公开(公告)号：US09149338B2

公开(公告)日：2015-10-06

申请号：US13886751

申请日：2013-05-03

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Won Jun Ko ,  Jung Yun Choi ,  Se Gon Roh ,  Tae Sin Ha

IPC: G06F19/00 ,  A61B19/00 ,  A61B17/04 ,  A61B17/062 ,  A61B17/00

CPC classification number: A61B19/2203 ,  A61B17/0469 ,  A61B17/062 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00212 ,  A61B2090/065

Abstract: An end effector includes a tip part having a deformation member that is physically changed due to contact with an object, a gauge display part configured to display gauge information according to a physical change of the deformation member, and a connecting rod part connected to the tip part and configured to operate the tip part. A manipulator including an end effector configured to display physical information, which varies according to an object making contact with a tip part, on a gauge display part, an endoscope configured to obtain an image of the tip part of the end effector and an image of the gauge display part, and a control part configured to control transmission of the image obtained by the endoscope, and to control operations of the tip part and the endoscope.

Abstract translation: 端部执行器包括具有由于与物体接触而物理变化的变形构件的顶端部件，被配置为根据变形构件的物理变化显示仪表信息的仪表显示部件和连接到尖端的连杆部件 并配置成操作尖端部分。 一种机械手，其包括端部执行器，其构造成显示根据与尖端部分接触的物体而变化的物理信息，在计量显示部分上，被构造成获得末端执行器的末端部分的图像的内窥镜和 所述量规显示部以及被配置为控制由所述内窥镜获得的图像的透射的控制部，并且控制所述前端部和所述内窥镜的动作。

公开(公告)号：US10064779B2

公开(公告)日：2018-09-04

申请号：US14571092

申请日：2014-12-15

Applicant: Samsung Electronics Co., Ltd.

Inventor： Tae Sin Ha ,  Young Do Kwon ,  Youn Baek Lee

IPC: A61H1/00 ,  A61H3/00 ,  G05B15/02 ,  A61H1/02 ,  A61H11/00

Abstract: Disclosed herein are a walking assistance apparatus including a drive portion capable of adjusting tension of a fixing portion, and a method of controlling the same. The walking assistance apparatus includes a support portion which applies assist power to assist walking to a human body, a fixing portion which is arranged at one end of the support portion to enclose the human body and fixes the support portion on the human body, a drive portion including at least one motor which adjusts tension of the fixing portion, and a control portion which adjusts a driving direction of the at least one motor during rotation of the support portion in order to prevent the fixing portion from rotating by assist power applied through the support portion.

公开(公告)号：US09833896B2

公开(公告)日：2017-12-05

申请号：US14556772

申请日：2014-12-01

Applicant: Samsung Electronics Co., Ltd.

Inventor： Ji Min Kim ,  Gyung Rock Kim ,  Jong Do Choi ,  Tae Sin Ha

IPC: B25J9/00 ,  A61H3/00 ,  A61H1/02 ,  B25J9/16

CPC classification number: B25J9/0006 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J9/1633 ,  G05B2219/40305

Abstract: There are provided a wearable robot and a method of controlling the same. The method includes obtaining a joint angle and a joint angular velocity of a plurality of joints, calculating a target joint angle of one joint among the plurality of joints using a joint angle and a joint angular velocity of at least one joint among the other joints, calculating assistive torque to be applied to the one joint using the calculated target joint angle, and outputting the calculated assistive torque to the one joint.

公开(公告)号：US09439733B2

公开(公告)日：2016-09-13

申请号：US14030302

申请日：2013-09-18

Applicant: Samsung Electronics Co., Ltd.

Inventor： Tae Sin Ha ,  Won Jun Ko ,  Young Do Kwon ,  Gyung Rock Kim ,  Byung Kwon Choi

IPC: B25J9/00 ,  A61B19/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2017/00212 ,  A61B2034/2065

Abstract: A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device.

Abstract translation: 手术机器人系统包括设置有外科器械的从属装置和用于控制外科器械的运动的主装置。 主设备包括具有操纵工具的主操纵模块，姿势识别器附接到该操纵工具，以及主控制模块，其使用经由姿态识别器获取的姿势信息来估计操作工具的姿势，生成外科器械姿态控制信号 对应于操作工具的估计姿势，并将控制信号发送到从设备。

公开(公告)号：US09107686B2

公开(公告)日：2015-08-18

申请号：US13921340

申请日：2013-06-19

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung Won Moon ,  Tae Sin Ha

IPC: A61B19/00

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  Y10S901/08

Abstract: A surgical robot and a surgical robot control method ensure a stable change of an operation mode. The surgical robot includes a master device having an input unit, a slave device having at least one robotic surgical instrument that is remotely controlled by the master device, and a controller that performs a mode change process to gradually vary the strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for a change of an operation mode is input via the input unit.

Abstract translation: 手术机器人和手术机器人控制方法确保操作模式的稳定变化。 手术机器人包括具有输入单元的主装置，具有由主装置远程控制的至少一个机器人手术器械的从装置，以及执行模式改变处理以逐渐改变馈送的反馈信号的强度的控制器 经由输入单元输入用于改变操作模式的信号的预定时间，从从设备返回到输入单元。

公开(公告)号：US20140303643A1

公开(公告)日：2014-10-09

申请号：US14030302

申请日：2013-09-18

Applicant: Samsung Electronics Co., Ltd.

Inventor： Tae Sin Ha ,  Won Jun Ko ,  Young Do Kwon ,  Gyung Rock Kim ,  Byung Kwon Choi

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2017/00212 ,  A61B2034/2065

Abstract: A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device.

Abstract translation: 手术机器人系统包括设置有外科器械的从属装置和用于控制外科器械的运动的主装置。 主设备包括具有操纵工具的主操纵模块，姿势识别器附接到该操纵工具，以及主控制模块，其使用经由姿态识别器获取的姿势信息来估计操作工具的姿势，生成外科器械姿态控制信号 对应于操作工具的估计姿势，并将控制信号发送到从设备。

公开(公告)号：US20140142592A1

公开(公告)日：2014-05-22

申请号：US13921340

申请日：2013-06-19

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung Won MOON ,  Tae Sin Ha

IPC: A61B19/00

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  Y10S901/08

Abstract: A surgical robot and a surgical robot control method ensure a stable change of an operation mode. The surgical robot includes a master device having an input unit, a slave device having at least one robotic surgical instrument that is remotely controlled by the master device, and a controller that performs a mode change process to gradually vary the strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for a change of an operation mode is input via the input unit.

Abstract translation: 手术机器人和手术机器人控制方法确保操作模式的稳定变化。 手术机器人包括具有输入单元的主装置，具有由主装置远程控制的至少一个机器人手术器械的从装置，以及执行模式改变处理以逐渐改变馈送的反馈信号的强度的控制器 经由输入单元输入用于改变操作模式的信号的预定时间，从从设备返回到输入单元。