PROBLEM TO BE SOLVED: To provide a surgical robot arm which has a simple constitution, a small economical burden comparing to a conventional arm, and can be aligned without a driving source, such as a motor, and a method for correcting a fixed point error of the arm.SOLUTION: A surgical robot arm 1 has: a first movement support arm 10 lifting mechanism 30 which supports the first movement support arm and moves the arm in a vertical direction and a second movement support arm 20 which supports the lifting mechanism, and either one of both movement support arms is a horizontal multi-joint arm having a rotary shaft which is freely movable in a horizontal direction so as to be driven by external force applied to the surgical instrument. The lifting mechanism has: sliding means 31 for supporting, guiding and sliding the first movement support arm and an elastic member 36 which supports the first movement support arm along a sliding direction of the sliding means, and the elastic member is set to a spring constant at which external force applied to the first movement support arm to which the surgical instrument is attached and the surgical instrument is supported.COPYRIGHT: (C)2015,JPO&INPIT【課題】構成が簡単で従来と比較して経済的な負担が小さく、また、モータ等の駆動源がなくても整合できる手術用ロボットアーム及びその不動点誤差修正方法を提供すること。【解決手段】手術用ロボットアーム1は、第1移動支持アーム10と、この第1移動支持アームを支持して上下方向に移動させる昇降機構30と、この昇降機構を支持する第2移動支持アーム20と、を備え、前記の両移動支持アームのいずれか一方は、前記手術器具にかかる外力により従動するように、水平方向に移動自在となる回動軸を有する水平多関節アームであり、前記昇降機構は、前記第1移動支持アームを支持し案内してスライドさせるスライド手段31と、このスライド手段のスライド方向に沿って前記第1移動支持アームを支持する弾性部材36と、を有し、前記弾性部材は前記手術器具が装着された第1移動支持アーム、前記手術器具にかかる外力を支持するバネ定数に設定した構成である。【選択図】図1
