Centre National De La Recherche Scientifique

Université Louis Pasteur

Institut National Des Sciences Appliquees

Institut De Recherche Sur Les Cancers De L'appareil Digestif (ircad)

Michel Demathelin

Olivier Piccin

Bernard Bayle

Jacques Gangloff

Benjamin Maurin

The invention relates to a robotic device for the positioning and orientation of a platform that is connected thereto by means of articulated support structures forming parallel mechanical links, each in the form of a serial kinematic chain of articulations that are interconnected by support segments. The inventive device () is characterized in that it comprises three articulated parallel mechanical links comprising: (i) two opposing, symmetrical and co-planar support structures (and), and (ii) a third support structure () which is located in a plane that is perpendicular to the plane containing the support structures (and). According to the invention, the articulated links formed by the three supports structures (and) enable the controlled movement of points belonging to the platform () on a surface corresponding to a spherical or ellipsoidal cap and, preferably, essentially to a half-sphere, thereby providing at least five degrees of freedom.

Robotic positioning and orientation device and needle holder comprising one such device

Growing community of inventors

Strasbourg, France

Michel Demathelin