KAMIKAWA, Yasuhisa,KURODA, Yohei,MATSUDA, Yasuhiro,ARAI, Jun
申请号：
EP17850571
公开号：
EP3513916A4
申请日:
2017.08.03
申请国别(地区):
EP
年份:
2019
代理人:
摘要：
[Object] To make it possible to perform gravity compensation with a more compact and lightweight configuration.[Solution] There is provided a medical support arm apparatus including: an arm section including multiple joint sections, and configured such that a medical tool is provided on a front end； an actuator at least provided in a compensated joint section that is a target of gravity compensation among the joint sections, and including a torque sensor that detects a torque acting on the compensated joint section； and a gravity compensation mechanism that imparts to the compensated joint section a compensating torque in a direction that cancels out a load torque due to a self-weight of the arm section acting on the compensated joint section.
