxial-type differential transmission apparatus. A fixed gear fixed on a base. An intermediate member is adjacent to the fixed gear. An input shaft is rotatably fitted in the base and fixed gear and is fixed on the intermediate member. An output shaft is rotatably adjacent to the input shaft and is coaxial thereto. A reduction gear and an acceleration gear are slidably disposed on the output shaft. The acceleration gear is between the reduction gear and the intermediate member. A shifting device is disposed on the base and output shaft. A transmission shaft is rotatably fitted in the intermediate member. A first gear is fixed on the transmission shaft and is adjacent to the intermediate member. A second gear is fixed on the transmission shaft. A third gear is fixed on the transmission shaft and between the second gear and the intermediate member.

Abstract: A coaxial-type differential transmission apparatus. A fixed gear fixed on a base. An intermediate member is adjacent to the fixed gear. An input shaft is rotatably fitted in the base and fixed gear and is fixed on the intermediate member. An output shaft is rotatably adjacent to the input shaft and is coaxial thereto. A reduction gear and an acceleration gear are slidably disposed on the output shaft. The acceleration gear is between the reduction gear and the intermediate member. A shifting device is disposed on the base and output shaft. A transmission shaft is rotatably fitted in the intermediate member. A first gear is fixed on the transmission shaft and is adjacent to the intermediate member. A second gear is fixed on the transmission shaft. A third gear is fixed on the transmission shaft and between the second gear and the intermediate member.

Abstract: A differential transmission apparatus. The differential transmission apparatus includes a base, a fixed gear, a rotating member, an output shaft, a reduction gear, an acceleration gear, a shifting device, at least one transmission shaft, at least one first gear, at least one second gear, and at least one third gear. The fixed gear is fixed on the base. The rotating member is adjacent to the fixed gear. The output shaft rotatably fits in the rotating member, fixed gear, and base. The reduction gear is slidably disposed on the output shaft. The acceleration gear is slidably disposed on the output shaft and connected to the reduction gear. The shifting device is disposed on the base and output shaft. The first, second, and third gears are fixed on the transmission shaft and the third gear is between the second gear and the rotating member.