Title:
SUPPORT ARM DEVICE AND ROBOT DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/112540
Kind Code:
A1
Abstract:
A support arm device (20) comprises a parallel link mechanism (21) extending in a plane direction of a first plane, and a connection mechanism (22) connected to the parallel link mechanism (21). The parallel link mechanism (21) includes: a support link (L89) that supports, at a distal end side, a surgical tool (T) to be inserted into a patient's body; an opposing link (L57) that faces the support link (L89); a first joint (J5) connected to one end of the opposing link (L57); a second joint (J7) connected to another end of the opposing link (L57); and a third joint (J1) that is disposed at a root and rotationally driven, the root being an end on the opposite side to the distal end side. The connection mechanism (22) is connected between the second joint (J7) and the third joint (J1), and deforms in a plane direction of a second plane, which intersects the first plane, so that the second joint (J7) moves relative to the third joint (J1) in an extending direction of the opposing link (L57).
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| JPH0523993 | HORIZONTAL ARTICULATED MANIPULATOR |
| JPH01216786 | HORIZONTAL MULTIPLE JOINT ROBOT |
Inventors:
SUZUKI HIROYUKI (JP)
Application Number:
PCT/JP2022/041128
Publication Date:
June 22, 2023
Filing Date:
November 04, 2022
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
B25J9/06; A61B34/30; A61B34/35; A61B90/50; A61F9/007; B25J11/00
Domestic Patent References:
| WO2008108289A1 | 2008-09-12 | |||
| WO2010117051A1 | 2010-10-14 |
Foreign References:
| JP2012115985A | 2012-06-21 | |||
| US20150351857A1 | 2015-12-10 | |||
| JP2021053397A | 2021-04-08 | |||
| JP2010099403A | 2010-05-06 | |||
| JP2012091310A | 2012-05-17 | |||
| JP2017064326A | 2017-04-06 |
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
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