-
公开(公告)号：WO2009151205A1
公开(公告)日：2009-12-17
申请号：PCT/KR2009/001366
申请日：2009-03-18
CPC classification number: A61B34/30 , A61B2017/00477
Abstract: 수술용 로봇 암의 인스트루먼트가 개시된다. 액추에이터가 구비된 로봇 암의 선단부에 장착되는 인스트루먼트로서, 로봇 암의 선단부에 결합되는 하우징과, 하우징에 결합되며, 액추에이터로부터 구동력을 전달받아 작동하는 구동휠(wheel)과, 하우징에 결합되며, 하우징이 상기 로봇 암으로부터 탈착되는 것에 상응하여 구동휠의 작동 상태를 잠그는 로킹(locking)부를 포함하는 인스트루먼트는, 인스트루먼트에 로킹부를 설치하고 인스트루먼트를 로봇 암에 탈착하는 과정에서 로킹부가 구동휠의 회전을 제한하도록 하여, 인스트루먼트를 로봇 암으로부터 이탈시킬 때 구동휠이 자동으로 초기화되어 잠기도록 함으로써, 구동휠이나 조작부가 불필요하게 움직이지 않고, 인스트루먼트를 로봇 암에 장착한 후 별도의 정렬 작업 없이 로봇 암의 구동력을 인스트루먼트에 전달하여 로봇 수술을 수행할 수 있다는 장점이 있다.
Abstract translation: 公开了一种手术机器人手臂的仪器。 仪器配备在具有执行机构的机器人手臂的前端。 该仪器包括：与机器人手臂的前端相连的外壳，与壳体相连并通过接收来自致动器的驱动力而工作的驱动轮，以及与壳体联接并锁定的锁定单元 所述驱动轮的操作对应于所述壳体与所述机器人手臂的连接和拆卸。 当将锁定单元安装在仪器中并将仪器与机器人手臂连接和拆卸时，锁定单元控制驱动轮的旋转，使得当仪器与机器人臂分离时，驱动轮被自动初始化和锁定。 因此，驱动轮或操作单元不会不必要地移动，并且在机器人装备仪器之后，通过将机器人臂的驱动力传递到仪器而不进行单独调整，可以通过机器人执行手术。
-
公开(公告)号：KR101765727B1
公开(公告)日：2017-08-08
申请号：KR1020110011430
申请日：2011-02-09
Applicant: (주)미래컴퍼니
Abstract: 수술용인스트루먼트의커플링구조및 원점조정방법이개시된다. 수술용인스트루먼트(instrument)를작동시키기위해, 인스트루먼트가구동부에착탈가능하도록커플링(coupling)되는구조로서, 인스트루먼트는, 수술부위에삽입되어수술에필요한동작을수행하는조작부와, 일단부가조작부에연결되며, 조작부가작동되도록구동력을전달하는와이어(wire)와, 와이어의타단부가권취되며, 그회전에의해와이어에장력을인가하는풀리(pulley)를포함하고, 구동부는, 풀리의외주면에선택적으로접촉되며, 그길이방향으로의이동에의해풀리를회전시키는마찰클러치를포함하는것을특징으로하는수술용인스트루먼트의커플링구조는, 수술용인스트루먼트를구동부와착탈가능한구조로구성하고, 구동부의구동력생성수단을마찰클러치형태로제작함으로써, 조작자가소정정도조작된상태를조작의원점으로재조정하고그 상태를원점으로하여다시조작자를조작할수 있다.
Abstract translation: 公开了一种手术器械的联接结构和原点调整方法。 1.一种可拆卸地连接到器械家具的东部以用于操作手术器械的结构，所述器械包括：操作部分，插入手术部位以执行手术操作所需的操作; 以及用于缠绕所述线的另一端并且通过所述线的旋转向所述线施加张力的滑轮，其中，所述驱动单元构造成选择性地向所述滑轮的所述外周表面施加张力， 以及摩擦离合器，其通过沿所述带轮的长度方向的移动来使所述带轮旋转，所述处置器械的所述连结结构具有能够从所述驱动部拆卸所述处置器械的结构， 通过制造摩擦离合器形式的装置，将操作者已经操作到预定程度的状态重新调整到操作的起点， 你可以操纵角色。
-
公开(公告)号：KR101717437B1
公开(公告)日：2017-03-20
申请号：KR1020150097394
申请日：2015-07-08
Applicant: (주)미래컴퍼니
Abstract: 휠의체결구조및 수술용인스트루먼트의체결구조가개시된다. 수술용로봇의로봇암에형성되는인스트루먼트홀더와, 인스트루먼트홀더에장착되는수술용인스트루먼트의체결을위한휠의체결구조로서, 수술용로봇암으로부터구동력을전달받아구동하며, 복수의제1 전기접점을가지는구동휠과, 구동휠에정합시 제1 전기접점에연결되고사이에소정의전기저항이연결된복수의제2 전기접점을가지는종동휠을포함하는휠의체결구조는전기적, 자기적, 기구적특성등을이용하여휠의정렬여부를감지하고, 휠을정밀하게정렬및 정합할수 있으며, 체결시 휠의회전에의한오차를보정할수 있고, 하나의센서를이용하여복수의휠의정렬여부를감지함으로써부피및 비용이감소하는효과가있으며, 센싱의정확도를높일수 있는효과가있다.
-
公开(公告)号：KR101684863B1
公开(公告)日：2016-12-12
申请号：KR1020100113983
申请日：2010-11-16
Applicant: (주)미래컴퍼니
Abstract: 본발명에따른복수기능을갖는외과수술용장치의인스트루먼트는, 한쌍의수술부재의상호협력방향이복수방향이되어복수의수술작업쌍을구현할수 있도록구성됨으로써, 하나의인스트루먼트를이용하여복수의수술도구적용이가능하도록함으로써다기능인스트루먼트를실현하여, 인스트루먼트의교체시간등 수술시간을단축하고, 체내에삽입되어야할 인스트루먼트의개수를줄일수 있는등 수술과정을단순화하는등 수술작업의편의성및 효율성을향상시킬수 있는효과를제공한다.
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）和一对次轴（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。
-
公开(公告)号：KR1020130026638A
公开(公告)日：2013-03-14
申请号：KR1020110089921
申请日：2011-09-06
Applicant: (주)미래컴퍼니
Abstract: PURPOSE: A structure of a driving part of an instrument for an operation is provided to easily compensate for the dispersion of the reference state of an effector and/or a driving wheel by inserting a shaft into an operating part and setting the effector to a desired state before combining the driving wheel with a driving shaft. CONSTITUTION: A driving wheel(14) receives driving force from an actuator(1) of a surgical robot for operation. A driving shaft(24) is selectively combined with the driving wheel. One end and the other end of a wire(40) are respectively combined with the driving shaft and an effector(30). The wire is accommodated by a flexible shaft(50). The driving shaft is rotated by the tension applied to the wire. A knob(26) for manually rotating the driving shaft is formed at the other end of the driving shaft.
Abstract translation: 目的：提供用于操作的仪器的驱动部分的结构，以通过将轴插入操作部分中并将效应器设置为期望的方式来容易地补偿效应器和/或驱动轮的基准状态的分散 在将驱动轮与驱动轴组合之前状态。 构成：驱动轮（14）接收来自外科手术机器人的致动器（1）的驱动力用于操作。 驱动轴（24）选择性地与驱动轮组合。 线（40）的一端和另一端分别与驱动轴和效应器（30）组合。 线由柔性轴（50）容纳。 驱动轴通过施加到线的张力旋转。 在驱动轴的另一端形成有用于手动旋转驱动轴的旋钮（26）。
-
Patent Agency Ranking
公开(公告)号：KR1020120028804A
公开(公告)日：2012-03-23
申请号：KR1020110083013
申请日：2011-08-19
Applicant: (주)미래컴퍼니
CPC classification number: A61B34/30 , A61B17/0469 , A61B2034/301 , A61B2034/305 , B25J18/06
Abstract: PURPOSE: A bending device for a surgical instrument is provided to secure a support force by forming a protrusion between wire rods with a spiral structure. CONSTITUTION: A wrist unit(130) freely moves. A wire rod(131) has a spiral structure. A protrusion unit(140) maintains the deformation of the wire rod. The wrist unit is formed between a body shaft(110) and a terminal operator(120).
Abstract translation: 目的：提供一种用于外科器械的弯曲装置，通过在具有螺旋结构的线材之间形成突起来固定支撑力。 构成：手腕单元（130）自由移动。 线材（131）具有螺旋结构。 突起单元（140）保持线材的变形。 腕部单元形成在主体轴（110）和终端操作器（120）之间。
-
公开(公告)号：KR1020120019797A
公开(公告)日：2012-03-07
申请号：KR1020100083252
申请日：2010-08-27
Applicant: (주)미래컴퍼니
CPC classification number: A61B17/29 , A61B17/0469 , A61B34/30 , A61B34/70 , A61B2034/305 , B25J13/025
Abstract: PURPOSE: An effecter structure of a surgical instrument is provided to freely rotate the surgical instrument by additionally installing a rotation plate in a gripper of the surgical instrument. CONSTITUTION: A surgical instrument has an effecter structure with a gripper. The surgical instrument includes a first jaw(10) and a second jaw(20). A first rotation unit(14) and a second rotation unit(24) are rotatably installed in the first jaw and the second jaw. The first rotation unit faces the second rotation unit. The surface of the rotation unit and a grip surface are located on the same plane.
Abstract translation: 目的：提供外科器械的执行器结构，通过在外科器械的夹持器中另外安装旋转板来自由旋转外科器械。 构成：外科器械具有带抓爪器的执行器结构。 手术器械包括第一钳口（10）和第二钳口（20）。 第一旋转单元（14）和第二旋转单元（24）可旋转地安装在第一夹爪和第二夹爪中。 第一旋转单元面向第二旋转单元。 旋转单元的表面和手柄表面位于同一平面上。
-
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
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
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：KR1020110095795A
公开(公告)日：2011-08-25
申请号：KR1020100065953
申请日：2010-07-08
Applicant: (주)미래컴퍼니
CPC classification number: B25J15/0433 , A61B34/30 , A61B34/37 , B25J15/0019 , B25J15/0466 , B25J18/00
Abstract: PURPOSE: A wheel connection structure and connection structure of surgical instrument are provided to improve the accuracy of sensing and to reduce volume and cost. CONSTITUTION: A wheel connection structure comprises drive wheels(30,50), a driven wheel, and a Y-matching sensor(35). The drive wheel receives the driving force from a surgical robot arm. The driven wheel is matched with the drive wheel. The Y-matching sensor is combined in the drive wheel or the driven wheel. The Y-matching sensor senses the electric change generating in the Y-matching of the driven wheel and drive wheel and senses connection state.
Abstract translation: 目的：提供手术器械的轮连接结构和连接结构，以提高感测的精度，并减少体积和成本。 构成：轮连接结构包括驱动轮（30,50），从动轮和Y匹配传感器（35）。 驱动轮从外科手术机械臂接收驱动力。 从动轮与驱动轮匹配。 Y匹配传感器组合在驱动轮或从动轮中。 Y匹配传感器感测从动轮和驱动轮的Y匹配产生的电变化并感测连接状态。
-
-
-
-
-
-
-
-
-
Search Results
41
records
(took 0.027 seconds)
