公开(公告)号：KR1020130035464A

公开(公告)日：2013-04-09

申请号：KR1020110099772

申请日：2011-09-30

Applicant: (주)미래컴퍼니

Inventor： 최대식 ,  강인철 ,  민순기 ,  송청호

IPC: G01B9/02 ,  G01B11/24 ,  G01B11/06

Abstract: PURPOSE: A device using polarized lights for measuring a 3D shape and thickness is provided to simultaneously obtain a surface shape and the thickness information of a target object by using the polarized lights. CONSTITUTION: A device(200) using polarized lights for measuring a 3D shape and thickness comprises a white light source(210), a first beam splitter(220), a linear polarizer(230), a second beam splitter(270), a mirror(280), and a spectroscope(290). The first beam splitter sorts white light incident from the white light source into reference lights and measurement lights, thereby irradiating the same respectively to a reference mirror(240) and a measurement object(260). The first beam splitter interferes in the reference and measurement lights, which are reflected by the reference mirror and measurement object, thereby generating coherent lights. The linear polarizer linear-polarizes the reference lights so that the reference lights have only first polarizing components. [Reference numerals] (AA,BB,DD,) Vertical polarization; (CC,FF) Horizontal polarization; (EE) Shape, thickness;

Abstract translation: 目的：提供使用偏振光来测量3D形状和厚度的装置，以通过使用偏振光同时获得目标物体的表面形状和厚度信息。 构成：使用用于测量3D形状和厚度的偏振光的装置（200）包括白色光源（210），第一分束器（220），线性偏振器（230），第二分束器（270），第二分束器 镜（280）和分光镜（290）。 第一分束器将从白色光源入射的白光分成参考光和测量光，从而将其照射到参考反射镜（240）和测量对象（260）。 第一个分光器干涉参考和测量光，由参考镜和测量对象反射，从而产生相干光。 线性偏振器线性偏振参考光，使得参考光仅具有第一偏振分量。 （标号）（AA，BB，DD，）垂直极化; （CC，FF）水平极化; （EE）形状，厚度;

公开(公告)号：KR1020130015437A

公开(公告)日：2013-02-14

申请号：KR1020110077430

申请日：2011-08-03

Applicant: (주)미래컴퍼니

Inventor： 최승욱 ,  이민규 ,  원종석

IPC: A61B34/00 ,  B25J13/08 ,  B25J19/02 ,  B25J18/00

CPC classification number: B25J13/025 ,  A61B34/30 ,  A61B34/37

Abstract: PURPOSE: A master arm structure of a robot for an operation and a method for controlling a master robot are provided to control the operation of a master arm by operating a break installed on each joint after detecting an operation state of the master arm so that a user feels haptic feedback when manipulating the master arm. CONSTITUTION: A master arm structure of a robot for an operation comprises a handle(3), an arm part(10), a brake(16), a detecting part(20), and a control unit(30). The handle is operated by a user. The arm unit connects a master robot and the handle and is formed into a structure that a plurality of arm members(12) is connected by a joint(14). The arm members rotate around the joint so that the handle is positioned. The brake is installed in the joint and controls the rotation of the arm members The sensing unit obtains information with respect to one or more of a state that the handle is operated and a state that the arm part is operated. The control unit controls the operation of the brake by using the information obtained by the sensing unit.

Abstract translation: 目的：提供用于操作的机器人的主臂结构和用于控制主机器人的方法，用于通过在检测到主臂的操作状态之后操作在每个关节上安装的断点来控制主臂的操作，使得 用户在操纵主臂时感觉到触觉反馈。 构成：用于操作的机器人的主臂结构包括手柄（3），臂部分（10），制动器（16），检测部分（20）和控制单元（30）。 手柄由用户操作。 臂单元连接主机器人和手柄，并且形成为多个臂构件（12）通过接头（14）连接的结构。 臂构件围绕接头旋转，使手柄定位。 制动器安装在接头中并控制臂构件的旋转。感测单元获得关于手柄被操作的状态和手臂部分被操作的状态中的一个或多个的信息。 控制单元通过使用由感测单元获得的信息来控制制动器的操作。

公开(公告)号：KR1020120131800A

公开(公告)日：2012-12-05

申请号：KR1020110050215

申请日：2011-05-26

Applicant: 한국과학기술원 ,  (주)미래컴퍼니

Inventor： 이두용 ,  강부원 ,  조장호 ,  왕혁 ,  유재형

IPC: B25J15/00 ,  B25J15/08 ,  B25J19/00

Abstract: PURPOSE: A moving structure of a 1-DOF(Degree Of Freedom) gripper system, the detachable 1-DOF gripper system, and a driving method thereof are provided to apply a driving system using a wire to the 1-DOF gripper system, thereby obtaining high resolving power. CONSTITUTION: A moving structure of a 1-DOF gripper system comprises an actuator(5), a rotating member(11), and a gripper(12). The actuator comprises a rotary shaft(7). The rotating member receives power from the actuator by using a wire and rotates. The gripper is attached or detached to/from the rotating member. A guide groove is formed on a lateral side of the rotating member in a circumferential direction and the wire is placed in the guide groove. The wire is wound around the rotary shaft. Both ends of the wire are respectively fixed to both sides of the rotating member. A rotational direction of the rotating member is varied according to the rotational direction of the rotary shaft.

Abstract translation: 目的：提供1自由度（自由度）夹持系统的移动结构，可拆卸的1-DOF夹持系统及其驱动方法，以将使用导线的驱动系统应用于1-DOF夹持器系统，从而 获得高分辨力。 构成：1-DOF夹持器系统的移动结构包括致动器（5），旋转构件（11）和夹持器（12）。 致动器包括旋转轴（7）。 旋转构件通过使用导线从致动器接收动力并旋转。 夹持器与旋转构件相连或分离。 在圆周方向上在旋转构件的横向侧上形成引导槽，并且将导线放置在引导槽中。 线缠绕在旋转轴上。 线的两端分别固定在旋转构件的两侧。 旋转构件的旋转方向根据旋转轴的旋转方向而变化。

公开(公告)号：KR1020120126679A

公开(公告)日：2012-11-21

申请号：KR1020110044676

申请日：2011-05-12

Applicant: (주)미래컴퍼니

Inventor： 최재순 ,  최승욱 ,  김희찬 ,  박준우 ,  이민규 ,  류지원

IPC: A61B19/00 ,  B25J13/08 ,  A61B1/05 ,  G08B21/02

Abstract: PURPOSE: A control method for a surgical robot system capable of determining and managing a surgical situation, a recording medium thereof, and the surgical robot system are provided to automatically perform a predetermined operation for managing a surgical situation by determining a current surgical situation from laparoscope images in real time. CONSTITUTION: Image information including one or more of RGB values or HSV values, which represent pixel information of laparoscope images, is generated from the laparoscope images(S10). An interest region in the laparoscope images is extracted from the generated image information(S20). A current operation situation is determined from changes according to time flow in the extracted interest region(S30). A predetermined operation for dealing with the determined operational situation is performed(S40). [Reference numerals] (AA) Start; (BB) Yes; (CC) No; (DD) End; (S10) Generating image information from an laparoscope image; (S20) Extracting an interest region from the image information; (S30) Determining operation situation from change of the interest region; (S40) Performing predetermined operation corresponding to the operation situation; (S50) Finish?

Abstract translation: 目的：提供一种能够确定和管理外科手术的手术机器人系统的控制方法，其记录介质和外科手术机器人系统，以通过从腹腔镜确定当前手术情况来自动执行用于管理外科手术情况的预定操作 图像实时。 构成：从腹腔镜图像生成包括表示腹腔镜图像的像素信息的RGB值或HSV值中的一个或多个的图像信息（S10）。 从生成的图像信息中提取腹腔镜图像中的兴趣区域（S20）。 根据所提取的兴趣区域中的时间流程的变化来确定当前操作情况（S30）。 执行用于处理确定的操作情况的预定操作（S40）。 （附图标记）（AA）开始; （BB）是的; （CC）否; （DD）结束; （S10）从腹腔镜图像生成图像信息; （S20）从图像信息中提取兴趣区域; （S30）确定利益区域变化的经营情况; （S40）执行与运行状况对应的预定动作; （S50）完成？

公开(公告)号：KR1020120105890A

公开(公告)日：2012-09-26

申请号：KR1020110023595

申请日：2011-03-16

Applicant: 전자부품연구원 ,  (주)미래컴퍼니

Inventor： 김봉석 ,  황정훈 ,  박창우 ,  김철성

IPC: B25J15/08 ,  A61B17/28 ,  A61B19/00 ,  B25J15/02

Abstract: PURPOSE: A griper using a driving wire is provided to directly measure the opening degree of the gripper. CONSTITUTION: A griper using a driving wire comprises first and second actuating units, first and second capstans, first and second rotary shafts, and a driving wire(40). The first and second capstans connected to the first and second actuating units control the first and second actuating units. The first and second rotary shafts are placed at each center of the first and second capstans, and rotate the first and second capstans. The driving wire is wrapped around the first capstan, and wrapped around the second capstan in the opposite direction. The driving wire controls the rotation of the first and second capstans by tensile force.

Abstract translation: 目的：提供使用驱动线的手柄来直接测量夹具的开度。 构成：使用驱动线的夹具包括第一和第二致动单元，第一和第二绞盘，第一和第二旋转轴以及驱动线（40）。 连接到第一和第二致动单元的第一和第二绞盘控制第一和第二致动单元。 第一和第二旋转轴被放置在第一和第二绞盘的每个中心处，并且旋转第一和第二绞盘。 驱动线缠绕在第一绞盘周围，并且沿相反方向缠绕在第二绞盘上。 驱动线通过张力控制第一和第二绞盘的旋转。

公开(公告)号：KR1020120105889A

公开(公告)日：2012-09-26

申请号：KR1020110023594

申请日：2011-03-16

Applicant: 전자부품연구원 ,  (주)미래컴퍼니

Inventor： 김봉석 ,  황정훈 ,  김철성

IPC: B25J17/00 ,  A61B19/00 ,  B25J9/06

Abstract: PURPOSE: A joint device for an active ball socket is provided to obtain the high degree of freedom, and to effectively deliver power with independently controlling each axis. CONSTITUTION: A joint device for an active ball socket comprises a ball(110), a N-th link, a (N+1)th link, a pair of first driving wires(131), a pair of second driving wires(132). The first driving wires are fixed to the (N+1)th link by penetrating the N-th link along a second guide slot. The first driving wires drive the (N+1)th link against a first axis. The second driving wires are fixed to the (N+1)th link by penetrating the N-th link along a first guide slot. The second driving wires drive the (N+1)th link against a second axis.

Abstract translation: 目的：提供一种用于主动球窝的联合装置以获得高自由度，并且通过独立控制每个轴来有效地输送动力。 构成：用于主动球窝的联合装置包括球（110），第N连杆，第（N + 1）连杆，一对第一驱动线（131），一对第二驱动线（132） ）。 第一驱动线通过沿着第二导槽穿过第N链路而固定到第（N + 1）个链路。 第一驱动线驱动第（N + 1）个链路抵靠第一轴。 第二驱动线通过沿着第一引导槽穿过第N链接而固定到第（N + 1）链路。 第二驱动线驱动第（N + 1）个链路抵靠第二轴。

公开(公告)号：KR1020120090410A

公开(公告)日：2012-08-17

申请号：KR1020110010814

申请日：2011-02-07

Applicant: (주)미래컴퍼니

Inventor： 최승욱 ,  이제선 ,  이민규

IPC: A61B34/35 ,  B25J13/08 ,  A61B34/00 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B34/71 ,  A61B2034/305 ,  B25J13/088

Abstract: PURPOSE: A surgical robot system and a control method thereof are provided to prevent structure change by additionally adding an exclusive driving part which is in charge of operational freedom of an instrument. CONSTITUTION: A first driving part(20) combines a robot with an instrument. The first driving part includes the n(N is natural number) number of basic drivers so that the instrument operates at an n freedom degree. A second driver part(30) is combined with the instrument and includes the m number of extra drivers so that the instrument operates at an n+m(n+m is natural number) freedom degree. A sensing part(40) sense drive information of the second driver part and outputs a sensing signal.

Abstract translation: 目的：提供一种外科手术机器人系统及其控制方法，以通过另外添加负责仪器的操作自由度的专用驱动部件来防止结构变化。 构成：第一个驱动部件（20）将机器人与仪器相结合。 第一个驱动部分包括n（N是自然数）的基本驱动器数量，使得仪器以n自由度运行。 第二个驱动器部件（30）与仪器组合并且包括m个额外的驱动器，使得仪器以n + m（n + m为自然数）自由度工作。 感测部分（40）感测第二驱动器部分的驱动信息并输出感测信号。

公开(公告)号：KR1020120086629A

公开(公告)日：2012-08-03

申请号：KR1020110007993

申请日：2011-01-26

Applicant: (주)미래컴퍼니

Inventor： 최승욱 ,  이제선

IPC: A61B17/34 ,  A61B17/50 ,  A61B17/29

CPC classification number: A61B17/3417 ,  A61B17/29 ,  A61B17/50 ,  A61B2017/3405 ,  A61B2017/348

Abstract: PURPOSE: A surgical instrument is provided to selectively use auxiliary tools integrated in the surgical instrument by exposing the auxiliary tools the tip part of a shaft when necessary. CONSTITUTION: A shaft(10) is extended in a longitudinal direction. An effecter(12) is inserted into a portion to be operated an implements necessary operations. Auxiliary tools(14), including a first tube for suction, are accepted in the shaft. A driving unit(20) operates the tip part of the auxiliary tools to be exposed through the tip part of the shaft.

Abstract translation: 目的：提供一种手术器械，用于选择性地使用集成在外科器械中的辅助工具，必要时将辅助工具暴露在轴的尖端部分。 构成：轴（10）沿纵向延伸。 将执行器（12）插入要操作的部分中进行必要的操作。 辅助工具（14），包括用于抽吸的第一管，在轴中被接受。 驱动单元（20）使辅助工具的顶端部分通过轴的顶端部分露出。

公开(公告)号：KR101164505B1

公开(公告)日：2012-07-10

申请号：KR1020100038651

申请日：2010-04-26

Applicant: (주)미래컴퍼니

Inventor： 최세종

IPC: B24B9/10 ,  B24B51/00 ,  G02F1/13

Abstract: 글래스 패널 연마방법 및 연마장치가 개시된다. 주행 방향을 따라 글래스(glass) 패널을 이동시키면서 글래스 패널의 코너(corner) 및 에지(edge)를 연마하는 방법으로서, (a) 로더(loader)에 의해 픽업(pick-up)된 글래스 패널을, 소정 위치에 회전가능하도록 고정되어 있는 연마 테이블(table)에 안착시키는 단계, (b) 글래스 패널을 정렬시키고, 글래스 패널의 전방 코너를 연마하는 단계, (c) 글래스 패널의 제1 에지를 연마하는 단계, (d) 글래스 패널의 후방 코너를 연마하는 단계, (e) 연마 테이블을 회전시키고 에지 연마휠을 이동시켜, 글래스 패널의 제2 에지를 연마하는 단계, (f) 글래스 패널을 언로더(unloader)로 픽업(pick-up)하여 반출하는 단계, 및 (g) 소정 분량의 글래스 패널이 연마되도록 단계 (a) 내지 단계 (f)를 반복하는 단계를 포함하는 글래스 패널 연마방법은, 연마 테이블이 이동하는 대신 로더와 언로더를 이동시켜 글래스 패널을 반송하도록 함으로써, 연마 테이블이 새로운 패널의 로딩을 위해 로딩 포지션으로 이동하거나, 연마가 완료된 패널을 언로딩하기 위해 언로딩 포지션으로 이동할 필요가 없어, 작업 택타임이 단축될 수 있다.

公开(公告)号：KR101149766B1

公开(公告)日：2012-06-11

申请号：KR1020100131318

申请日：2010-12-21

Applicant: (주)미래컴퍼니

Inventor： 김병겸 ,  백광수 ,  강현구 ,  송청호 ,  김광일

IPC: H01L31/18 ,  H01L31/042 ,  B23K26/36

CPC classification number: Y02E10/50 ,  H01L31/18 ,  B23K26/36 ,  H01L31/042

Abstract: PURPOSE: A multilayer substrate manufacturing apparatus which simultaneously performing edge deletion and isolation processes and a manufacturing method thereof are provided to reduce tact time of entire processes by integrating isolation and edge deletion processes. CONSTITUTION: A support table(30) supports a multilayer substrate(50) transferred into an apparatus through a transport part(40). A P4 processing unit(10) performs an isolation process with respect to the multilayer substrate loaded on the support table. A P5 processing unit(20) performs an edge deletion process with respect to the multilayer substrate loaded on the support table. The transport part supports the lower part of both edge parts of the multilayer substrate. The transport part comprises a transfer roller(42) and a roller support(44) for supporting the transfer roller.

Abstract translation: 目的：提供同时执行边缘删除和隔离处理的多层基板制造装置及其制造方法，以通过集成隔离和边缘删除处理来减少整个处理的节拍时间。 构成：支撑台（30）支撑通过运输部件（40）转移到装置中的多层基板（50）。 P4处理单元（10）相对于载置在支撑台上的多层基板进行隔离处理。 P5处理单元（20）相对于装载在支撑台上的多层基板进行边缘删除处理。 运输部件支撑多层基板的两个边缘部分的下部。 输送部件包括用于支撑转印辊的转印辊（42）和辊支撑（44）。