| 摘要 |
Disclosed is an instrument coupler structure of a surgical robot arm. The instrument coupler structure comprises: a surgical robot arm; an interface which is formed at the end of the robot arm and mediates power transmittal to an instrument mounted on the robot arm; an operating wheel equipped on the interface; and a piezo motor installed in order to be adjacent to the operating wheel. The operating wheel is rotated by means of the operation of the piezo motor. The operating wheel installed on the surgical robot arm is operated by means of the piezo motor so that a steel wire can be omitted and the size and weight of the robot arm can be reduced. Accordingly, the robot arm and instrument can be rapidly and precisely controlled. |
