RCM STRUCTURE OF SURGICAL ROBOT ARM

摘要

PURPOSE: An RCM(Remote Center Of Motion) structure of a surgical robot arm is provided to efficiently control RCM operation without the angle loss of an instrument by placing the instrument in an ideal control shaft of a parallelogram RCM structure. CONSTITUTION: A surgical instrument(3) is arranged at an end part of a robot arm(1). A first link part(20) is axis-connected to revolve around a first axis in a base(10). A second link part(30) is axis-connected to revolve around a second axis in the first link part. An instrument holder(40) is axis-connected to revolve around a third axis in the second link part. An interface(42) is formed in an instrument holder .