US 12,167,897 B2
Robot arm structure and surgical robot manipulator including same
Yo An Lim, Hwaseong-si (KR); Kil Hwan Choi, Seongnam-si (KR); Jin Ah Sim, Gwangju-si (KR); Chang Gil Jung, Seoul (KR); and Dong Soo Kim, Hwaseong-si (KR)
Assigned to MEERE COMPANY INC., Hwaseong-si (KR)
Appl. No. 17/251,611
Filed by MEERE COMPANY INC., Hwaseong-si (KR)
PCT Filed Jun. 11, 2019, PCT No. PCT/KR2019/006975
§ 371(c)(1), (2) Date Dec. 11, 2020,
PCT Pub. No. WO2019/240453, PCT Pub. Date Dec. 19, 2019.
Claims priority of application No. 10-2018-0067532 (KR), filed on Jun. 12, 2018; and application No. 10-2019-0009232 (KR), filed on Jan. 24, 2019.
Prior Publication US 2021/0244489 A1, Aug. 12, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 90/50 (2016.01); B25J 18/00 (2006.01); A61B 34/37 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 90/50 (2016.02); B25J 18/00 (2013.01); A61B 34/37 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A robot arm structure comprising:
a first robot arm unit and a second robot arm unit;
wherein the first robot arm unit comprises:
a plurality of first link arms,
a first joint unit mounted on a first link arm of the plurality of first link arms and configured to rotate the first link arm about a first axis, and
a second joint unit installed on at any of the plurality of first link arms to adjust a length of the first link arm, and
wherein the second robot arm unit comprises:
a second link arm,
a third joint unit configured to rotate the second link arm about a first rotation axis to cause the second link arm to roll, the first rotation axis being different from the first axis and extending in a longitudinal direction of the second link arm, and
a fourth joint unit arranged on an end portion of the second link arm and configured to rotate about a second rotation axis that is perpendicular to the first rotation axis;
an instrument installed at the end portion of the second link arm and configured to be rotated by the fourth joint unit;
the third joint unit configured to drive a yaw movement of the instrument while maintaining a preset remote center of motion (RCM) point of the instrument at a fixed location; and
the fourth joint unit configured to drive a pitch movement of the instrument while maintaining the preset RCM point at the fixed location.