Surgical robot arm

Abstract

A surgical robot arm includes a sleeve (30) driven by a motor (20) to rotate about a sleeve axis. A double four-bar link assembly (60) is pivoted to the sleeve (30). A link drive mechanism (300) is mounted to the sleeve (30) for co-rotation therewith and is coupled to the double four-bar link assembly (60) to drive pivoting movement of the double four-bar link assembly (60). An elongated guide member (70) is mounted to the double four-bar link assembly (60). A carriage (75) is coupled to and driven by a carriage drive mechanism (700) to move along the elongated guide member (70).