US 12,285,300 B2
Arm device
Daisuke Haraguchi, Tokyo (JP); Kotaro Tadano, Tokyo (JP); and Noriaki Kanazawa, Tokyo (JP)
Assigned to RIVERFIELD INC., Tokyo (JP)
Appl. No. 17/042,678
Filed by RIVERFIELD INC., Tokyo (JP)
PCT Filed Sep. 10, 2018, PCT No. PCT/JP2018/033438
§ 371(c)(1), (2) Date Sep. 28, 2020,
PCT Pub. No. WO2019/193775, PCT Pub. Date Oct. 10, 2019.
Claims priority of application No. 2018-073837 (JP), filed on Apr. 6, 2018.
Prior Publication US 2021/0059783 A1, Mar. 4, 2021
Int. Cl. A61B 90/50 (2016.01); A61B 1/00 (2006.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 90/50 (2016.02) [A61B 1/00149 (2013.01); A61B 17/00234 (2013.01); A61B 2017/00544 (2013.01); A61B 2034/301 (2016.02); A61B 2090/504 (2016.02); A61B 2090/506 (2016.02)] 8 Claims
OG exemplary drawing
 
1. An arm device comprising:
a first gimbal portion configured to rotatably support an instrument about a first rotational axis extending along an axis line of the instrument;
a second gimbal portion configured to rotate the instrument about a second rotational axis extending along a direction intersecting the first rotational axis; and
a distal portion configured to rotate the instrument about a third rotational axis extending to intersect a plane including the first rotational axis and the second rotational axis; and
a first actuator coupled between the joint and the outer rod;
a first gravity compensator configured to apply a force to move the distal portion upward;
wherein the distal portion is coupled to at least one arm portion that includes an inner rod and an outer rod arranged parallel to the inner rod, wherein the at least one arm portion extends between the distal portion and a joint, wherein the inner rod and the outer rod are separately pivotally coupled to the distal portion to form a first parallel link mechanism that maintains a relative attitude between the distal portion and the joint,
wherein the arm device is devoid of a counter-weight configured to balance with a weight of the distal portion,
wherein the third rotational axis has an inclination angle greater than 0 degree and less than 90 degrees when a horizontal direction is defined as 0 degree and an upper vertical direction is defined as 90 degrees,
wherein the first actuator is configured to drive the first parallel link mechanism to thereby move a position of the distal portion,
wherein the first gravity compensator comprises a first end that is mounted on the distal portion at or proximate to a position where the inner rod is mounted, and
wherein the first gravity compensator comprises a second end that is mounted on the first actuator at or proximate to a position where the first actuator is coupled to the outer rod.