Patent ID: 8696651
Filing Date: 2014-04-15
Classification: A61B

Abstract:
1. Manipulator, comprising: a main arm having a proximal end and a distal end, a proximal manipulator structure carried by the proximal end of the main arm, to which it is connected by a connecting structure, having at least two opposite contact areas conformed to have two opposite parts of a hand of an operator bear on them, and including sensors adapted to generate movement instructions as a function of the stresses applied by the hand of the operator, a distal controlled structure, carried by the distal end of the main arm and mobile relative to said distal end with at least two degrees of freedom in transverse relative pivoting and one degree of freedom in axial rotation on itself, drive means supplied with power by a power supply and adapted to generate movements as a function of movement instructions received from said sensors of the proximal manipulator structure, and mechanical transmission means accommodated in the main arm, mechanically coupled to the drive means and adapted to transmit movements of the drive means to the distal controlled structure to generate the movements of the distal controlled structure as a function of the movement instructions coming from said sensors of the proximal manipulator structure, wherein: the connecting structure is disposed in an intermediate area substantially along a line joining the opposite contact areas of the proximal manipulator structure, and at least two of said sensors are disposed in said connecting structure and adapted to generate the instructions for movement of the distal controlled structure relative to the main arm with at least two degrees of freedom of movement as a function of the stresses detected in said connecting structure.