US 12,440,963 B2
Support arm device and robot device
Hiroyuki Suzuki, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 18/716,649
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Nov. 4, 2022, PCT No. PCT/JP2022/041128
§ 371(c)(1), (2) Date Jun. 5, 2024,
PCT Pub. No. WO2023/112540, PCT Pub. Date Jun. 22, 2023.
Claims priority of application No. 2021-201495 (JP), filed on Dec. 13, 2021; and application No. 2022-038280 (JP), filed on Mar. 11, 2022.
Prior Publication US 2025/0033194 A1, Jan. 30, 2025
Int. Cl. B25J 9/10 (2006.01); A61B 34/00 (2016.01); A61F 9/007 (2006.01)
CPC B25J 9/1065 (2013.01) [A61B 34/70 (2016.02); A61F 9/007 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A support arm device, comprising:
a parallel link mechanism extending in a plane direction of a first plane; and
a connection mechanism connected to the parallel link mechanism, wherein the parallel link mechanism includes:
a support link that supports, on a distal end side, a surgical tool to be inserted into a body of a patient;
an opposing link facing the support link;
a first joint connected to a first end of the opposing link;
a second joint connected to a second end of the opposing link; and
a third joint disposed at a base, wherein
the base is an end on a side opposite to the distal end side,
the third joint is rotationally driven,
the connection mechanism is connected between the second joint and the third joint, and
the connection mechanism includes a link mechanism configured to move in a plane direction of a second plane intersecting the first plane such that the second joint moves relative to the third joint in an extending direction of the opposing link.