Berard, PhilippeKostrzewski, SzymonSigrist, MichaelBaur, Charles2017-06-132017-06-132017-06-132012https://infoscience.epfl.ch/handle/20.500.14299/138295The robotic system, for example for medical applications, comprises a passive holding structure with a large working volume and a robot holding at least a tool, said robot having a small and accurate working volume.patentWO201213165846147525