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US 2025/0082422 A1Published application
Robot arm for surgery
AssigneeLivsmed Inc.
InventorsYoung Jae SONG, Jung Joo LEE, Hee Jin KIM, Dong Kyu JANG
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Abstract
A robot arm for minimally invasive surgery includes a modular structure in which a yaw axis of an active arm rotatable relative to a setup arm is disposed to be inclined with respect to a roll axis of an instrument for surgery and a joint of the active arm and a remote center of motion (RCM) form a parallelogram, thereby preventing a gimbal lock phenomenon, enabling configuration of various RCMs, and having various entry angles.
Claims23
A surgical robot arm to which a surgical instrument is mounted, the surgical robot arm comprising:
- a setup arm including a body and a setup link assembly movably disposed on the body;
- and
- an active arm rotatably coupled to one end portion of the setup arm,
- wherein the active arm includes:
- a first link coupled to the setup arm by a first joint, the first link being yaw-rotatable around a yaw axis with respect to the setup arm;
- a second link coupled to the first link by a second joint;
- a third link axially coupled to the second link to be rotatable around a third joint with respect to the second link;
- a fourth link axially coupled to the third link to be rotatable around a fourth joint with respect to the third link;
- and
- a fifth link that is axially coupled to the fourth link to be rotatable around a fifth joint with respect to the fourth link, the fifth link being configured to allow the surgical instrument to be mounted thereto,
- wherein a remote center of motion (RCM) is defined at a remaining vertex of a parallelogram with the third joint, the fourth joint, and the fifth joint constituting other vertices of the parallelogram, and
- wherein the first joint is disposed relatively above the RCM.
9 more elements
Dependencies are inferred from the claim text.