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    Medical Robot
    1.
    发明申请
    Medical Robot 审中-公开
    医疗机器人

    公开(公告)号：US20150283406A1

    公开(公告)日：2015-10-08

    申请号：US14541104

    申请日：2014-11-13

    Applicant: Daegu Gyeongbuk Institute of Science and Technology

    Inventor： Pyung Hun Chang ,  Gezgin Erkin ,  Seung Ho Kim

    IPC: A61N5/10

    CPC classification number: A61N5/1083 ,  A61B6/04 ,  A61B6/0407 ,  A61B6/0457 ,  A61B6/4429 ,  A61B6/4458 ,  A61B6/4464 ,  A61N5/1077 ,  A61N5/1081 ,  A61N5/1082 ,  A61N5/1084

    Abstract: A medical robot includes a bed on which an object is to be disposed, and a robot arm unit disposed above or below the bed, and including an emitting member movable within a trajectory on a sphere having a center at which a target point is disposed, wherein the bed and the robot arm unit may move relatively in a vertical or horizontal direction, and the object may be repositioned to the target point by relatively moving the bed and the robot arm unit in the vertical or horizontal direction, and the emitting member may move to face the target point.

    Abstract translation: 一种医疗机器人包括：物体被放置在其上的床，以及设置在所述床的上方或下方的机器人手臂单元，并且包括能够在具有设置有目标点的中心的球体的轨迹内移动的发射构件， 其中床和机器人手臂单元可以在垂直或水平方向上相对移动，并且可以通过在垂直或水平方向上相对移动床和机器人手臂单元将物体重新定位到目标点，并且发射构件可以 移动面对目标点。

    Variable PID gain design device and method for controlling multi-variable nonlinear system
    2.
    发明授权
    Variable PID gain design device and method for controlling multi-variable nonlinear system 有权

    公开(公告)号：US10088811B2

    公开(公告)日：2018-10-02

    申请号：US14905824

    申请日：2013-09-30

    Applicant: Daegu Gyeongbuk Institute of Science and Technology

    Inventor： Pyung Hun Chang ,  Jun Young Lee

    IPC: G05B11/42

    Abstract: A variable PID gain design device, including: a parameter setting unit for setting a natural frequency, a damping ratio, a sampling time, and a nonlinear damping, which enable establishment of an error dynamics required for controlling an object to be controlled; a PID gain induction unit for inducing a PID gain, using the correlation between a PID control and a backstepping control with time delay estimation and nonlinear damping (BCTND), the PID control controlling, using the set parameters, the object to be controlled; and a PID gain calculating unit for calculating a gain of a PID controller by adjusting a BCTND control gain on the basis of the induced PID gain.

    Collimator and medical robot including the same
    5.
    发明授权
    Collimator and medical robot including the same 有权

    公开(公告)号：US11058895B2

    公开(公告)日：2021-07-13

    申请号：US16103033

    申请日：2018-08-14

    Applicant: Daegu Gyeongbuk Institute of Science and Technology

    Inventor： Pyung Hun Chang ,  Erkin Gezgin

    IPC: G02B27/30 ,  A61N5/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/20

    Abstract: Provided is a collimator including a base unit configured to form a radiation path of light; a pair of first moving members rotatably installed in the base unit; a pair of second moving members movably installed in the base unit; and an actuator configured to externally receive power and transmit the power to the first moving members and the second moving members, wherein a first space may be formed between the first moving members, a second space may be formed between the second moving members, and the light may pass through a radiation area corresponding to an overlapping area of the first space and the second space.

    COLLIMATOR AND MEDICAL ROBOT INCLUDING THE SAME
    10.
    发明申请
    COLLIMATOR AND MEDICAL ROBOT INCLUDING THE SAME 审中-公开

    公开(公告)号：US20190054317A1

    公开(公告)日：2019-02-21

    申请号：US16103033

    申请日：2018-08-14

    Applicant: Daegu Gyeongbuk Institute of Science and Technology

    Inventor： Pyung Hun Chang ,  Erkin Gezgin

    IPC: A61N5/10 ,  G02B27/30 ,  A61B34/30

    Abstract: Provided is a collimator including a base unit configured to form a radiation path of light; a pair of first moving members rotatably installed in the base unit; a pair of second moving members movably installed in the base unit; and an actuator configured to externally receive power and transmit the power to the first moving members and the second moving members, wherein a first space may be formed between the first moving members, a second space may be formed between the second moving members, and the light may pass through a radiation area corresponding to an overlapping area of the first space and the second space.

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