| 摘要 |
A 5-DOF(Degree Of Freedom) manipulator is provided to improve accuracy and stability of an operation by preventing a horizontal movement of the surgical tool through a vertical robot arm. A 5-DOF manipulator includes a robot arm(100), a sliding unit(200), and a support(300). The robot arm includes a vertical arm(110), an upper arm(120), a lower arm(130), a bracket(140), an adapter(150), and a probe(160). One end of the upper arm is rotatably connected to the upper part of the vertical arm. One end of the lower arm is rotatably connected to the other end of the upper arm. The bracket is rotatably arranged in the other end of the lower arm. The adapter is rotatably connected to the bracket. The probe is detachably connected to the adapter. The sliding unit is arranged in the lower end of the vertical arm to slide the vertical arm. The support supports the sliding unit.
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