HONG, DAE HIEKR,홍대희,KIM, BYUNG GONKR,김병곤,CHUN, HOON JAIKR,전훈재,PARK, SEI HOONKR,박세훈,KIM, YOON JINKR,김윤진,SONG, YONG NAMKR,송용남,CHOI, HYUK SOONKR,최혁순,KEUM, BO RAKR,금보라
申请号：
KR1020150136224
公开号：
KR1016847990000B1
申请日:
2015.09.25
申请国别(地区):
KR
年份:
2016
代理人:
摘要：
A surgical robot arm according to an embodiment of the present invention comprises: a body part including a mounting body detachably mounted on a front end of an endoscope tube and a moving body provided on a mounting body to allow moving in the circumferential direction of the mounting body an articulated arm part which is rotationally installed at one end of the moving body and is folded and unfolded at a predetermined angle a gripper part provided at the other end of the articulated arm part in a tongs structure a plurality of wires respectively connected to the moving body, the articulated arm part, and the gripper part on the outer surface of the endoscope tube and a control part which is connected to the plurality of wires and controls the movement of the moving body, the articulated arm part, and the gripper part by controlling the moving direction of the plurality of wires. The mounting body has an insertion hole into which the endoscope tube is detachably inserted, and a cylindrical structure having a fastening groove formed in the circumferential direction at the upper and lower ends. The moving body is inserted into the fastening groove at the upper and lower ends, and has a movable structure movable along the outer peripheral surface of the mounting body. A first wire of a plurality of wires is coupled to one side of the moving body. A second wire of the plurality of wires is coupled to the other side of the moving body. It is preferable that the first wire and the second wire move the moving body clockwise or counterclockwise in the circumferential direction of the mounting body by the control of the control part.COPYRIGHT KIPO 2016본 발명의 일 실시예에 따른 수술용 로봇팔는 내시경관의 전단에 착탈가능하게 설치되는 장착몸체와, 장착몸체의 원주방향을 따라 이동가능하게 장착몸체에 설치된 이동몸체가 마련된 몸체부 일단이 이동몸체에 회전가능하게 설치되어, 소정의 각도로 접혔다 펼쳐졌다 관절운동하는 관절암부 집게구조로 관절암부의 타단에 설치된 그리퍼부 내시경관의 외면에서, 이동몸체, 관절암부와 그리퍼부에 각각 연결된 복수의 와이어 및 복수의 와이어에 각각 연결되어, 복수의 와이어의 이동방향을 조절하여, 이동몸체, 관절암부와 그리퍼부의 움직임을 조작하는 조작부를 포함하고, 장착몸체는 내시경관이 착탈가능하게 삽입되는 삽
