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US 2024/0173086 A1Published application
Surgical robot arm
AssigneeLivsmed Inc.
InventorsYoungjae SONG, Jung Joo LEE, Heejin KIM, Dongkyu JANG
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Abstract
Provided is a surgical robot arm, and more particularly, to a minimally invasive surgical robot arm that is formed in a modular manner for use in a laparoscopic surgery or other various surgeries.
Claims30
A surgical robot arm to which a surgical instrument is mounted, the surgical robot arm comprising:
- a body;
- a base link formed on one surface of the body;
- a yaw drive assembly coupled to the base link by a first joint and formed to be yaw rotatable around a first yaw axis with respect to the base link;
- a third link axially coupled to the yaw drive assembly so as to be rotatable around a third joint with respect to the yaw drive assembly;
- a fourth link axially coupled to the third link so as to be rotatable around a fourth joint with respect to the third link;
- and
- a fifth link axially coupled to the fourth link so as to be rotatable around a fifth joint with respect to the fourth link, and formed to allow the surgical instrument to be mounted thereto,
- wherein a remote center of motion (RCM) is formed at the remaining vertex of a parallelogram with the third joint, the fourth joint, and the fifth joint constituting vertices, and
- the first yaw axis and an extension line connecting the third joint to the RCM are formed to be different from each other.
6 more elements
Dependencies are inferred from the claim text.