Provided is a fixed point mechanism. In the fixed point mechanism, when a drive torque acts on a first connecting rod member (100) or a slide block device (110), the fixed point mechanism can realize a rotation movement around a fixed point; when a drive torque acts on a fourth connecting rod member (103) or a sixth connecting rod member (105), the fixed point mechanism can realize a telescopic movement relative to the fixed point; and when a drive torque acts on the first connecting rod member (100) or the slide block device (110), and another drive torque acts on the fourth connecting rod member (103) or the sixth connecting rod member (105), the fixed point mechanism can realize a rotation movement around the fixed point and a telescopic movement relative to the fixed point. That is, the fixed point mechanism has two degrees of freedom of the rotation movement around the fixed point and the telescopic movement relative to the fixed point.

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.

Disclosed is a mechanical teleoperated device comprising i) a handle (30) placed in a proximal part of the device, having a plurality of handle links interconnected by respective handle joints, ii) an end effector (31) placed in a distal part of the device, having a plurality of end-effector links interconnected by respective end-effector joints, iii) a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising at least one arrangement of a plurality of rotatable elements (41a-d) coaxially mounted together about an axis and arranged to rotate independently from each other, b) first transmission means comprising driving elements (62a-c) which are arranged to actuate in rotation of the plurality of rotatable elements (41a-d) based upon movements of the handle, c) second transmission means comprising driven elements (63a-c) which are arranged to be driven by rotation of the plurality of rotatable elements resulting in movement of the end effector links, wherein the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element is removably coupled to one corresponding rotatable element.

Disclosed is a mechanical teleoperated device comprising i) a handle (30) placed in a proximal part of the device, having a plurality of handle links interconnected by respective handle joints, ii) an end effector (31) placed in a distal part of the device, having a plurality of end-effector links interconnected by respective end-effector joints, iii) a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising at least one arrangement of a plurality of rotatable elements (41a-d) coaxially mounted together about an axis and arranged to rotate independently from each other, b) first transmission means comprising driving elements (62a-c) which are arranged to actuate in rotation of the plurality of rotatable elements (41a-d) based upon movements of the handle, c) second transmission means comprising driven elements (63a-c) which are arranged to be driven by rotation of the plurality of rotatable elements resulting in movement of the end effector links, wherein the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element is removably coupled to one corresponding rotatable element.

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.

The object of the invention is a foot portion (2a) of a medical device, such as gynecological examination bed or a birthing bed. The aim of the invention is to provide a method for moving the foot portion into the required position quickly, effectively and not limiting the actions of medical personnel. An advantage of the present invention is moving the foot portion under the rest area (1) without undesirable protrusion. Movement of the foot portion (2a) under the rest area (1) is performed around a column (5), which is attached under the side edge of a seating portion (3). Such arrangement of the column leaves free space under the rest area (1) for moving the foot portion (2a). Movement of the foot portion (2a) is performed with minimum protrusion over the borderline of the rest area (1) by means of a parallelogram. The foot portion according to the present invention may be also positioned horizontally and vertically, according to the patient's need during the procedure. For each movement, there are available separate moving mechanisms and latching mechanisms.

Disclosed is a mechanical teleoperated device comprising i) a handle (30) placed in a proximal part of the device, having a plurality of handle links interconnected by respective handle joints, ii) an end effector (31) placed in a distal part of the device, having a plurality of end-effector links interconnected by respective end-effector joints, iii) a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising at least one arrangement of a plurality of rotatable elements (41a-d) coaxially mounted together about an axis and arranged to rotate independently from each other, b) first transmission means comprising driving elements (62a-d) which are arranged to actuate in rotation of the plurality of rotatable elements (41a-d) based upon movements of the handle, c) second transmission means comprising driven elements (63a-d) which are arranged to be driven by rotation of the plurality of rotatable elements resulting in movement of the end effector links, wherein the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element is removably coupled to one corresponding rotatable element.

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.