Provided is a master-slave system that causes no unintended operation. A master-slave system includes: a master device having a first link structure; a slave device having a second link structure similar to the first link structure; and a connecting portion that mechanically connects corresponding links of the first link structure and the second link structure so that the corresponding links have the same angle. The first link structure and the second link structure include respective similar parallel links. In addition, the connecting portion connects corresponding links provided at proximal ends of the first link structure and the second link structure to form a four-bar linkage.

Provided is a master-slave system that causes no unintended operation. A master-slave system includes: a master device having a first link structure; a slave device having a second link structure similar to the first link structure; and a connecting portion that mechanically connects corresponding links of the first link structure and the second link structure so that the corresponding links have the same angle. The first link structure and the second link structure include respective similar parallel links. In addition, the connecting portion connects corresponding links provided at proximal ends of the first link structure and the second link structure to form a four-bar linkage.

A remote arm for a manipulator is disclosed, which has a boom tube having a distal end and housing a mechanical communication chain. A floating gearbox assembly is coupled to the boom tube and has an outer framework rigidly coupled to the distal end of the boom tube. An inner framework is retained by the outer framework and is rotatable relative to the outer framework. A drive gear is disposed in the inner framework. which is in mechanical communication with the mechanical communication chain. A wrist joint has a wrist joint housing and an output gear is disposed in the wrist joint housing, where the wrist joint housing is configured to detachably couple to the outer framework. The output gear is configured to mechanically communicate with the drive gear when the wrist joint housing is coupled to the outer framework.

A camera for observing the inside of a shielded cell comprises a support provided with a spring in the form of a gripper for mounting it on a remote- manipulation arm performing the task to be observed, by means of another arm, exerting solely a force for opening the branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop means is added in order to provide the correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by other remote-manipulation means.

A camera for observing the inside of a shielded cell comprises a support provided with a spring in the form of a gripper for mounting it on a remote- manipulation arm performing the task to be observed, by means of another arm, exerting solely a force for opening the branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop means is added in order to provide the correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by other remote-manipulation means.

A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

A mechanical teleoperated device for remote manipulation is provided that is primarily intended for use in minimally invasive surgery. The device generally comprises a slave unit having a number of slave links interconnected by a plurality of slave joints, an end-effector connected to the distal end of the slave unit, a master unit having a corresponding number of master links interconnected by a plurality of master joints, and a handle connected to the distal end of the master unit for operating the mechanical teleoperated device. The device further comprises mechanical transmission means arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave unit. In addition, the mechanical teleoperated device comprises improved kinematics and an improved arrangement of mechanical constraints, allowing for improved positioning of the device over a patient, increased workspace inside the patient and ease of workflow in an operating room.

A mechanical teleoperated device for remote manipulation is provided that is primarily intended for use in minimally invasive surgery. The device generally comprises a slave unit having a number of slave links interconnected by a plurality of slave joints, an end-effector connected to the distal end of the slave unit, a master unit having a corresponding number of master links interconnected by a plurality of master joints, and a handle connected to the distal end of the master unit for operating the mechanical teleoperated device. The device further comprises mechanical transmission means arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave unit. In addition, the mechanical teleoperated device comprises improved kinematics and an improved arrangement of mechanical constraints, allowing for improved positioning of the device over a patient, increased workspace inside the patient and ease of workflow in an operating room.

Disclosed is a mechanical telemanipulator handle to control surgical instruments with articulated end-effectors, such as dissectors, scissors or graspers, enhancing a surgeon's performance during various surgical procedures. These surgical instruments may be inserted into surgical incisions in a body of a patient and the articulated end-effector is mounted on the distal extremity of the instrument shaft, comprising a plurality of links interconnected by a plurality of joints, whose movements are remotely controlled at the telemanipulator's proximal handle. This remote actuation is accomplished through mechanical transmission, optimally along flexible elements, which are able to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector at a predetermined scaled ratio. The articulated handle further comprises one or more movement-amplification systems that amplify the movements generated at the handle so that the gripping force at the instrument's end-effector can be increased and the surgeon's ergonomy improved.