Back to results
US 2025/0375255 A1Published application
Robot arm for surgery
AssigneeLivsmed Inc.
InventorsYoung Jae SONG, Jung Joo LEE, Hee Jin KIM, Dong Kyu JANG
Life of this patent
Estimating the term…
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.
Claims15
A surgical method using a surgical robot, the surgical method comprising:
- disposing a body of a surgical robot arm having a modular configuration on one side of a port of a patient, through which a surgical instrument is to be inserted;
- adjusting a position of a setup arm of the surgical robot arm, the surgical robot arm including the body;
- disposing a fifth link of the surgical robot arm, to which the surgical instrument is mounted, in a substantially horizontal state in an active arm connected to the setup arm;
- mounting the surgical instrument to the fifth link of the active arm;
- moving the surgical instrument mounted to the active arm to insert the surgical instrument into a body of the patient;
- and
- performing a surgery by the surgical instrument while maintaining a remote center of motion (RCM) of the surgical robot arm.
4 more elements
Dependencies are inferred from the claim text.