CPC A61B 34/30 (2016.02) [A61B 90/50 (2016.02); B25J 18/00 (2013.01); A61B 34/37 (2016.02)] | 18 Claims |
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.
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