A surgical apparatus having sufficient rigidity in a fixed mode and being freely operable in a steering mode includes one or more arm modules having at least one degree of freedom, each arm module including at least one steering cable to steer the arm module and a plurality of link units to form the at least one arm module, each link unit including a head disposed at an upper portion thereof and having a hemispherical shape, a seat formed at a lower portion thereof, and a sliding ball arranged at the seat, wherein the link units are arranged such that the head of one of the link units is seated on the seat of the other of the link units, and the head of one of the link units and the seat of the other of the link units are slid with respect to each other by the sliding ball.

A device for transmitting motion between a motor (8, 8a) and a mobile element, comprising an epicyclic reduction gearing with a first sun wheel (2.1) and a second sun wheel (2.2), coaxial to each other and connected by transmission means to at least one first planet wheel (3.1) and a second planet wheel (3.2) respectively, which are carried coaxially to each other by a planet carrier (5) mounted to pivot eccentrically around the axis of the sun wheels, characterized in that the transmission means comprise flexible transmission elements (6a, 7a) wound respectively around the first sun wheel and the first planet wheel, and around the second sun wheel and the second planet wheel. Epicyclic reduction gearing and manipulation arm comprising such a device.

The present invention provides an articulating retractor including: a plurality of distal segments, a distal segment of the plurality of distal segments being movable relative to others of the plurality of distal segments; a plurality of proximal segments, a proximal segment of the plurality of proximal segments being movable relative to others of the plurality of proximal segments, the proximal segment corresponding to the distal segment; and multiple sets of cables, the proximal segment connected to its corresponding unit of the distal segment, by a set of cables, such that movement of the proximal segment causes corresponding reciprocal movement of the distal segment. The mechanisms of the articulating retractor may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

A manipulator includes an elongated main unit, a bending portion, and a distal end portion that are disposed in this order from a basal end; a plurality of main bending mechanisms having main linear members that extend from the distal end portion to the main unit, main motive-power generating portions), and main motive-power transmitting portions that transmit motive powers generated by the main motive-power generating portions to the main linear members in the form of linear motions in the longitudinal direction; a plurality of auxiliary bending mechanisms that are provided so as to form pairs with the respective main bending mechanisms and parallel thereto and that exert a pressing force and a tensile force on the distal end portion; and switching portions that selectively actuate either the main bending mechanisms or the auxiliary bending mechanisms, which are paired.

An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

A mechanical arm assembly including a bendable arm. In some embodiments, the bendable arm includes a body including a plurality of links and a plurality of joints movably coupling the plurality of links; and a plurality of wires including one or more control wires. For example, the body encloses at least a portion of each of the plurality of wires and defines a plurality of openings with each wire in the plurality of wires extending through at least one respective opening of the plurality of openings. The one or more control wires may be moveably positioned within at least a portion of the body enclosing the one or more control wires. In some embodiments, each control wire terminates at a corresponding link. For example, a first control wire terminates at a first link and a second control wire terminates at a second link of the plurality of links.