| 摘要 |
The invention relates to a device (1) that is used to displace at least one element (2) in a space. The inventive device comprises the element to be displaced (2) and a fixed element (4) which is connected to the element to be displaced (2) by means of three arms (6a, 6b, 6c). Each of said arms comprises numerous segments (8, 14, 18, 22) that are interconnected by means of three linking elements (10, 16, 20) which each authorise at least one degree of rotation freedom along an axis. The axes (10a, 16a, 20a) of the aforementioned linking elements (10, 16, 20) of each arm (6a, 6b, 6c) meet at a fixed point (P) around which the element to be displaced (2) can rotate in a spherical manner with three degrees of freedom. According to the invention, for each arm (6a, 6b, 6c) of the device (1), the sum of the degrees of freedom authorised by the linking elements (10, 16, 20) is greater than or equal to five. The inventive device can be used for robotic surgical wrists in the field of endoscopy.
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