ROBOT ARM STRUCTURE AND SURGICAL ROBOT MANIPULATOR INCLUDING SAME

• Main Authors: CHOI KIL-HWAN, SIM JIN-AH, KIM DONG-SOO, JUNG CHANG-GIL, LIM YO-AN
• Format: Patent
• Language: Chinese; English
• Published: 26.02.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; DIAGNOSIS; HAND TOOLS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MANIPULATORS; MEDICAL OR VETERINARY SCIENCE; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; SURGERY; TRANSPORTING

The present invention provides a robot arm structure and a surgical robot manipulator including same. The present invention provides a robot arm structure having 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 part mounted on the first link arm so as to rotate the connected first link arms around a firstaxis; and a second joint part provided on at least one of the plurality of first link arms so as to adjust the length of the first link arms, and the second robot arm unit comprises: a second link armconnected to the first link arm; a third joint part having the longitudinal direction of the second link arm as a first rotational axis and rotating the second link arm; and a fourth joint part disposed at the end portion of the second link arm so as to rotate around a second rotational axis that is vertical with respect to the first rotational axis. 本发明提供一种机器人手臂结构和包括该机器人手臂结构的手术机器人的机械手。本发明的机器人手臂结构包括：第一机器人手臂单元和第二机器人手臂单元，所述