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.

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 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.

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 transmission system that transmits motions and forces from one location to another while allowing the relative position/orientation of the two locations to change continuously is disclosed. The system can be used to actuate the joints and tooling of a robotic arm using stationary motors in the robot's base. Since the motors do not contribute any weight or inertia to the arm, this yields a lightweight and agile arm that is more human safe. The transmission includes a controller hydraulic cylinder connected to a remote cylinder by a tubing assembly, which contains hydraulic fluid, and a wire cable. The fluid transmits pushing forces between pistons of the cylinders, while the cable transmits pulling forces. The tubing assembly allows the cylinders to move in space relative to one another.

Provided is a control apparatus configured to control a parallel wire mechanism.

The control apparatus for a parallel wire apparatus configured to pull a movable portion with a plurality of wires decomposes a control model in which the movable portion is driven by a pair of opposed motors with use of the wires to a center of gravity mode in which a motor C is controlled to make the movable portion achieve desired acceleration and a relative mode in which a motor R is controlled to make an elastic force that acts on the wires constant, by mode decomposition, and performs coordinate transformation on an acceleration reference value for the motor C determined in the center of gravity mode and an acceleration reference value for the motor R determined in the relative mode, to thereby obtain an acceleration reference value for the pair of motors.

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.

There is provided a mechanical avatar assembly for use in a confined space in a structure. The mechanical avatar assembly includes a rail assembly for attachment to an access opening to the confined space. The rail assembly includes two or more rail segments coupled together to form an elongated base having a rail and a gear rack extending along a length of the elongated base. The rail assembly further includes a carriage portion coupled to the rail, and movable relative to the rail, and a drive assembly coupled to the carriage portion and to the gear rack, to move the carriage portion along the rail. The mechanical avatar assembly further includes an articulating avatar arm coupled to, and movable via, the carriage portion. The mechanical avatar assembly further includes an image capturing device.

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.