Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna

Selene Tognarelli

Paolo Dario

Pietro Valdastri

Arianna Menciassi

Umberto Scarfogliero

Claudio Quaglia

Marco Piccigallo

A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.

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Montignoso, Italy

Selene Tognarelli