| 摘要 |
PROBLEM TO BE SOLVED: To provide a surgical robot arm which has a simple constitution, a small economical burden comparing to a conventional arm, and can be aligned without a driving source, such as a motor, and a method for correcting a fixed point error of the arm.SOLUTION: A surgical robot arm 1 has: a first movement support arm 10; lifting mechanism 30 which supports the first movement support arm and moves the arm in a vertical direction; and a second movement support arm 20 which supports the lifting mechanism, and either one of both movement support arms is a horizontal multi-joint arm having a rotary shaft which is freely movable in a horizontal direction so as to be driven by external force applied to the surgical instrument. The lifting mechanism has: sliding means 31 for supporting, guiding and sliding the first movement support arm; and an elastic member 36 which supports the first movement support arm along a sliding direction of the sliding means, and the elastic member is set to a spring constant at which external force applied to the first movement support arm to which the surgical instrument is attached and the surgical instrument is supported. |
