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    ENDOSCOPE ROBOT HAVING JOINT STRUCTURE WITH HIGH CURVATURE
    1.
    发明申请
    ENDOSCOPE ROBOT HAVING JOINT STRUCTURE WITH HIGH CURVATURE 有权
    具有高曲率接头结构的内窥镜机器人

    公开(公告)号：US20150223895A1

    公开(公告)日：2015-08-13

    申请号：US14264579

    申请日：2014-04-29

    Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

    Inventor： Keri Kim ,  Sung Chul Kang ,  Woosub Lee ,  Sangmyung Kim ,  Soojun Lee

    IPC: A61B19/00 ,  A61B1/00

    CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/0051 ,  A61B2017/00345 ,  A61B2017/00867 ,  A61B2034/305 ,  A61B2034/306

    Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.

    Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。

    Articulating structure using rolling joint and pin coupling, and tube insert device having the same
    3.
    发明授权
    Articulating structure using rolling joint and pin coupling, and tube insert device having the same 有权

    公开(公告)号：US11419692B2

    公开(公告)日：2022-08-23

    申请号：US16711430

    申请日：2019-12-12

    Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

    Inventor： Keri Kim ,  Jeongryul Kim ,  Seong Il Kwon

    IPC: A61B34/00

    Abstract: There is disclosed an articulating structure that is steered by relative movement of a plurality of segments connected in series, the articulating structure including a first segment and a second segment arranged in contact with each other, wherein contact surfaces of the first segment and the second segment are rolling contact surfaces in line contact on a first direction contact line, the first segment has a pin on a side, the second segment has a coupling hole into which the pin is inserted, the first segment and the second segment make a relative rolling movement for translation of the first direction contact line while maintaining the line contact, and the coupling hole is formed with a larger area than the pin to allow the pin to make a relative position movement within the coupling hole during the rolling movement.

    Articulating structure using rolling joint and projection member, and tube insert device having the same
    4.
    发明授权
    Articulating structure using rolling joint and projection member, and tube insert device having the same 有权

    公开(公告)号：US11278365B2

    公开(公告)日：2022-03-22

    申请号：US16711434

    申请日：2019-12-12

    Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

    Inventor： Keri Kim ,  Seong Il Kwon ,  Jeongryul Kim

    IPC: A61B34/00

    Abstract: An articulating structure that bends by relative movement of a plurality of segments connected in series, includes a first segment and a second segment arranged in contact with each other, wherein the first segment has a first front rolling contact surface, and the second segment has a second rear rolling contact surface in line contact with the first front rolling contact surface on a first direction contact line, the first segment has a projection protruding forward from the first front rolling contact surface, and the second segment has a coupling element recessed in the second rear rolling contact surface, wherein the projection is inserted into the coupling element, the first segment and the second segment make a relative rolling movement for translation of the first direction contact line while maintaining the line contact, and the projection supports the first segment and the second segment for the first direction.

    Endoscope robot
    5.
    发明授权
    Endoscope robot 有权

    公开(公告)号：US11471224B2

    公开(公告)日：2022-10-18

    申请号：US16181353

    申请日：2018-11-06

    Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

    Inventor： Keri Kim ,  Geunwoong Ryu ,  Chulmin Park

    IPC: A61B34/30 ,  A61B1/005 ,  A61B1/00 ,  A61B1/233 ,  A61B1/05 ,  A61B1/008 ,  A61B34/00 ,  A61M25/01 ,  A61B17/00

    Abstract: Endoscope apparatus includes: a tube unit coupled to a rotary shaft to which a rotational force is transmitted so as to be rotatable, the tube unit being formed to extend in one direction; steering unit having one end installed at one end of the tube unit to rotate with respect to the tube unit so that a direction thereof facing forward is adjusted, the steering unit rotating together with the tube unit by the rotational force transmitted from the tube unit; an end effector installed inside the steering unit to rotate together with the steering unit due to the rotation of the steering unit, the end effector being disposed to face forward; and shaft-fixing tube body installed at the end effector, wherein the direction of the steering unit facing forward and relative rotation of the steering unit with respect to the end effector are adjustable.

    Endoscope robot having joint structure with high curvature
    7.
    发明授权
    Endoscope robot having joint structure with high curvature 有权
    具有高曲率关节结构的内窥镜机器人

    公开(公告)号：US09526582B2

    公开(公告)日：2016-12-27

    申请号：US14264579

    申请日：2014-04-29

    Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

    Inventor： Keri Kim ,  Sung Chul Kang ,  Woosub Lee ,  Sangmyung Kim ,  Soojun Lee

    IPC: A61B19/00 ,  A61B1/00 ,  A61B1/005 ,  A61B17/00

    CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/0051 ,  A61B2017/00345 ,  A61B2017/00867 ,  A61B2034/305 ,  A61B2034/306

    Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.

    Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。

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