US 12,419,708 B2
Robot arm for surgery
Young Jae Song, Seongnam-si (KR); Jung Joo Lee, Seongnam-si (KR); Hee Jin Kim, Seongnam-si (KR); and Dong Kyu Jang, Seongnam-si (KR)
Assigned to LIVSMED INC., Seongnam-si (KR)
Filed by LIVSMED INC., Seongnam-si (KR)
Filed on Nov. 26, 2024, as Appl. No. 18/961,003.
Application 18/961,003 is a continuation of application No. PCT/KR2023/007380, filed on May 30, 2023.
Prior Publication US 2025/0082422 A1, Mar. 13, 2025
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); B25J 9/04 (2006.01); B25J 17/02 (2006.01); B25J 18/04 (2006.01)
CPC A61B 34/30 (2016.02) [B25J 17/0283 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A surgical robot arm to which a surgical instrument is mounted, the surgical robot arm comprising:
a setup arm including a body and a setup link assembly movably disposed on the body; and
an active arm rotatably coupled to one end portion of the setup arm,
wherein the setup link assembly includes:
a first setup link linearly movable in a height direction on the body;
a second setup link rotatably and axially coupled to the first setup link around a first shaft configured to serve as a central axis of rotation; and
a third setup link rotatably and axially coupled to the second setup link around a second shaft, the second shaft being different from the first shaft and configured to serve as a central axis of rotation,
wherein the active arm includes:
a first link coupled to the setup arm by a first joint, the first link being yaw-rotatable around a yaw axis with respect to the setup arm;
a second link coupled to the first link by a second joint;
a third link axially coupled to the second link to be rotatable around a third joint with respect to the second link;
a fourth link axially coupled to the third link to be rotatable around a fourth joint with respect to the third link; and
a fifth link that is axially coupled to the fourth link to be rotatable around a fifth joint with respect to the fourth link, the fifth link being configured to allow the surgical instrument to be mounted thereto,
wherein a remote center of motion (RCM) is defined at a remaining vertex of a parallelogram with the third joint, the fourth joint, and the fifth joint constituting other vertices of the parallelogram, and
wherein the first joint is disposed relatively above the RCM.