US 12,064,200 B2
Surgical robot arm
Youngjae Song, Seongnam-si (KR); Jung Joo Lee, Seongnam-si (KR); Heejin Kim, Seongnam-si (KR); and Dongkyu Jang, Seongnam-si (KR)
Assigned to LIVSMED INC., Seongnam-si (KR)
Filed by LIVSMED INC., Seongnam-si (KR)
Filed on Feb. 5, 2024, as Appl. No. 18/432,754.
Application 18/432,754 is a continuation of application No. PCT/KR2022/011624, filed on Aug. 5, 2022.
Claims priority of application No. 10-2021-0104224 (KR), filed on Aug. 6, 2021; application No. 10-2021-0114303 (KR), filed on Aug. 27, 2021; application No. 10-2021-0125316 (KR), filed on Sep. 17, 2021; and application No. 10-2021-0126775 (KR), filed on Sep. 24, 2021.
Prior Publication US 2024/0173086 A1, May 30, 2024
Int. Cl. G05B 1/02 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] 30 Claims
OG exemplary drawing
 
1. A surgical robot arm to which a surgical instrument is mounted, the surgical robot arm comprising:
a body;
a base link formed on one surface of the body;
a yaw drive assembly coupled to the base link by a first joint and formed to be yaw rotatable around a first yaw axis with respect to the base link;
a third link axially coupled to the yaw drive assembly so as to be rotatable around a third joint with respect to the yaw drive assembly;
a fourth link axially coupled to the third link so as to be rotatable around a fourth joint with respect to the third link; and
a fifth link axially coupled to the fourth link so as to be rotatable around a fifth joint with respect to the fourth link, and formed to allow the surgical instrument to be mounted thereto,
wherein a remote center of motion (RCM) is formed at the remaining vertex of a parallelogram with the third joint, the fourth joint, and the fifth joint constituting vertices, and
the first yaw axis and an extension line connecting the third joint to the RCM are formed to be different from each other.