System for positioning on a patient an observation and/or intervention device

1. A system for controlling with respect to a patient's body an extremity of an observation and/or intervention device having a portion penetrating into the patient's body, comprising:

a base adapted to be disposed over the patient's body;

first means for supporting and orienting the device formed of a first portion rotatably assembled on the base according to a connection with one degree of freedom, and of a second portion rotatably assembled on the first portion according to a connection with one degree of freedom;

a first actuator for actuating the first portion with respect to the base, and a second actuator for actuating the second portion with respect to the first portion,

wherein at least one of the base and the first portion comprises a surface configured to engage with a complementary drive element coupled to the first actuator; and

wherein at least one of the first portion and the second portion comprises a surface configured to engage with a complementary drive element coupled to the second actuator.

2. The system of claim 1 , wherein the base delimits a circular opening around the device and in which the first portion is a mobile ring with an axis substantially perpendicular to the patient's body and with an inner diameter substantially corresponding to the circular opening, the mobile ring being rotatably assembled on the base around its axis.

3. The system of claim 2 , wherein the rotation motion of the mobile ring with respect to the base is controlled by the first actuator attached to the mobile ring, the first actuator extending to be substantially parallel to the mobile ring axis.

4. The system of claim 2 , wherein the second portion comprises a head coupled to the device prolonging at least in an arm pivotally assembled on the mobile ring along an axis substantially tangent to the patient's body.

5. The system of claim 4 , wherein the pivoting motion of the arm with respect to the mobile ring is controlled by the second actuator attached to the second portion and extending to be substantially parallel to the pivoting axis of the arm with respect to the mobile ring.

6. The system of claim 4 , wherein the device extends substantially longitudinally along a direction perpendicular to the pivoting axis of the arm with respect to the mobile ring and in which the device is movably assembled with respect to the second portion, to slide along said direction, the device sliding with respect to the second portion being controlled by a third actuator attached to the second portion and extending to be substantially parallel to the pivoting axis of the arm with respect to the mobile ring.

7. The system of claim 4 , wherein the device extends substantially longitudinally along a direction perpendicular to the pivoting axis of the arm with respect to the mobile ring and in which the device is movably assembled with respect to the second portion to slide along said direction.

8. The system of claim 1 , wherein the device is movably assembled on the second portion according to a connection with one degree of freedom.

9. The system of claim 1 , wherein the surface of at least one of the base and the first portion comprises a toothed configuration that engages with the complimentary drive element.

10. The system of claim 9 , wherein the base comprises the toothed configuration, and the first actuator is attached to the first portion such that the first actuator remains stationary with respect to the first portion when rotating with respect to the base.

11. The system of claim 1 , wherein the first portion is rotatably assembled on the base to rotate around a first axis,

the second portion is rotatably assembled on the first portion to rotate around a second axis, said second axis being perpendicular to the first axis,

and the device is configured for translational movement with respect to the second portion along a third axis, said third axis being perpendicular to the second axis,

wherein the first axis, the second axis and the third axis substantially concur at a same point.

12. The system of claim 1 , wherein the surface configured to engage with the complementary drive element coupled to the second actuator comprises a circular arc.

13. The system of claim 12 , wherein the second actuator is displaced around the inner wall of the circular arc as the second portion is pivoted with respect to the first portion.

14. The system of claim 12 , wherein ends of the circular arc are connected by a rectilinear portion.

15. The system of claim 14 , wherein the rectilinear portion is attached to the first portion.

16. The system of claim 14 , wherein an inner wall of the circular arc opposite the rectilinear portion comprises a toothed surface.

17. A system for controlling with respect to a patient's body an extremity of an observation and/or intervention device having a portion penetrating into the patient's body, comprising:

a base adapted to be disposed over the patient's body;

first means for supporting and orienting the device formed of a first portion rotatably assembled on the base according to a connection with one degree of freedom, and of a second portion rotatably assembled on the first portion according to a connection with one degree of freedom;

a first actuator for actuating the first portion with respect to the base, and a second actuator for actuating the second portion with respect to the first portion,

wherein at least one of the base and the first portion comprises a surface configured to engage with a complementary drive element coupled to the first actuator,

wherein the base delimits a circular opening around the device and in which the first portion is a mobile ring with an axis substantially perpendicular to the patient's body and with an inner diameter substantially corresponding to the circular opening, the mobile ring being rotatably assembled on the base around its axis,

wherein the second portion comprises a head coupled to the device prolonging at least in an arm pivotally assembled on the mobile ring along an axis substantially tangent to the patient's body, and

wherein at least one of the first portion and the second portion comprises a surface configured to engage with a complementary drive element coupled to the second actuator.

18. The system of claim 17 , wherein the base comprises a toothed surface, and the first actuator is attached to the first portion such that the first actuator remains stationary with respect to the first portion when rotating with respect to the base.

19. The system of claim 17 , wherein the surface configured to engage with the complementary drive element coupled to the second actuator comprises a toothed portion arranged in an arc such that as the second portion is pivoted with respect to the first portion, the second actuator is displaced around the toothed portion.