Patent ID: 8591397

Claim:
A system for controlling with respect to a patient's body an extremity of an observation and/or intervention device having a portion penetrating into the patient's body via a trocar, comprising: a base adapted to be laid on the patient's body; first means for supporting and orienting the device formed of a first portion rotatably assembled on the base according to a connection with one degree of freedom, and of a second portion rotatably assembled on the first portion according to a connection with one degree of freedom; second means connected to the device for translating the device with respect to the second portion; a first actuator for actuating the first portion with respect to the base, and a second actuator for actuating the second portion with respect to the first portion, wherein at least one of the base and the first portion comprises an external surface configured to engage with a complementary drive gear coupled to the first actuator; and a drive element having a toothed surface configured to engage with a second drive gear coupled to the second actuator, wherein the drive element is attached to the first portion and the second actuator is attached to the second portion.