Industry-University Cooperation Foundation Hanyang University

Koh Young Technology Inc.

Samsung Electronics Co., Ltd.

Osong Medical Innovation Foundation, Korea University Research and Business Foundation

Iucf-hyu

Byung-Ju Yi

Jong-Tae Seo

Youngjin Choi

Hoyul Lee

Young Soo Kim

Sung-Min Kim

Jin-Won Lee

Mun-Kue Park

Yong-Hee Lee

Jong-Il Park

Sang-Heon Lee

Su-Kwang Lim

Hoon Lim

Young-sik Kwon

Se-Min Oh

Sung-Mok Kim

Hyun-Soo Yoon

Semin Oh

Whee-Kuk Kim

Hwantaek Ryu

Jae-Hong Woo

Jaeheon Chung

Hyo-Jeong Cha

Disclosed is a flexible mechanism including: a backbone extending in a lengthwise direction thereof; a first steering wire group including one or more steering wires disposed in a spiral direction of a first direction along the lengthwise direction of the backbone and configured to transfer a handling force applied to ends thereof to an end effector; and a second steering wire group including one or more steering wires disposed in a spiral direction of a second direction, which is different from the first direction, along the lengthwise direction of the backbone and configured to transfer a handling force applied to ends thereof to the end effector.

Flexible mechanism

Provided is a flexible mechanism. The flexible mechanism comprises: a flexible backbone which is introduced into a treatment area in the human body and which bends along a path in the human body; and a wire for transmitting an operation force provided through a handler prepared at one end of the flexible backbone to an end-effector prepared at the other end of the flexible backbone, wherein the wire extends from the one end of the flexible backbone to the other end of the flexible backbone and can wind around the outer circumferential surface of the flexible backbone in multiples of 360 degrees or passes through a spiral path formed on an inner surface in multiples of 360 degrees.

The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same

A parallel-type micro robot capable of precise control while minimizing size thereof and a surgical robot system having the same are disclosed. The parallel-type micro robot includes a base plate, a work plate, a main fixing shaft module, a horizontal movement module and at least one angle-controlling module. The base plate includes a base body portion and at least one base connecting portion connected to the base body portion. The work plate includes a work body portion corresponding to the base body portion and at least one work connecting portion connecting to the work body portion to correspond to the base connecting portion. The main fixing shaft module is disposed between the base body portion and the work body portion, and coupled to the work body portion such that the work body portion is rotatable. The horizontal movement module is disposed between the main fixing shaft module and the base body portion, and moves the main fixing shaft module along first and second directions intersecting each other. The angle-controlling module is coupled to the base connecting portion such that the base connecting portion is rotatable, is coupled to the work connecting portion such that the work connecting portion is rotatable, and allows translational motion between the base connecting portion and the work connecting portion. Thus, a size of a robot may be minimized while improving the structural stability and precise control.

Parallel-type micro robot and surgical robot system having the same

The present invention relates to a stand equipped with a counterbalance unit, i.e., a stand consisting of links, joints, a front link, and a counterbalance unit. Therefore, even when various medical apparatuses including such as a microscope, etc. are used, a stable counterbalance can be maintained and the degree of freedom of movements of the medical apparatus can be easily adjusted according to the purpose of users.

Stand equipped with counterbalance unit

A stand includes first to fourth links, first to fourth joints, a front link, first to fifth extension links, and first to fourth extension joints. The first to fourth links are arranged in a parallelogram configuration, wherein the first and third links are arranged on opposite sides and the second and fourth joints are arranged in a diagonal direction. The front link extends from the first link. The first extension link is rotatably connected to the second joint. The second extension link is rotatably connected to the first extension joint. The third extension link is rotatably connected to the second extension joint. The fourth extension link is arranged between the third extension joint and the fourth extension joint. The fifth extension link is arranged between the first joint and the second extension joint. The first, fourth, and fifth extension links are in parallel with one another.

A driving force transfer device for an end-effector, the driving force transfer device comprising at least one double shaft member which separately receives driving forces generated from first and second driving means through first and second power transfer means and transfers the driving forces to an end-effector such that the end-effector has two rotational degrees of freedom.

Driving force transfer device for end-effector

An endoscope apparatus is provided. An endoscope apparatus includes a slave device including a plurality of drive motors configured to adjust insertion and insertion direction of an insertion tube of an endoscope, and a plurality of load sensors provided on the plurality of drive motors; and a master device including displacement sensors configured to generate signals for driving the drive motors according to an operator manipulation, and resistive motors configured to operate based on loads detected by the load sensors. The drive motors produce drive forces according to the signals generated by the displacement sensors and the resistive motors produce resistive forces corresponding to the operator manipulation based on the loads detected by the load sensors.

Endoscope apparatus with slave device and master device

A stand for medical optical instrument capable of easily extending, adjusting easily a counter balancing according to a change of a weight of medical optical instrument such as microscope, as well as, maintaining stably a counter balancing regardless of a position of medical optical instrument. The stand for medical optical instrument includes a first to fourth links having a first to fourth turning joins, wherein the first to fourth links are rotatably coupled to each other in a parallelogram shape and the second turning joint is rotatably coupled to a holding unit, a carrier arm extended from the fourth link; and a counter balancing unit coupled to the first and second links, wherein the counter balancing unit is rotated in connection with the first and second links on the second turning joint according to the rotation of the carrier arm, and capable of maintaining a counter balancing of the carrier arm by compensating a torque generated in the second turning joint according to a medical optical instrument installed on the front link.

Stand for a medical-optical instrument

A master-slave system using a 4-degree of freedom (DOF) parallel mechanism includes: a master device having a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation by the manipulation of a user; a slave device having a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation according to the movement of the master device; and a controller for receiving a behavior signal generated by the master device and outputting a driving signal to the slave device so that the slave device moves according to the movement of the master device. The master-slave system may be utilized as a remote needling robot with excellent manipulation and precision.

Master-slave system using 4-DOF parallel mechanism

A needle-coupled parallel mechanism is provided. The needle-coupled parallel mechanism is structurally improved so as to have a broad working area and a high precision. The needle-coupled parallel mechanism comprises a fixedly positioned frame, a main shaft, three first links, three second links, and a needle. The main shaft is arranged so as to be movable relative to the frame. One end of each of the first links is connected to the frame between both ends of the main shaft and the other end thereof is connected to one end of the main shaft. One end of each of the second links is connected to the frame between both ends of the main shaft and the other end thereof is connected to the other end of the main shaft. The needle is linearly movably coupled to the main shaft to perform a predetermined operation on a target object. Each of the first links and the second links has at least three joints selected from a prismatic joint, a 1-axis revolute joint, a 2-axis revolute joint and a spherical joint. The needle and the main shaft are moved with 6 degrees-of-freedom in conjunction with the operations of the first links and the second links.

Needle-coupled parallel mechanism

A steering controller for a movable robot is provided. The steering controller drives a plurality of motors, each of which is connected to a wheel. The wheels are spaced apart from each other in the circumferential direction with respect to an axis of a body of the movable robot. The steering controller comprises an input unit, an output unit and a conversion unit. The input unit receives steering signals including velocities of the movable robot according to the moving directions. The output unit outputs driving signals including rotational velocities of the motors. The conversion unit converts the steering signals to the driving signals. The use of the steering controller enables an operator to intuitionally steer the movable robot, making the movable robot convenient to use.

Steering controller for movable robot, steering control method using the steering controller and movable robot system using the steering controller

Disclosed is a computer-integrated surgery aid system for minimally invasive surgery and a method for controlling the same. The system includes a surgery planning system for creating three-dimensional information from two-dimensional images obtained by means of biplanar fluoroscopy so that spinal surgery can be planned according to the image information and a scalar-type 6 degree-of-freedom surgery aid robot adapted to be either driven automatically or operated manually.

Growing community of inventors

Bucheon-si, South Korea

Byung-Ju Yi