RCM STRUCTURE OF SURGICAL ROBOT ARM

摘要

PURPOSE: The RCM structure of a robot arm for operation is provided to improve rotation range of an instrument for operation. CONSTITUTION: A first link module(20) is combined with a base(10) and rotates to one side and the other side based on a crustaceous line in which the base and an RCM(Remote Center of Motion) point(8) are connected. A second link module(30) is combined in the first link module in order to be possible to rotate. An instrument is equipped to the end part. A robot arm(1) is combined in a support arm(3) and the case is formed in the end part of the support arm. The first link module and the second link module accomplish a robot arm.