Patent ID: 8920433

Claim:
A manipulator comprising: a control unit ( 1 ), having a handle ( 4 ) capable of being held by one hand, control members ( 4 a - 4 d ) mounted on the handle ( 4 ) and capable of being actuated by at least one finger of the hand holding the handle ( 4 ), a connecting arm ( 2 ) extending along a longitudinal axis (I-I), having a proximal end ( 2 a ) in which the control unit ( 1 ) is mounted, and having a distal end ( 2 b ), a working unit ( 3 ) mounted on the distal end ( 2 b ) of the connecting arm ( 2 ) and comprising a tool support ( 5 ) capable of supporting a tool ( 6 ), the tool support ( 5 ) being mounted in a manner in which it can be inclined in the working unit ( 3 ) relative to the connecting arm ( 2 ) by rotation about a transverse inclination axis ( 11 ), the control members ( 4 a - 4 d ) make it possible to control the transverse inclination ( 12 ) of the tool support ( 5 ) in a direction of inclination (II) by rotation about the transverse inclination axis ( 11 ), the control members ( 4 a - 4 d ) make it possible to control a specific rotation ( 14 ) of the tool support ( 5 ) about the direction of inclination (II), and in which: in a transverse inclined rotation ( 12 ), the tool support ( 5 ) is driven by at least one first inclination actuator ( 40 a ) controlled by a first ( 4 a ) of the control members of the handle ( 4 ), in the specific rotational movement ( 14 ) of the tool support ( 5 ) about the direction of inclination (II), the manipulator is controlled by a second ( 4 b ) of the control members of the handle ( 4 ) which controls one or more actuators ( 40 b ), wherein the specific rotational movements ( 14 ) and possible opening-closing ( 60 ) movements of the tool ( 6 ) are transmitted to the tool support ( 5 ) only by gears ( 39 , 40 , 41 ; 32 , 33 , 34 ) and tubes ( 38 , 41 ) or shafts ( 31 , 36 ) housed in the working unit ( 3 ), whilst the inclination movements about the transverse inclination axis ( 11 ) are transmitted by cables ( 41 a ).