An arm structure includes a shoulder joint, an elbow joint, a wrist joint, a first connection structure connecting the shoulder joint with the elbow joint and that relatively moves while maintaining an orientation of the elbow joint relative to the shoulder joint, a second connection structure connecting the elbow joint with the wrist joint and that relatively moves while maintaining an orientation of the wrist joint relative to the elbow joint, a third connection structure connecting the shoulder joint with the second connection structure and that relatively moves while maintaining an orientation of the wrist joint relative to the shoulder joint, a first actuator that rotates a first rotating shaft included in the first connection structure, and a second actuator that rotates a second rotating shaft included in the third connection structure. The first and second rotating shafts are supported by the shoulder joint.

In examples, a robotic medical system comprises a link of a robotic arm and a processor configured to control movement of the link based on a received input; determine a distance between the link and another object during the movement; and, responsive to the distance being within a threshold, adjust the movement of the link to avoid a collision between the link and the another object.

The present disclosure provides a robot arm for minimally invasive surgery and a method of controlling the same and is directed to providing a surgical robot arm in which a remote center of motion (RCM) control is implemented through an electronic control so that an overall size of an instrument is reduced and a configuration is simplified, thereby increasing space efficiency and preventing collisions between robot arms.

A robot arm according to the present disclosure comprises a motor portion; a support connected to the motor portion; first and second links connected to the motor portion and movable in a vertical direction; a first gimbal coupled to upper ends of the first and second links, respectively; third and fourth links coupled to the first gimbal; fifth and sixth links coupled to lower ends of the third and fourth links, respectively; seventh and eighth links coupled to central areas of the fifth and sixth links in the vertical direction; a second gimbal coupled to upper ends of the seventh and eighth links; ninth and tenth links coupled to the second gimbal; eleventh and twelfth links coupled to lower ends of the ninth and tenth links; and a top portion coupled to upper ends of the fifth and sixth links and upper ends of the eleventh and twelfth links.

A robot end effector is contemplated. The robot end effector comprises a first deformable gripper, a second deformable gripper coupled to the first deformable gripper by a linkage, and an actuator coupled to the linkage and operable to move at least one of the first deformable gripper and the second deformable gripper to a position defining an angle between the first deformable gripper and the second deformable gripper that is greater than or equal to 130 degrees.

A robot apparatus includes a main body; and a protection device on the main body, the protection device including at least one linkage that is configured to absorb an impact of an external object to the main body, wherein the at least one linkage includes: at least one fixed frame; and a plurality of link structures respectively including a plurality of links connected to each other and the at least one fixed frame such that the plurality of links extend in a zigzag shape, and wherein the plurality of link structures are configured to absorb the impact by a connection angle, between links among the plurality of links of at least one link structure among the plurality of link structures, changing according to an intensity of the impact of the external object with respect to an area of the protection device that includes the at least one link structure.

A robot according to the present embodiment comprises: a body including an accommodation body in which an accommodation space is formed; a door connected to the body by means of a hinge, and rotated around the first hinge so as to open/close the accommodation space; a driving source provided in the body; a power transmission member for transmitting the rotation power of the driving force between the driving source and the door; and a spring, which has one side connected to the body and has the other side connected to the door so as to compensate for the gravity of the door.

A robot apparatus may include a main body, a main hinge positioned at a lower part of the main body, a main link member having a center part coupled to the main hinge and configured to pivot about the center part, a plurality of sub-link members coupled at both sides of the main link member, and a first wheel and a second wheel connected to each of the plurality of sub-link members. Each of the plurality of sub-link members is connected to a first hinge member and a second hinge member at positions spaced apart from the main link member at the lower part of the main body, and is configured to pivot about the first hinge member and the second hinge member according to movements of the first wheel and the second wheel.

Provided is a working robot (1000), including an actuator mechanism (110) and a mobile robot (200). The mobile robot (200) further includes a robot body (10), a bracket (20) and a pushing mechanism (30). The bracket (20) is installed on the robot body (10) in a pitchable and rotatable manner, and actuator mechanism (110) is detachably installed on the bracket (20). The pushing mechanism (30) is installed in the robot body (10), and drivingly connected with the bracket (20) to drive the bracket (20) to rotate, so as to drive the actuator mechanism (110) to pitch up and down relative to the mobile robot (200).