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公开(公告)号：KR1020150135752A
公开(公告)日：2015-12-03
申请号：KR1020150160376
申请日：2015-11-16
Applicant: (주)미래컴퍼니
IPC: A61B19/00
Abstract: 체감형수술용영상처리장치및 방법이개시된다. 수술용내시경으로부터제공되는내시경영상을입력받는영상입력부와, 내시경영상을특정영역에출력하는화면표시부와, 수술용내시경의관점에상응하여내시경영상을출력하는화면표시부의특정영역을변경하는화면표시제어부를포함하는체감형수술용영상처리장치는수술용내시경의움직임에상응하여사용자가보는모니터에출력되는내시경영상의출력위치를변화시킴으로써, 사용자가실제수술상황을보다현실감있게느낄수 있도록하는효과가있다.
Abstract translation: 公开了一种用于处理有形手术图像的装置和方法。 用于处理有形手术图像的装置包括：图像输入单元，用于接收从手术内窥镜器械提供的内窥镜图像的输入; 屏幕显示单元，用于在特定区域上输出内窥镜图像; 以及屏幕显示控制单元，用于改变用于输出与外科内窥镜器械的视点相对应的内窥镜图像的屏幕显示单元的特定区域。 该装置使用户能够在实际手术情况下感觉到现实感，通过改变输出到监视器的内窥镜图像的输出位置并由用户对应于外科内窥镜器械的运动来观看。
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公开(公告)号：KR101536685B1
公开(公告)日：2015-07-14
申请号：KR1020100089731
申请日：2010-09-14
Applicant: (주)미래컴퍼니
IPC: A61B17/50 , A61B17/34 , A61M25/095 , B25J18/00
Abstract: 지방흡입수술용로봇이개시된다. 제어부와, 제어부로부터소정의제어신호를수신하여구동되는로봇암과, 로봇암에장착되며일방향으로연장되는캐뉼라(cannula)와, 캐뉼라의단부에형성되며, 수술부위에삽입되어지방을흡입하는흡입부와, 캐뉼라의선단에결합되는초음파트랜스듀서(transducer)를포함하는지방흡입수술용로봇은, 로봇암에지방흡입용캐뉼라를장착하고로봇암을구동시켜캐뉼라를이동시킴으로써, 의사가많은힘을들이지않고간편하게지방흡입수술을수행할수 있다. 또한, 캐뉼라의선단에초음파트랜스듀서를장착하여, 그로부터수신된영상정보에기초하여수술용로봇을자동으로제어하고수술범위를자동으로설정하며, 초음파를발사하여지방을녹인후 흡입해냄으로써, 보다편리하고정확하며안전하게지방흡입수술을수행할수 있다.
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公开(公告)号：KR1020140088849A
公开(公告)日：2014-07-11
申请号：KR1020140070731
申请日：2014-06-11
Applicant: (주)미래컴퍼니
Abstract: Disclosed are a method and a device for controlling and compensating the movement of a surgical robot. The device for compensating the movement of a surgical robot, which is combined with a surgical treatment part including a surgical instrument at one side of a main body, comprises: an image information generation part for generating image information corresponding to image signals provided by photographing a surgical site with a camera; an identifying point information analysis part for generating analysis information on a distance and an angle between an identifying point, which is identified on each of the image information corresponding to image frames of a designated degree, and a predetermined reference point; a displacement analysis part for generating displacement information on a distance and an angle between two consecutively generated pieces of analysis information; a control command generation and output part for generating and outputting a control command for adjusting the position of the surgical treatment part so that the displacements of the distance and the angle included in the displacement information can be 0. Accordingly, prior and posterior processes for moving the surgical robot are not necessary as the surgical robot is enabled to move to a proper position while the instrument is inserted into a human body. Therefore, surgery time can be reduced and the fatigue of a surgeon can be alleviated.
Abstract translation: 公开了一种用于控制和补偿手术机器人的运动的方法和装置。 用于补偿手术机器人的运动的装置，其与在主体的一侧包括外科器械的手术治疗部件结合，包括：图像信息生成部，用于生成与通过拍摄提供的图像信号相对应的图像信息 手术部位用相机; 识别点信息分析部分，用于产生关于在与指定度的图像帧相对应的每个图像信息上的识别点与预定参考点之间的距离和角度的分析信息; 位移分析部件，用于产生位于两个连续生成的分析信息之间的距离和角度的位移信息; 用于产生和输出用于调节外科治疗部位的位置的控制命令的控制命令生成和输出部，使得包括在位移信息中的距离和角度的位移可以为0.因此，移动的前后处理 手术机器人不是必需的，因为手术机器人能够在仪器插入人体时移动到适当的位置。 因此，可以减少手术时间，减轻外科医生的疲劳。
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公开(公告)号：KR1020130031405A
公开(公告)日：2013-03-29
申请号：KR1020110094953
申请日：2011-09-21
Applicant: (주)미래컴퍼니
Abstract: PURPOSE: Driving apparatus and an assembly method thereof are provided to maintain consistent wire tension in a bolt fastening process by using a tension control device equipped with a main driving gear. CONSTITUTION: A rotary shaft(10) is lengthwise extended, receives driving force and rotates. A bolt hole(12) is made by lengthwise puncturing at the inside of the rotary shaft. A through-hole, where the rotary shaft is inserted, is made by puncturing at the middle part of a ring component(20), and the ring component is combined with the rotary shaft in a way that the rotary shaft is inserted into the through-hole. A wire(30) is wound around the outer circumferential surface of the ring component, and delivers driving force. An extension bolt(14) is inserted into the bolt hole, and has a bigger pipe diameter than the pipe diameter of the bolt hole. The rotary shaft is expanded in the direction of its pipe diameter by the fastening of the extension bolt, and thereby the rotary shaft and the ring component are bonded together.
Abstract translation: 目的：提供驱动装置及其装配方法，以通过使用配备有主驱动齿轮的张力控制装置来在螺栓紧固过程中保持一致的线张力。 构成：旋转轴（10）纵向延伸，接受驱动力并旋转。 螺旋孔（12）通过在旋转轴的内侧纵向地穿刺而制成。 旋转轴插入的通孔是通过在环形部件（20）的中间部位进行穿刺而制成的，并且环形部件与旋转轴结合，使得旋转轴插入到通孔 -孔。 电线（30）缠绕在环部件的外周面上并输送驱动力。 延伸螺栓（14）插入到螺栓孔中，并且具有比螺栓孔的管径更大的管直径。 旋转轴通过延长螺栓的紧固而在其管径方向上膨胀，从而旋转轴和环形部件结合在一起。
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公开(公告)号：KR1020120071183A
公开(公告)日：2012-07-02
申请号：KR1020100132813
申请日：2010-12-22
Applicant: (주)미래컴퍼니
IPC: A61B17/295 , A61B17/00 , A61B17/29
CPC classification number: A61B17/295 , A61B2017/003 , A61B2017/00353 , A61B2017/00477 , A61B2017/2929 , Y10S901/02
Abstract: PURPOSE: A rotation structure of a twist method and a surgical instrument using the same are provided to facilitate an operation control by including an axial rotation structure and a shaft bending structure. CONSTITUTION: A surgical instrument includes a driving unit, a shaft(120), an effecter(130), a rotation shaft(125), a combining unit(135), a contact point(140a,140b), a direction changing unit(150a,150b), and a rotating unit(160a,160b). An axial direction is an extension direction of the surgical instrument and/or shaft. The effecter is combined with one end of the surgical instrument and is inserted into a patient for contacting with a surgical part.
Abstract translation: 目的：提供扭转方法的旋转结构和使用其的手术器械，以便通过包括轴向旋转结构和轴弯曲结构来促进操作控制。 构成：外科器械包括驱动单元，轴（120），执行器（130），旋转轴（125），组合单元（135），接触点（140a，140b），方向改变单元 150a，150b）和旋转单元（160a，160b）。 轴向是手术器械和/或轴的延伸方向。 效果器与手术器械的一端组合并且插入到患者中以与外科部件接触。
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Patent Agency Ranking
公开(公告)号：KR1020120052704A
公开(公告)日：2012-05-24
申请号：KR1020100113983
申请日：2010-11-16
Applicant: (주)미래컴퍼니
CPC classification number: A61B34/30 , A61B17/0469 , A61B17/29 , A61B18/1445 , A61B2017/2908 , A61B2017/2927 , A61B2017/2929 , A61B2017/2939 , A61B2034/305
Abstract: PURPOSE: An instrument of surgical equipment is provided to improve convenience and effectiveness of a surgical operation by executing a plurality of surgical operations by using a pair of surgical operation members. CONSTITUTION: A pair of surgical operation members(30) is touched to a human body. A joint unit(40) is composed of a pair of rotators(41, 42) and a pair of secondary axes(Y1). The pair of rotators is connected which can be rotated with a principal axis(X) as the center. The pair of secondary axes interlinks the pair of surgical operation members and the pair of rotators which can be rotated. A body(21) supports the pair of surgical operation members and the joint unit. The principal axis is at right angles to the pair of secondary axes.
Abstract translation: 目的：提供一种外科手术器械，通过使用一对外科手术部件进行多次外科手术，提高外科手术的便利性和有效性。 构成：一对外科手术部件（30）被触摸到人体。 接头单元（40）由一对转子（41,42）和一对副轴（Y1）构成。 连接的一对转子可以以主轴（X）为中心旋转。 一对次轴将一对外科手术构件和可以旋转的一对旋转体相互连接。 主体（21）支撑一对手术操作构件和关节单元。 主轴与一对次轴成直角。
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公开(公告)号：KR1020120022521A
公开(公告)日：2012-03-12
申请号：KR1020110011430
申请日：2011-02-09
Applicant: (주)미래컴퍼니
CPC classification number: A61B17/29 , A61B2017/00477 , A61B2017/2901 , A61B2017/2912 , A61B2017/2929 , A61B2017/2947
Abstract: PURPOSE: A coupling structure of a surgical instrument and a zero point calibrating method are provided to calibrate a zero point by forming a driving force generating unit with a friction clutch type. CONSTITUTION: An operation unit(10) is inserted into a surgical part. A driving force transmitting unit operates the operation unit by transmitting a driving force to the operation unit. A first coupler includes a pulley(14) which applies tension to the driving force transmitting unit. A second coupler is selectively connected to the first coupler and operates the first coupler. The second coupler includes a friction clutch(20a). The friction clutch is selectively contacted with the outer side of the pulley and rotates the pulley.
Abstract translation: 目的：通过形成具有摩擦离合器类型的驱动力产生单元，提供外科器械的耦合结构和零点校准方法来校准零点。 构成：将操作单元（10）插入外科手术部。 驱动力传递单元通过向操作单元传递驱动力来操作操作单元。 第一联接器包括向驱动力传递单元施加张力的滑轮（14）。 第二耦合器选择性地连接到第一耦合器并且操作第一耦合器。 第二联接器包括摩擦离合器（20a）。 摩擦离合器选择性地与滑轮的外侧接触并使滑轮旋转。
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公开(公告)号：KR1020110131053A
公开(公告)日：2011-12-06
申请号：KR1020100050681
申请日：2010-05-28
Applicant: (주)미래컴퍼니
Abstract: PURPOSE: The RCM structure of a robot arm for operation is provided to improve rotation range of an instrument for operation. CONSTITUTION: A first link module(20) is combined with a base(10) and rotates to one side and the other side based on a crustaceous line in which the base and an RCM(Remote Center of Motion) point(8) are connected. A second link module(30) is combined in the first link module in order to be possible to rotate. An instrument is equipped to the end part. A robot arm(1) is combined in a support arm(3) and the case is formed in the end part of the support arm. The first link module and the second link module accomplish a robot arm.
Abstract translation: 目的：提供用于操作的机器人手臂的RCM结构，以提高仪器的旋转范围进行操作。 构成：第一连杆模块（20）与基座（10）组合，并且基于其中基座和RCM（远程运动中心点）（8）连接的外壳线旋转到一侧和另一侧 。 在第一链接模块中组合第二链接模块（30）以便可以旋转。 一个仪器配备到端部。 机械臂（1）组合在支撑臂（3）中，壳体形成在支撑臂的端部。 第一连杆模块和第二连杆模块完成机器人手臂。
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公开(公告)号：KR1020110127563A
公开(公告)日：2011-11-25
申请号：KR1020100047138
申请日：2010-05-19
Applicant: (주)미래컴퍼니
CPC classification number: A61B34/30 , A61B17/29 , A61B17/7011 , A61B17/7029 , A61B2017/00389 , A61B2017/293 , A61M25/0147
Abstract: PURPOSE: A surgical instrument is provided to increase the freedom of insertion, withdrawal, and rotation of an instrument during a single port surgical process. CONSTITUTION: A surgical instrument includes an operating unit(10), a shaft(20) coupled with the operating unit, and an effecter(30) coupled with the end of the shaft. The operating unit generates and transfers operating power. The operating unit includes a plurality of operating fixtures(12a,12b,12c). One end of the shaft is coupled with the operating unit and the effecter. The effecter is inserted into a surgical part. The effecter has a structure which has forceps and scissors which perform gripping, cutting, and suturing.
Abstract translation: 目的：提供外科器械，以增加仪器在单一口腔手术过程中的插入，拔出和旋转的自由度。 构成：手术器械包括操作单元（10），与操作单元联接的轴（20）和与轴的端部联接的执行器（30）。 操作单元产生并传送工作电源。 操作单元包括多个操作固定装置（12a，12b，12c）。 轴的一端与操作单元和执行器相连。 将执行器插入手术部分。 效果器具有能够进行夹紧，切割和缝合的镊子和剪刀的结构。
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公开(公告)号：KR1020110015982A
公开(公告)日：2011-02-17
申请号：KR1020090073459
申请日：2009-08-10
Applicant: (주)미래컴퍼니
CPC classification number: A61B17/00 , A61B17/28 , A61B17/32 , A61B2017/0003 , B25J17/00
Abstract: PURPOSE: An instrument of the surgery surgical equipment is provided to offer the effect of simplifying the overall configuration by sharing at least one surgical member with other surgical members. CONSTITUTION: An instrument(20A) for the surgery surgical equipment comprises three surgical members(31, 32, 33) formed on the end tip of a body(23). The body comprises a tube member(21) connected from a driving part of the instrument and a wrist member which is connected to the tube member.
Abstract translation: 目的：提供手术外科手术器械的手段，以通过与其他手术部件共享至少一个手术部件来提供简化整体结构的效果。 构成：用于手术外科设备的器械（20A）包括形成在主体（23）的末端上的三个外科构件（31,32,33）。 本体包括从仪器的驱动部分连接的管构件（21）和连接到管构件的腕构件。
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