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公开(公告)号：KR100998182B1
公开(公告)日：2010-12-03
申请号：KR1020080081671
申请日：2008-08-21
Applicant: (주)미래컴퍼니
CPC classification number: G06T19/00 , A61B34/30 , A61B34/37 , A61B90/37 , A61B90/50 , A61B2090/372 , G06T2210/41
Abstract: Disclosed are a three-dimensional display system for a surgical robot and a method for controlling same. The three-dimensional display system includes a 3D display for displaying 3-dimensional video information acquired from a surgery, a robotic arm coupled to the three-dimensional display, a surgical robot to which the robotic arm is connected, and a controller contained within the surgical robot. The controller drives the robot arm to move the three-dimensional display to a predetermined position. In the display system for a surgical robot of the present invention, a three-dimensional display is mounted on an articulated robotic arm, and the robotic arm is driven in a manual or automated system to enable the three-dimensional display to track and move along the position of the eye of an operator, to thereby eliminate the necessity of changing the posture of the operator even when the operator intends to check three-dimensional video information, and eliminate the necessity of putting a separate display on the body of the operator. Further, the present invention presets the position of the three-dimensional display for each operator, to thereby constantly provide accurate three-dimensional video information irrespective of the operator and the posture thereof.
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公开(公告)号：KR100994931B1
公开(公告)日：2010-11-17
申请号：KR1020080049089
申请日：2008-05-27
Applicant: (주)미래컴퍼니
Abstract: 수술용 로봇 암의 링크구조 및 그 세팅방법이 개시된다. 로봇 암의 선단부에 인스트루먼트를 결합하여 로봇 수술을 수행하기 위한 수술용 로봇 암의 링크 구조로서, 로봇 암의 선단부에 제1 축에 의해 축결합되는 제1 링크부와, 제1 축의 방향으로 제1 광을 발사하는 제1 발광부와, 제1 링크부에 제2 축에 의해 축결합되는 제2 링크부와, 제2 축의 방향으로 제2 광을 발사하는 제2 발광부를 포함하되, 제1 축 및 제2 축은 그 연장선이 소정의 RCM(Remote Center of Motion) 포인트에서 만나도록 형성되며, 제1 광 및 제2 광은 RCM 포인트에서 서로 중첩되는 것을 특징으로 하는 수술용 로봇 암의 링크구조는, 링크부의 각 회전축에 레이저 발진기를 설치하여 공간상의 가상의 점인 RCM 포인트를 육안으로 확인할 수 있도록 함으로써, 수술용 로봇 암을 세팅하는 과정에서 RCM 포인트를 수술 부위에 정확히 위치시킬 수 있다.
수술, 로봇, 링크, RCM-
公开(公告)号：KR1020100113049A
公开(公告)日：2010-10-20
申请号：KR1020100089727
申请日：2010-09-14
Applicant: (주)미래컴퍼니
Inventor： 최승욱
Abstract: PURPOSE: A robot system for a liposuction is provided to perform the liposuction by automatically setting a surgical part through the analysis of image information. CONSTITUTION: A controller(10) generates a control signal for driving a surgical robot. A robot arm(20) receives a control signal from the controller and is driven. A magnet unit(22) moves around the surgical part of a patient by the driving of the robot arm. A cannular module(30) suctions the fat by moving with the magnet. A haptic sensor measures the reaction force applied to the end of the cannular module.
Abstract translation: 目的：提供一种用于抽脂的机器人系统，通过对图像信息的分析自动设定外科部位来进行抽脂。 构成：控制器（10）产生用于驱动外科手术机器人的控制信号。 机器人臂（20）从控制器接收控制信号并被驱动。 磁体单元（22）通过机器人手臂的驱动在患者的手术部分周围移动。 插管模块（30）通过与磁体一起移动来吸收脂肪。 触觉传感器测量施加到插管模块末端的反作用力。
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公开(公告)号：KR100954732B1
公开(公告)日：2010-04-23
申请号：KR1020090084720
申请日：2009-09-09
Applicant: (주)미래컴퍼니 , 부산대학교 산학협력단
CPC classification number: A61B34/30 , A61B2090/064
Abstract: PURPOSE: A surgical robot system and an external force measuring method thereof are provided to implement a solid sense device by indirectly obtaining information about an operational force of an instrument. CONSTITUTION: A surgical robot system includes a driving motor(120) and a controller(110). The driving motor outputs an encoder signal corresponding to state information of the system. A controller calculates an external force applied to an instrument(130) using an SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) algorithm. A controller includes a perturbation observer and a sliding state observer. The state observer estimates a state variable for calculating a perturbation value using the state information of the system. The perturbation observer calculates the perturbation value using the estimated state variable.
Abstract translation: 目的：提供外科手术机器人系统及其外力测量方法，通过间接获得关于仪器的操作力的信息来实施固体感测装置。 构成：手术机器人系统包括驱动电机（120）和控制器（110）。 驱动电机输出与系统的状态信息对应的编码器信号。 控制器使用SMCSPO（具有滑动扰动观测器的滑动模式控制）算法计算施加到仪器（130）的外力。 控制器包括扰动观察器和滑动状态观察器。 状态观察者使用系统的状态信息估计用于计算扰动值的状态变量。 扰动观察者使用估计的状态变量计算扰动值。
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公开(公告)号：KR1020100023086A
公开(公告)日：2010-03-04
申请号：KR1020080081671
申请日：2008-08-21
Applicant: (주)미래컴퍼니
CPC classification number: G06T19/00 , A61B34/30 , A61B34/37 , A61B90/37 , A61B90/50 , A61B2090/372 , G06T2210/41
Abstract: PURPOSE: A 3D display system of a surgical robot and a control method thereof are provided to allow an operator to easily confirm the 3D image by moving the 3D display according to the position of the operator. CONSTITUTION: In a 3D display system of a surgical robot and a control method thereof, a 3D display system comprises a 3D display(10), a robot arm(12), a robot(1), and a controller(20). The 3D display unit shows 3D image information. The robot arm is combined with the 3D display unit. The robot is connected to the robot arm. The controller is included in the robot. The controller runs the robot arm.
Abstract translation: 目的：提供外科手术机器人的3D显示系统及其控制方法，以使操作者能够根据操作者的位置移动3D显示来容易地确认3D图像。 构成：在外科手术机器人的3D显示系统及其控制方法中，3D显示系统包括3D显示器（10），机器人臂（12），机器人（1）和控制器（20）。 3D显示单元显示3D图像信息。 机器人臂与3D显示单元组合。 机器人连接到机器人手臂。 控制器包含在机器人中。 控制器运行机器人手臂。
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Patent Agency Ranking
公开(公告)号：KR1020090123151A
公开(公告)日：2009-12-02
申请号：KR1020080049089
申请日：2008-05-27
Applicant: (주)미래컴퍼니
Abstract: PURPOSE: A link structure of a surgical robot arm and a setting method thereof are provided to freely rotate an end of an instrument without damage to a skin by performing an RCM(Remote Center of Motion) of a robot arm with an active type. CONSTITUTION: A first link part(10) is coupled in an end part of a robot arm(1) by a first shaft(3). A first light emitting part emits a first light into a direction of the first shaft. A second link part(20) is coupled in the first link part by a second shaft(5). A second light emitting part emits a second light into a direction of the second shaft. Extension lines of the first shaft and the second shaft are met in a fixed RCM point. The first light and the second light are overlapped in the RCM point. An instrument(30) is coupled in the second link part by a third shaft(7). The RCM point is a fixed position on the end part of the instrument.
Abstract translation: 目的：提供外科手术机器人手臂的连杆结构及其设置方法，通过执行具有活动型的机器人手臂的RCM（远程运动中心）自由旋转仪器的一端而不损伤皮肤。 构成：第一连杆部分（10）通过第一轴（3）联接在机器人臂（1）的端部中。 第一发光部将第一光发射到第一轴的方向。 第二连杆部分（20）通过第二轴（5）联接在第一连杆部分中。 第二发光部将第二光发射到第二轴的方向。 在固定的RCM点中满足第一轴和第二轴的延伸线。 第一个光和第二个光在RCM点重叠。 仪器（30）通过第三轴（7）联接在第二连杆部分中。 RCM点是仪器末端的固定位置。
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公开(公告)号：KR1020090095711A
公开(公告)日：2009-09-10
申请号：KR1020080020812
申请日：2008-03-06
Applicant: (주)미래컴퍼니
Abstract: A medical trocar is provided to discharge toxic gas of the body and supply safety medical environment. A medical trocar comprises: a tubular cannula (250) a trocar housing (210, 220) which is connected to the end of cannula and comprises a housing hole (240); a exhaust pipe (230) which discharges gas which is flowed in through the cannula; a valve (285) which blocks gas by opening and closing the exhaust pipe; a sensor which generates valve opening and closing signal; a device (280) for opening and closing valve.
Abstract translation: 提供医用套管针，以排放身体的有毒气体，并提供安全医疗环境。 医疗套针包括：管状插管（250），套管针壳体（210,220），其连接到套管的端部并且包括容纳孔（240）; 排出管（230），其排出通过套管流入的气体; 通过打开和关闭排气管阻塞气体的阀门（285）; 产生阀门开闭信号的传感器; 用于打开和关闭阀的装置（280）。
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公开(公告)号：KR101820517B1
公开(公告)日：2018-01-22
申请号：KR1020110094951
申请日：2011-09-21
Applicant: (주)미래컴퍼니
Abstract: 수술용인스트루먼트의이펙터구조가개시된다. 길이방향으로연장되고, 서로접하거나이격되는그립(grip) 동작을수행하며, 서로접할경우길이방향에수직한단면상함입부가형성되는한 쌍의제1 죠(jaw)와, 길이방향으로연장되고, 제1 죠에접하도록작동되어수술용바늘을잡는동작을수행하며, 길이방향에수직한단면상함입부에삽입되는돌출부가형성된제2 죠를포함하는수술용인스트루먼트의이펙터구조는, 그립동작을수행하는한 쌍의제1 죠에돌출부또는함입부를형성하고, 그돌출부또는함입부와정합되는제2 죠를부가함으로써, 한쌍의제1 죠는포셉역할을하고제2 죠는셀프라이팅니들홀더역할을하여, 하나의이펙터내에복합적인기능을통합시킬수 있다.
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公开(公告)号：KR101740286B1
公开(公告)日：2017-05-29
申请号：KR1020150181305
申请日：2015-12-17
Applicant: (주)미래컴퍼니
IPC: A61B19/00
Abstract: 수술용로봇시스템및 적응제어방법이개시된다. 수술용내시경및 수술도구중 하나이상인제어객체가장착되는수술용로봇시스템에포함되어상기제어객체의위치를제어하는마스터인터페이스는, 제어객체의이동조작을위한사용자명령을입력받는조작부와, 수술용내시경으로부터제공되는영상정보들중 하나이상인기준이미지와기준이미지에상응하는이동스케일팩터를저장하는저장부와, 수술용내시경으로부터현재제공되는현재영상정보가기준이미지에비해축소되었는지확대되었는지를판단하고, 그축소또는확대정도에비례하도록이동스케일팩터를조정하여재설정하는스케일팩터연산부와, 조작부를이용한사용자명령을재설정된이동스케일팩터에상응하도록변환하여제어객체에대한조작신호를생성하는조작신호생성부를포함할수 있다. 본발명은, 수술시간의단축및 수술진행과정에서의수술자의피로감경감이가능하고, 표시되는영상정보를토대로수술도구의이동거리를직관적으로인식할수 있도록하는효과가있다.
Abstract translation: 公开了一种手术机器人系统和自适应控制方法。 内窥镜和外科手术器械的一个或多个控制对象包括在所述外科手术机器人系统被安装，其接收用于主接口，用于控制所述控制对象，该控制面板的位置控制对象，并且对于操作的移动操作的用户指令 并且确定当前从内窥镜操作中提供的图像的存储单元，和当前图像信息是否存储对应于所述一个或多个参考图像的移动比例因子和的参考图像的信息的特写的是，相比减少从内窥镜提供的参考图像作为 中，还原或通过调整按比例放大到转化度，以便对应于通过控制面板移动比例因子生成的操作信号，用于产生一个操作信号输出到控制对象的用户命令的复位运动比例因子复位比例因子计算单元， 它可以包含部分。 本发明具有在操作过程中缩短操作时间并减轻操作者疲劳的效果，并且基于显示的图像信息直观地识别手术工具的移动距离。
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公开(公告)号：KR101733401B1
公开(公告)日：2017-05-08
申请号：KR1020100083252
申请日：2010-08-27
Applicant: (주)미래컴퍼니
Abstract: 수술용인스트루먼트의이펙터구조가개시된다. 수술용인스트루먼트말단부에결합되어그립(grip) 동작을수행하는이펙터(effector)의구조로서, 제1 죠(jaw)와, 그그립(grip)면이제1 죠의그립면에접촉함에따라그립동작을수행하는제2 죠와, 제1 죠에회전가능하도록설치되는제1 회전부와, 제1 회전부에대향하도록제2 죠에회전가능하도록설치되는제2 회전부를포함하는수술용인스트루먼트의이펙터구조는, 수술용인스트루먼트의그립퍼에회전판을추가로설치함으로써, 회전판을사용하여조직이나장기를잡은상태에서인스트루먼트를자유롭게회동시킬수 있다. 또한회전판의표면을그립면과동일하게하거나, 회전판을죠에탄성적으로지지시킴으로써필요에따라회전가능한그립핑또는고정적그립핑을선택하여수술을수행할수 있다.
Abstract translation: 公开了一种手术器械的效应器结构。 耦合到用于所述效应（效应）的结构的外科手术器械的远端，其执行所述把手（把持）操作，把持操作中，当第一夹爪（卡爪），并且如果所述把手（把持）现在在与所述第一夹爪的抓握表面接触 可旋转地安装在第一钳口上的第一旋转部分和可旋转地安装在第二钳口上以面对第一旋转部分的第二旋转部分， 通过在外科手术器械的夹持器安装附加的拨动开关，并且仪器sikilsu自如保持组织或使用旋转主轴状态器官。 此外，它可以通过选择可旋转的抓持或根据需要通过或以相同的方式如在握持表面到旋转板，旋转板与乙烷等级支撑体的表面固定地把持执行该操作。
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