Robotic surgical device

• US 8,551,114 B2
• Filed: 11/06/2006
• Issued: 10/08/2013
• Est. Priority Date: 11/06/2006
• Status: Expired due to Fees

• Current Assignee: Human Robotics S.A. De C.V.
• Original Assignee: Human Robotics S.A. De C.V.
• Inventors: Ramos de la Pea, Alejandro
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): LOUIS, RICHARD G
• Application Number:
  US11/593,011
• Publication Number:
  US 20080109014A1
• Time in Patent Office: 2,528 Days
• Field of Search: 414 4- 8, 606205-207, 606/130, 901 1- 16, 901 19- 20, 901 23- 32, 7449001-49009
• US Class Current: 606/130
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

A robotic surgical device for use in laparoscopic surgery, includes two robotic arms in parallel relationship with each other. Each arm has at least six joints providing a total of fourteen degrees of movement that accurately reproduce the movements of a human torso complete with arms. The robotic arms are connected to a support via a connection element.

Claims

1. A robotic surgical device comprising:

support means comprising an elongated hollow cylinder having a first and a second end and having a diameter size adequate for entering through a standard sized laparoscopic surgical opening;

a first and a second robotic arm each positioned in a parallel relationship from each other;

driving means for driving both robotic arms, comprising;

a first and a second group of seven stepper motors, each group attached to a base and driving a correspondent robotic arm, wherein the motors of each group are aligned in two parallel rows and wherein each motor drives a rotary pulley located at a superior portion thereof;

movement transmission means for each stepper motor, each comprising a cable attached to the pulley of a respective motor for a total of fourteen cables divided in two groups of seven cables, each group corresponding to a robotic arm, wherein each of the cables attached to its respective pulley, passes by a correspondent series of circular grooves, each located at subsequent pulleys, thus lineally guiding each cable along subsequent pulleys so that a first pulley has one circular groove, the second pulley has two circular grooves, one for its own cable and one for the passing cable of the previous pulley and so on, thus avoiding the entanglement of the cables, and wherein each cable is pulled when the pulley rotates in one direction and is loosened when the pulley rotates in an opposite direction, and wherein both groups of cables are aligned and conducted through the elongated cylinder entering a first end and exiting through a second end thereof;

wherein each robotic arm comprises;

a first connection element fixedly attached to the support means having a longitudinal axis, a first open end and a second open end, and pivoting linking means, wherein in the resting position, the longitudinal axis of the first connection element, is located at a position parallel to the X axis;

a second connection element having a longitudinal axis, a first open end and a second open end, pivotally linked to the pivoting linking means of the first connection element, said second connection element able to pivot up to 90°

to the front until the longitudinal axis or the second connection element reaches a position parallel to the Z axis and to a side until its longitudinal axis reaches a position parallel to the X axis, taking as reference the first connection element resting position, having pivoting linking means allowing a forward and backward pivoting movement and wherein in the resting position, the longitudinal axis of the second connection element is located at a position parallel to the X axis;

a third connection element having a longitudinal axis, a first open end and a second open end, pivotally linked to the pivoting linking means of the second connection element, said third connection element able to pivot up to 90°

upwards until its longitudinal axis reaches a horizontal position parallel to the X axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the second connection element resting position, having pivoting linking means allowing an upward and downward pivoting movement, and wherein in the resting position, the longitudinal axis of the third connection element is located at a position parallel to the Y axis;

a fourth connection element having a longitudinal axis, a first open end and a second open end, pivotally linked to the pivoting linking means of the third connection element, said fourth connection element able to pivot up to 90°

upwards until the longitudinal axis of the fourth connection element reaches a horizontal position parallel to the Z axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the third connection element resting position, having pivoting linking means allowing an upward and downward pivoting movement, and wherein in the resting position, the longitudinal axis of the fourth connection element is located at a position parallel to the Y axis;

a fifth connection element having a longitudinal axis, a first open end a second end having rotary linking means allowing concentric rotation over a single axis, pivotally linked to the pivoting linking means of the fourth connection element, said fifth connection element able to pivot up to 90°

upwards until the longitudinal axis of the fifth connection element reaches a horizontal position parallel to the Z axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the fourth connection element resting position, and wherein in the resting position, the longitudinal axis of the fifth connection element is located at a position parallel to the Y axis;

a sixth connection element having a longitudinal axis, a first open end rotary linked to the rotating linking means of the fifth connection element and a second open end having pivoting linking means allowing the sixth connection to move up to 90°

upwards until the longitudinal axis of the sixth connection element reaches a horizontal position parallel to the Z axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis together with the fifth connection element, said sixth connection element able to rotate 360°

over the connection element'"'"'s own longitudinal axis, and wherein in the resting position, the longitudinal axis of the sixth connection element is located at a position parallel to the Y axis;

a gripping tool, pivotally linked to the pivoting linking means of the sixth connection element and having a longitudinal axis, said gripping tool able to pivot up to 90°

upwards until the longitudinal axis of the sixth connection element reaches a horizontal position parallel to the Z axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the sixth connection element resting position, and wherein in the resting position, the longitudinal axis of the gripping tool is located at a position parallel to the Y axis; and

wherein the robotic surgical device including driving means comprising a first and a second group of seven stepper motors, each group attached to a base and driving a correspondent robotic arm, wherein the motors of each group are aligned in two parallel rows and wherein each motor drives a rotary pulley located at a superior portion thereof;

wherein each connection element is connected to a correspondent stepper motor by means of a cable attached to the pulley of a respective motor for a total of fourteen cables divided in two groups of seven cables, each group corresponding to a robotic arm wherein each of the cables attached to its respective pulley, passes by a correspondent series of circular grooves, each located at subsequent pulleys, thus lineally guiding each cable along subsequent pulleys, thus avoiding the entanglement of the cables, and wherein each cable is pulled when the pulley of a respective stepper motor rotates in one direction and is loosen when the pulley rotates in an opposed direction, and wherein both groups of cables are aligned and conducted through the support means;

wherein a first corresponding group of seven cables enter the first connection element through the first open end and wherein a first, second, third, fourth, fifth, sixth, and seventh cable of said first corresponding group, exit the first connection element through the second open end;

wherein a first, second, third, fourth, fifth, sixth, and seventh cable exiting the first connection element, enters the second connection element through the first open end and wherein a first, second, third, fifth, sixth, and seventh cable exit the second connection element through the second open end;

wherein a first, second, third, fifth, sixth, and seventh cable exiting the second connection element enters the third connection element through its first open end and wherein the first, second, third, fifth and sixth cable exit the third connection element through the second open end;

wherein a first, second, third, fifth and sixth cable exiting the third connection element enters the fourth connection element through its first open end and wherein a second, third, fifth and sixth cable exit the fourth connection element through the second open end;

wherein a second, third, fifth and sixth cable exiting the fourth connection element enters the fifth connection element through its first open end and wherein a third, fifth and sixth cable exit the fourth connection element through the fourth connection element'"'"'s second open end;

wherein a third, fifth and sixth cable exit the fifth connection element through its second end enters the sixth connection element through its first open end and wherein a third and fifth cable exit the sixth connection element through the sixth connection element'"'"'s second open end; and

wherein a third and fifth cable exiting the sixth connection element through its second open end enters the gripping tool through its second open end,

wherein the first connection element comprises;

a first connection element comprising a hollow quadrangular member having a first and a second longitudinal wall, a central longitudinal axis, a first end and a second open rounded end, including a first and a second pin holes located at each longitudinal wall near the first end of the first connection element, a rectangular aperture at a lateral side near the first end, said first connection element been fixedly attached to the second end of the hollow elongated cylinder in such way that its longitudinal axis is located perpendicularly to the hollow cylindrical tube and the lateral rectangular aperture coincide with the second end of the hollow cylindrical tube and having;

a rotating sluing drum including a pin at each end, each pin rotary received inside the pin holes so that the ends of the first rotary sluing drum are rotary linked to both longitudinal walls and located between them inside the first connection element near its first end and aligned with its central longitudinal axis, having seven concentric circular grooves;

a first and a second opposed pin holes each located at a correspondent longitudinal wall near the second end of the first connection element, each aligned with the central longitudinal axis; and

wherein the first corresponding group of cables enter the first connection element through the rectangular aperture, each passing by the sluing drum and guided by a respective concentric circular groove and exiting the first connection element through the second open end.

2. The robotic surgical device as claimed in claim 1, wherein the second connection element includes:

a first open end and a second open end, and a central portion including a first and a second passage, wherein the first end including a superior rounded longitudinal wall having a central superior circular recess, a central rounded longitudinal wall, and an inferior rounded longitudinal wall, each depending from the central portion and each including a central coincident pin hole, wherein the pin hole of the superior rounded longitudinal wall is located at a central portion of the circular recess and wherein the second open end includes a first rounded lateral wall and a second opposed rounded lateral wall each extending from the central portion and each respectively having a first and a second pin hole at a central portion thereof, said second connection element further having;

six pulleys having a central perforation, each one located below the other forming a vertical row, and wherein a first, second and third pulley are located and rotary retained between the superior rounded longitudinal wall and the central rounded longitudinal wall, and a fourth, fifth and sixth pulley are located and rotary retained between the central rounded longitudinal wall and the inferior rounded longitudinal wall;

a pin passing through the pin hole of the superior rounded longitudinal wall, through the central perforation of the first, second and third pulley, through the pin hole of the central rounded longitudinal wall, through the central perforation of the fourth, fifth and sixth pulley and through the pinhole of the inferior rounded longitudinal wall, thus rotary retaining the six pulleys and wherein the pin protrudes over the pinhole of the superior rounded longitudinal wall and below the inferior rounded longitudinal wall;

a circular spring tightly received inside the circular recess located at the superior rounded longitudinal wall;

wherein a first, second and third cable exiting the first connection element each enters the second connection element through the first open end and passes by and surrounds a correspondent first, second and third pulley and are guided through the first passage of its central portion to the second open end through which they exist the second connection open end through which they exit the second connection element and wherein a fifth, sixth, and seventh cable exiting the first connection element, enters the second connection element through the first open end and passes by and surrounds a correspondent fourth, fifth and sixth pulley and are a guided through the second passage of its central portion to the second open end through which they exit the second connection element;

wherein a fourth cable is linked to the central portion of the second connection element, thus connecting the second connection element directly to a fourth stepper motor, thus driving the second connection element;

wherein the second connection element is pivotally retained inside the second open rounded end of the first connection element in such way that the whole first end of the second connection element including the superior, central and inferior rounded longitudinal walls and pulleys are retained inside the second open rounded end of the first connection element so that said second connection element is able to pivot up to 90°

to the front until its longitudinal axis reaches a position parallel to the Z axis and to a side until its longitudinal axis reaches a position parallel to the X axis, taking as reference the first connection element resting position, when a fourth stepper motor pulls the fourth cable linked to the second connection element and wherein in the resting position, the longitudinal axis of the second connection element is located at a position parallel to the X axis;

wherein the circular spring remains tightly retained between the first connection element and the circular recess of the superior rounded longitudinal wall of the second connecting element thus applying a torsional force over said two elements, forcing the second connecting element to return to its resting position; and

further including a first and a second lateral pulley each respectively linked at a superior and inferior portion of the first and second rounded lateral wall between them and inside the second open end of the second connection element, and wherein the seventh cable passing through the second passage passes by said first and second lateral pulley before emerging from the second connection element by the second open end.

3. The robotic surgical device as claimed in claim 1, wherein the third connection element including:

a first open end and a second open end, and a central portion including a first and a second passage wherein the first end including a first rounded longitudinal wall having a central superior circular recess, a central rounded longitudinal wall, and an third rounded longitudinal wall, each depending from the central portion and each including a central coincident pin hole, wherein the pin hole of the first rounded longitudinal wall is located at a central portion of the circular recess and wherein the second open end includes a first rounded lateral wall and a second rounded lateral wall each extending from the central portion and including a correspondent first and a second pin holes, and having;

five pulleys having a central perforation, each one located below the other forming a linear row, and wherein a first and second pulley are located and rotary retained between the first rounded longitudinal wall and the central rounded longitudinal wall, and a third, fourth and fifth pulley are located and rotary retained between the central rounded longitudinal wall and the third rounded longitudinal wall;

a pin passing through the pin hole of the first rounded longitudinal wall, through the central perforation of the first and second pulley, through the pin hole of the central rounded longitudinal wall, through the central perforation of the third, fourth and fifth pulley and through the pinhole of the third rounded longitudinal wall in that order, thus rotary retaining the five pulleys and wherein the pin protrudes over the pinhole of the first rounded longitudinal wall and below the third rounded longitudinal wall;

a circular spring tightly received inside the circular recess located at the first rounded longitudinal wall;

wherein a fifth, and a sixth cable exiting the second connection element each enters the third connection element through the first open end and passes by and surrounds a correspondent second, and first pulley and are guided through the first passage of its central portion to the second open end through which they exit the third connection element and wherein a first, second and third cable exiting the second connection element, enters the third connection element through the first open end and passes by and surrounds a correspondent fifth, fourth and third pulley and are guided through the second passage of its central portion to the second open end through which they exit the third connection element;

wherein a seventh cable is linked to the central portion of the third connection element, thus connecting the third connection element directly to a seventh stepper motor, thus driving the third connection element;

wherein the third connection element is pivotally retained inside the second open end of the second connection element in such way that the whole first end of the third connection element including the first, central and third rounded longitudinal walls and pulleys are retained inside the second open end of the second connection element in such way that said third connection element is able to move up to 90°

upwards until its longitudinal axis reaches a horizontal position parallel to the X axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the second connection element resting position, when a seventh stepper motor pulls the seventh cable linked to the third connection element and wherein in the resting position, the longitudinal axis of the third connection element is located at a position parallel to the Y axis; and

wherein the circular spring remains tightly retained between the second connection element and the circular recess of the first rounded longitudinal wall of the third connecting element thus applying a torsional force over said two elements, forcing the third connecting element to return to its resting position.

4. The robotic surgical device as claimed in claim 1, wherein the fourth connection element including:

a first open end and a second open end, and an elongated central portion including a first and a second passage and a central path having a longitudinal axis defined by a first and a second lateral wall and by an inferior longitudinal wall, wherein the first end including a first rounded lateral wall having a central superior circular recess, a central rounded lateral wall, and an third rounded lateral wall, each depending from the central portion and each including a central coincident pin hole, wherein the pin hole of the superior rounded longitudinal wall is located at a central portion of the circular recess and wherein the second open end includes a first rounded lateral wall and a second rounded lateral wall extending from the central portion each having a central pin hole, and having;

four pulleys having a central perforation, each one located below the other forming a linear row, and wherein a first and a second pulley are located and rotary retained between the first end first rounded lateral wall and the first end central rounded longitudinal wall, and a third and fourth pulley are located and rotary retained between the first end central rounded longitudinal wall and the first end third rounded longitudinal wall;

a pin passing through the pin hole of the first end first rounded longitudinal wall, through the central perforation of the first and second pulley, through the pin hole of the first end central rounded longitudinal wall, through the central perforation of the third and fourth pulley and through the pinhole of the first end third rounded longitudinal wall in that order, thus rotary retaining the four pulleys and wherein the pin protrudes over the first end first rounded longitudinal wall and below the first end third rounded longitudinal wall;

a circular spring tightly received inside the circular recess located at the first end first rounded longitudinal wall;

wherein a sixth and fifth cable exiting the third connection element each enters the fourth connection element through the first open end and passes by and surrounds a correspondent first and second pulley and are guided through the first passage of the central portion across the central path to the second open end through which they exit the fourth connection element and wherein a second and third cable exiting the third connection element, enters the fourth connection element through the first open end and passes by and surrounds a correspondent fourth and third pulley and are guided through the first passage of the central portion across the central path to the second open end through which they exit the fourth connection element;

wherein a first cable is linked to the first end third rounded lateral wall of the fourth connection element, thus connecting the fourth connection element directly to the first stepper motor, thus driving the fourth connection element;

wherein the fourth connection element is pivotally retained inside the second open end of the third connection element in such way that the whole first end of the fourth connection element including the first, central and third rounded longitudinal walls and pulleys are retained inside the second open end of the third connection element in such way that said fourth connection element is able to move up to 90°

upwards until its longitudinal axis reaches a horizontal position parallel to the Z axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the third connection element resting position, when a first stepper motor pulls the first cable linked to the fourth connection element and wherein in the resting position, the longitudinal axis of the fourth connection element is located at a position parallel to the Y axis;

wherein the circular spring remains tightly retained between the third connection element and the circular recess of the first end first rounded lateral wall of the fourth connecting element thus applying a torsional force over said two elements, forcing the fourth connecting element to return to its resting position; and

further including;

a first sluing drum having a first and a second end, and a longitudinal axis, wherein said first sluing drum is rotary and transversally retained inside the central path in such way that both ends are rotary retained between the lateral walls of the central path with its longitudinal axis being located perpendicularly to the central path longitudinal axis and having one circular groove;

a second sluing drum having a first and a second end, and a longitudinal axis, wherein said second sluing drum is rotary and transversally retained inside the central path in such way that both ends are rotary retained between the lateral walls of the central path with its longitudinal axis being located perpendicularly to the central path longitudinal axis and having a three circular grooves;

a first pulley, having a central elongated member axis including a first end and a second end which is joined to the center of the pulley, wherein the first end of the axis member is rotary retained to the inferior longitudinal wall of the central path in such way that it is positioned in a perpendicularly relationship with respect to the central path longitudinal axis;

a second pulley, having a central elongated member axis including a first end and a second end which is joined to the center of the pulley, wherein the first end of the axis member is rotary retained to the second longitudinal wall of the central path in such way that it is positioned in a perpendicularly relationship with respect to the central path longitudinal axis;

a third pulley, having a central elongated member axis including a first end and a second end which is joined to the center of the pulley, wherein the first end of the axis member is retained to both lateral walls of the central path in such way that it is positioned between them;

wherein the first sluing drum, second sluing drum and third pulley are located along the central path in said order in a zig-zag pattern and retained to both central path lateral walls as described above;

wherein the first and second pulley are located along the central path in said order in a zig-zag pattern and retained to the second central path inferior longitudinal wall as described above;

wherein the second cable passing through the central path, passes by and surrounds the circular groove of the first sluing drum and passes by and surrounds the third pulley;

wherein the third cable passes by and surrounds a third circular groove of the second sluing drum, and passes by the second and third pulleys; and

wherein the fifth and sixth cable passes by and surrounds a correspondent circular groove of the second sluing drum.

5. The robotic surgical device as claimed in claim 1, wherein the fifth connection element including:

a first open end and a second end having a cylindrical shape, a circular cross section and a circular internal and external wall, an entrance opening, an exit opening, and a longitudinal and transversal axis, wherein the first end including a first rounded lateral wall, and a second rounded longitudinal wall having a central circular recess, each depending from the second end circular wall and each including a central coincident pin hole, wherein the pin hole of the second rounded lateral wall is located at a central portion of the circular recess and wherein the second end includes cylindrical connection member including an open transversal lateral housing opened to the exterior of the rotary connection means and a cylindrical linking member having two circular passages, and having;

a circular spring tightly received inside the circular recess located at the second rounded lateral wall;

a first sluing drum having a first and a second end, each including an elongated longitudinal axis, wherein the ends of the longitudinal axis member passes through the pin hole of the first and second rounded lateral wall respectively, thus rotary and transversally retained between the first and second rounded longitudinal wall in a central portion thereof and including three circular grooves, and wherein each end of the elongated member axis protrudes over the pinhole of the first rounded lateral wall and over the pinhole of the second rounded lateral wall;

a second sluing drum having a first and a second end, and a longitudinal axis, wherein said second sluing drum is rotary and transversally retained between the first and second rounded lateral wall and including one circular groove, wherein the second sluing drum is located next to the first sluing drum in a parallel relationship and off center with respect to the longitudinal axis;

a third and a fourth sluing drums, each having a first and a second end and a circular groove, and each parallely located with respect to each other and aligned with respect to the transversal axis;

a first and a second pulley, each having a central elongated member axis including a first end and a second end which is joined to the center of the pulley, wherein the first end of the axis member of the first pulley is attached to the interior circular wall of the cylindrical connection member and the first end of the axis member of the second pulley is attached to the interior circular wall of the cylindrical linking member in such way that each axis is positioned in a perpendicularly relationship with respect to the longitudinal axis, and in a parallel relationship with respect to the transversal axis, wherein the first pulley including only one circular groove and the second pulley including a first and a second circular groove and wherein the first pulley is located next to the third and fourth parallel sluing drums and wherein the second pulley is located next to the first pulley;

a third pulley having a central elongated member axis including a first end and a second end which is joined to the center of the pulley, said third pulley rotary retained inside the open transversal lateral housing wherein the first end of the axis member is retained to a wall of the open transversal lateral housing in such way that it is positioned in a parallel relationship with respect to the longitudinal axis, and in a perpendicular relationship with respect to the transversal axis;

wherein a third cable exiting the fourth connection element enters the fifth connection element through the first open end and passes by and surrounds a correspondent groove of the first sluing drum and third sluing drum and is guided through the cylindrical connection member and cylindrical linking member and exits the fifth connection element through the first circular passage;

wherein a fifth cable exiting the fourth connection element enters the fifth connection element through the first open end and passes by and surrounds the respective groove of the first sluing drum and second sluing drum and is guided through the cylindrical connection member inside of which the fifth cable passes by the first pulley and the first groove of the second pulley and through the cylindrical linking member and exits the fifth connection element through the second circular passage;

wherein the sixth cable exiting the fourth connection element enters the fifth connection element through the first open end and passes by and surrounds a respective groove of the first and fourth sluing drum and is guided through the cylindrical connection member inside of which it passes by the first pulley, through the cylindrical linking member inside of which it passes by the second groove of the second pulley, makes a turn of 90°

, passes by the third pulley and exits the fifth element through the open transversal lateral housing;

wherein the second cable exiting the fourth connection element is linked to the first open end second rounded lateral wall;

wherein the fifth connection element is pivotally retained inside the second open end of the fourth connection element in such way that the whole first end of the fifth connection element is retained inside the second open end of the fourth connection element so that said fourth connection element is able to move up to 90°

upwards until its longitudinal axis reaches a horizontal position parallel to the Z axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the fourth connection element resting position, when a second stepper motor pulls the second cable linked to the first open end second rounded lateral wall and wherein in the resting position, the longitudinal axis of the fifth connection element is located at a position parallel to the Y axis; and

wherein the circular spring remains tightly retained between the fourth connection element and the circular recess of the fifth connection element second rounded lateral wall thus applying a torsional force over said two elements, forcing the fifth connecting element to return to its resting position.

6. The robotic surgical device as claimed in claim 1, wherein the sixth connection element including:

a longitudinal and transversal axis, a first open end having a cylindrical shape and a circular cross section including a hollow rotary connection section having a circular internal wall, rotary linked to the rotary linking means of the fifth connection element thus rotary linking the fifth and sixth connection element, and a second open end having a first rounded lateral wall, a second rounded lateral wall each including a central coincident pin hole and an inferior longitudinal wall each depending from the first open end, and having;

a first pulley having a central elongated member axis including a first end and a second end which is rotary joined to the center of the pulley, wherein the first end of the axis member is retained to the inferior longitudinal wall in such way that its central elongated member axis is located perpendicularly to the longitudinal wall and between both lateral walls;

a second pulley having a central elongated member axis including a first end and a second end which is rotary joined to the center of the pulley, wherein the first end of the axis member is retained to the inferior longitudinal wall, next to the first pulley, in such way that its central elongated member axis is located perpendicularly to the longitudinal wall and between both lateral walls;

a sluing drum having a first and a second end, and a longitudinal axis, wherein said sluing drum is rotary and transversally retained between the lateral walls, with its longitudinal axis being located perpendicularly to the sixth connection element longitudinal axis and over both pulleys and having one circular groove;

wherein the sixth cable which exits the fifth connection element is linked to the circular internal wall of the sixth connection element rotary connection section, thus connecting the sixth connection element directly to a sixth stepper motor, so that when the stepper motor pulls the sixth cable, it laterally pulls the sixth connection element thus rotating it over the rotary connection which connects it to the fifth connection element;

wherein the fifth cable exiting the fifth connection element enters the sixth connection element through the first open end, passes by and surrounds the first pulley, passes by the second pulley thereafter and exits the sixth connection element by the second open end;

wherein the third cable exiting the fifth connection element enters the sixth connection element through the first open end passes by the sluing drum and exits the sixth connection element by the second open end; and

wherein the sixth connection element is able to rotate 360°

over its own longitudinal axis over the rotary connection, and is able to move up to 90°

upwards until its longitudinal axis reaches a horizontal position parallel to the Z axis and downwards until the sixth connection elements longitudinal axis reaches a vertical position parallel to the Y axis together with the fifth connection element.

7. The robotic surgical device as claimed in 1, wherein the gripping tool comprises:

a hollow main body having a rectangular shape, including a first end having a semi-cylindrical wall having a circular passage groove, an elongated cable receiving section including a passage to the interior of the hollow main body located next to the circular passage groove, a first and a second longitudinal wall, a first and a second lateral walls, a hollow interior a second open end, and a cable attaching element located inside the hollow interior of the hollow main body at a central portion thereof, wherein the first end of the hollow main body, having a central superior circular recess at the first lateral wall, wherein the first end of the hollow main body having a coincident pin hole at each lateral wall, wherein the pin hole of the first lateral wall is located at a central portion of the circular recess, and wherein the first and second longitudinal walls each including a coincident perforation at a central portion thereof, and further having;

a circular spring tightly received inside the circular recess located at the first rounded lateral wall;

a fixed plier joined and depending from the second lateral wall, first longitudinal wall and second longitudinal wall;

a pulley, having a central elongated member axis including a first end and a second end which is joined to the center of the pulley, each one rotary retained inside the gripping tool hollow main body wherein the first and second end passes through a respective perforation, of a respective lateral wall and each one protruding over its respective lateral wall, thus rotary joining the pulley to the first and second lateral walls, so that its elongated member axis is located parallel to both longitudinal walls and perpendicularly to the lateral walls and wherein it is positioned in such way that the pulley is concentric with the first end semi-cylindrical wall cross section and coinciding with the circular passage groove;

a pivotal second plier, having a first and a second end, wherein the first end has a drum including a first and a second end having a respective pin, a circular groove near the second end and a longitudinal axis, wherein the drum is pivotally joined inside the hollow main body at a central portion thereof so that the pins of both ends are pivotally retained inside a respective pin hole of a respective longitudinal wall, and thus pivotally linking the pivotal plier and forming a complete and symmetrical pair of pliers with the fixed plier;

wherein the gripping tool hollow main body first end is pivotally retained inside the second open end of the sixth connection element in such way that the whole first end of the gripping tool hollow main body is retained inside the second open end of the sixth connection element so that said gripping tool hollow main body is able to move up to 90°

upwards until its longitudinal axis reaches a horizontal position parallel to the Z axis and downwards until its longitudinal axis reaches a vertical position parallel to the Y axis, taking as reference the fifth connection element resting position, and wherein in the resting position, the longitudinal axis of the gripping tool is located at a position parallel to the Y axis;

wherein the circular spring remains tightly retained between the sixth connection element and the circular recess of the first lateral wall of the gripping tool hollow main body thus applying a torsional force over said two elements, forcing the gripping tool hollow main body to return to its resting position;

wherein the third cable exiting the sixth connection element is received inside the elongated cable receiving section and enters the gripping tool hollow main body in order to be linked to the cable attaching element, thus connecting the gripping element hollow main body directly to a third stepper motor, so that when the third stepper motor pulls the third cable, it pulls the gripping tool causing it to move up to 90°

upwards until its longitudinal axis reaches a horizontal position parallel to the Z axis;

wherein it is further included a circular spring tightly retained around the drum near its first end and between both griping tool hollow main body lateral walls, thus forcing the pliers to open, which comprise its resting position;

wherein the fifth cable exiting the sixth connection element enters the griping tool hollow main body by the circular passage groove, passes by the pulley and is wound around the drum of the pivotal, thus directly connecting a fifth stepper motor to the pivotal plier, so that when the fifth stepper motor pulls the fifth cable it causes the drum of the pivotal plier to rotate, thus pivoting the pivotal plier and opening the pliers, wherein the resting position for the pliers is at a closed position.