公开(公告)号：KR1020120137164A

公开(公告)日：2012-12-20

申请号：KR1020110056520

申请日：2011-06-10

Applicant: 한국과학기술원

Inventor： 권동수 ,  조준연 ,  양정연 ,  신원호 ,  이민석 ,  류명한

IPC: A61B17/56 ,  A61B17/16 ,  A61B6/00 ,  A61B19/00

Abstract: PURPOSE: A bone position matching device using a laser scanner, a bone position matching method using the device, a robot for joint surgery including the laser scanner, and a joint surgery method using the robot are provided to rapidly extract actual bone position information by matching position data and shape data using the laser scanner. CONSTITUTION: A support(10) supports a part of a body. An image processor obtains 3D shape data by taking a photograph of a bone. A laser scanner(30) extracts 3D bone position data by scanning the real bone in the state of cutting an affected area. A matching unit obtains bone position information by matching the position data and the shape data. A controller(50) controls a cutting arm(4) to cut a cut part.

Abstract translation: 目的：提供使用激光扫描仪的骨位置匹配装置，使用该装置的骨位置匹配方法，包括激光扫描仪的关节手术的机器人和使用该机器人的关节手术方法，以通过匹配来快速提取实际骨位置信息 使用激光扫描仪的位置数据和形状数据。 构成：支持（10）支持身体的一部分。 图像处理器通过拍摄骨骼获得3D形状数据。 激光扫描器（30）通过在切割受影响区域的状态下扫描真实骨骼来提取3D骨位置数据。 匹配单元通过匹配位置数据和形状数据来获得骨位置信息。 控制器（50）控制切割臂（4）切割切割部分。

公开(公告)号：KR1020120137163A

公开(公告)日：2012-12-20

申请号：KR1020110056519

申请日：2011-06-10

Applicant: 한국과학기술원

Inventor： 권동수 ,  조준연 ,  양정연 ,  신원호 ,  이민석 ,  류명한

IPC: A61B17/56 ,  A61B17/16 ,  A61B6/00 ,  A61B19/00

Abstract: PURPOSE: A bone position re-searching device used for joint surgery using a robot with a cutting arm, a bone position re-searching method, the robot for the joint surgery, and a joint surgery method using the robot are provided to rapidly modify position information by forming a specific pattern on a bone using a re-searching unit. CONSTITUTION: A support(10) supports a part of a body. An image processor obtains bone shape data by taking a photograph of a bone. A laser scanner(30) extracts bone position data by scanning the bone. A matching unit obtains bone position information by matching the position data and the shape data. A controller(50) controls a cutting arm(4) to cut a cut part.

Abstract translation: 目的：提供一种用于使用具有切割臂的机器人进行关节手术的骨位置重新搜索装置，骨位置重新搜索方法，用于关节手术的机器人以及使用该机器人的关节手术方法，以快速修改位置 使用重新搜索单元在骨骼上形成特定模式的信息。 构成：支持（10）支持身体的一部分。 图像处理器通过拍摄骨骼获得骨形状数据。 激光扫描器（30）通过扫描骨骼来提取骨位置数据。 匹配单元通过匹配位置数据和形状数据来获得骨位置信息。 控制器（50）控制切割臂（4）切割切割部分。

公开(公告)号：KR1020120122106A

公开(公告)日：2012-11-07

申请号：KR1020110040097

申请日：2011-04-28

Applicant: 한국과학기술원 ,  (주)미래컴퍼니

Inventor： 권동수 ,  신원호 ,  이민석 ,  류명한 ,  황민호 ,  조준연

IPC: A61B19/00 ,  B25J17/00 ,  B25J18/04 ,  A61B17/34

Abstract: PURPOSE: A surgical joint, a surgical instrument and a driving device are provided to have competitive price by reducing the number of mechanical components and the driving devices of the surgical instrument. CONSTITUTION: A first inner shaft(200) is inserted into a first rod(100). A flexible shaft(400) is combined with one side of the first inner shaft. A second rod is combined with the one side of the first rod. A second inner shaft(500) is combined with other side of the flexible shaft. A first ring is combined with the outer circumferential surface of the first rod.

Abstract translation: 目的：通过减少手术器械的机械部件和驱动装置的数量，提供外科接头，外科器械和驱动装置以具有有竞争力的价格。 构成：将第一内轴（200）插入第一杆（100）中。 柔性轴（400）与第一内轴的一侧结合。 第二杆与第一杆的一侧结合。 第二内轴（500）与柔性轴的另一侧组合。 第一环与第一杆的外圆周表面结合。

公开(公告)号：KR1020120122069A

公开(公告)日：2012-11-07

申请号：KR1020110040040

申请日：2011-04-28

Applicant: 한국과학기술원 ,  (주)미래컴퍼니

Inventor： 권동수 ,  신원호 ,  이민석 ,  류명한 ,  황민호 ,  조준연

IPC: A61B19/00 ,  A61B17/94 ,  A61B17/34 ,  B25J17/00

Abstract: PURPOSE: A surgical instrument for laparoscopic surgery and a control method thereof are provided to easily secure a joint angle by fixing and maintaining the joint angle using a wedge. CONSTITUTION: A first arm(110) forms a first hollow. A second arm(120) forms a second hollow. A cam is formed on the upper part of the first arm and the second arm. The cam pressurizes the coupled part of the first arm and the second arm. A sub arm(130) fixes the coupled part of the first arm and the second arm.

Abstract translation: 目的：提供一种腹腔镜手术的手术器械及其控制方法，通过使用楔固定和保持关节角度来容易地固定关节角度。 构成：第一臂（110）形成第一中空部。 第二臂（120）形成第二中空部。 凸轮形成在第一臂和第二臂的上部。 凸轮对第一臂和第二臂的联接部进行加压。 副臂（130）固定第一臂和第二臂的联接部分。

公开(公告)号：KR101158424B1

公开(公告)日：2012-06-25

申请号：KR1020100041347

申请日：2010-05-03

Applicant: 한국과학기술원

Inventor： 권동수 ,  신원호 ,  류명한 ,  이민석 ,  조준연

IPC: A61B17/285 ,  A61B19/00 ,  B25J18/06

Abstract: 본 발명은 수술도구의 자유도를 결정짓는 관절부의 구성이 간단하고, 분해 또는 조립이 용이하며, 세밀하고 정밀한 작업 및 좁은 영역의 작업에 적합하도록 수술도구의 하드웨어 구성을 단수화시킴으로써, 수술도구의 가격을 저렴하게 하는데 효과가 있다.
이를 위해 특히 소정의 물체를 파지하거나 절단할 수 있는 집게수단(10), 집게수단(10)의 일측에 결합되어 일체로 회전가능한 가요성의 중공을 가지는 회전로드(20), 회전로드(20)의 타측에 결합되어 회전로드(20)와 일체로 회전 가능한 중공을 가지는 이너샤프트(30), 회전로드(20)가 삽입되는 가요성의 플렉시블샤프트(50), 회전로드(20)와 플렉시블샤프트(50) 사이에 개재되는 베어링수단(40), 및집게수단(10)과 상기 플렉시블샤프트(50)에 각각 고정된 복수의 와이어(70)로 구성되어, 플렉시블샤프트(50)에 고정된 와이어(70)의 견인에 따라 플렉시블샤프트(50)와 회전로드(20)가 만곡되어질 수 있는 것을 특징으로 하는 다자유도를 가지는 수술도구가 개시된다.

公开(公告)号：KR1020120056363A

公开(公告)日：2012-06-04

申请号：KR1020100117850

申请日：2010-11-25

Applicant: 한국과학기술원

Inventor： 권동수 ,  이민석 ,  신원호 ,  류명한 ,  조준연

IPC: A61B1/005 ,  A61B1/01 ,  A61B1/045

CPC classification number: A61B1/0057 ,  A61B1/0055

Abstract: PURPOSE: A shape locking device of a flexible tube is provided to improve operability of the flexible tube by accurately controlling movement of the leading end through an interlocking structure of joint rings. CONSTITUTION: A flexible tube(10) has a bore(12), a first end(14), and a second end(16). A plurality of joint rings(20) is installed at the outer side of the flexible tube along a longitudinal direction of the flexible tube. A sleeve(22) of the joint ring has a bore (22a), a first end(22b), and a second end(22c). A pair of arms(30) is extended from the second end of the sleeve in order to be parallel. A connection unit(40) is composed of a locking bar(42), a connecting rod(44), and a locking wire(48).

Abstract translation: 目的：提供柔性管的形状锁定装置，以通过精确地控制前端通过接合环的互锁结构的运动来提高柔性管的可操作性。 构成：柔性管（10）具有孔（12），第一端（14）和第二端（16）。 多根接合环（20）沿柔性管的纵向方向安装在柔性管的外侧。 接头环的套筒（22）具有孔（22a），第一端（22b）和第二端（22c）。 一对臂（30）从套筒的第二端延伸以平行。 连接单元（40）由锁定杆（42），连杆（44）和锁定线（48）构成。

公开(公告)号：KR1020110121860A

公开(公告)日：2011-11-09

申请号：KR1020100041348

申请日：2010-05-03

Applicant: 한국과학기술원

Inventor： 권동수 ,  신원호 ,  류명한 ,  이민석 ,  조준연

IPC: A61B17/28 ,  A61B19/00 ,  B25J18/06

Abstract: PURPOSE: A surgery instrument for use in laparo-endoscopic single-site surgery is provided to secure a work space by being inserted through an incision part to from a triangle and being approached to a target. CONSTITUTION: In a surgery instrument for use in laparo-endoscopic single-site surgery, a first inner-shaft(200) is inserted into a first rod(100). A flexible shaft(400) is combined with one end of the first inner-shaft. A second hollow rod(700) is combined in one end of the first rod. A second inner-shaft(500) is inserted into the second rod. The second inner-shaft is combined in the other side of the flexible shaft.

Abstract translation: 目的：提供一种用于腹腔镜内镜单点手术的手术器械，用于通过将切口部分插入到三角形并接近目标来确保工作空间。 构成：在用于腹腔镜内镜单点手术的手术器械中，将第一内轴（200）插入第一杆（100）中。 柔性轴（400）与第一内轴的一端组合。 在第一杆的一端中组合第二中空杆（700）。 第二内轴（500）插入第二杆中。 第二内轴在柔性轴的另一侧组合。

公开(公告)号：KR101214849B1

公开(公告)日：2012-12-24

申请号：KR1020110056518

申请日：2011-06-10

Applicant: 한국과학기술원

Inventor： 권동수 ,  조준연 ,  양정연 ,  신원호 ,  이민석 ,  류명한

IPC: A61B17/56 ,  A61B17/16 ,  A61B6/00 ,  A61B19/00

Abstract: 발명은절삭아암을갖는로봇을이용한관절수술에이용되는뼈의위치재탐색장치, 그재탐색장치를이용한뼈의위치재탐색방법, 그재탐색장치를갖는관절수술용로봇및 그관절수술용로봇을이용한관절수술방법에대한것이다. 영상처리부가관절수술의대상이되는뼈를촬영하여뼈의형상데이터를얻고형상데이터를기초로뼈의절삭부위를설정하는단계; 관절수술용로봇의지지대에신체일부를고정시키는단계; 환부를절개한상태에서마커부착수단이뼈에마커를부착또는삽입하는단계; 레이저스캐너가마커가부착또는삽입된뼈를스캐닝하여뼈의위치데이터를추출하는단계; 매칭부가위치데이터와형상데이터를매칭시켜뼈의위치정보를얻는단계; 위치정보에기반하여관절수술용로봇을구성하는절삭아암이절삭부위를절삭하는단계; 및절삭아암에의해절삭부위를절삭하는중 위치정보에에러가발생된경우재탐색부가형상데이터와위치데이터를재매칭하여위치정보를재탐색하는단계를포함하는것을특징으로하는뼈 위치재탐색방법에관한것이다.

公开(公告)号：KR1020120137162A

公开(公告)日：2012-12-20

申请号：KR1020110056518

申请日：2011-06-10

Applicant: 한국과학기술원

Inventor： 권동수 ,  조준연 ,  양정연 ,  신원호 ,  이민석 ,  류명한

IPC: A61B17/56 ,  A61B17/16 ,  A61B6/00 ,  A61B19/00

Abstract: PURPOSE: A bone position re-searching device used for joint surgery using a robot with a cutting arm, a bone position re-searching method, the robot for the joint surgery, and a joint surgery method using the robot are provided to rapidly obtain bone position information by matching scanned 3D bone position data and shape data through a matching unit. CONSTITUTION: A support(10) supports a part of a body. A mark attaching means attaches or inserts a marker on a bone in the state of cutting an affected area. A laser scanner(30) extracts bone position data by scanning the bone. A matching unit obtains bone position information by matching the position data and shape data. A controller(50) controls a cutting arm(4) to cut a cut part.

Abstract translation: 目的：提供一种用于使用具有切割臂的机器人进行关节手术的骨位置重新搜索装置，骨位置重新搜索方法，用于关节手术的机器人，以及使用该机器人的关节手术方法，以快速获得骨 通过匹配单元匹配扫描的3D骨头位置数据和形状数据来定位位置信息。 构成：支持（10）支持身体的一部分。 标记附着装置在切割受影响区域的状态下将标记附着或插入骨头上。 激光扫描器（30）通过扫描骨骼提取骨位置数据。 匹配单元通过匹配位置数据和形状数据来获得骨位置信息。 控制器（50）控制切割臂（4）切割切割部分。