CURVED RCM OF SURGICAL ROBOT ARM AND SETTING METHOD THEREOF

摘要

PURPOSE: A link structure of a surgical robot arm and a setting method thereof are provided to freely rotate an end of an instrument without damage to a skin by performing an RCM(Remote Center of Motion) of a robot arm with an active type. CONSTITUTION: A first link part(10) is coupled in an end part of a robot arm(1) by a first shaft(3). A first light emitting part emits a first light into a direction of the first shaft. A second link part(20) is coupled in the first link part by a second shaft(5). A second light emitting part emits a second light into a direction of the second shaft. Extension lines of the first shaft and the second shaft are met in a fixed RCM point. The first light and the second light are overlapped in the RCM point. An instrument(30) is coupled in the second link part by a third shaft(7). The RCM point is a fixed position on the end part of the instrument.