公开(公告)号：US12035990B2

公开(公告)日：2024-07-16

申请号：US17400060

申请日：2021-08-11

申请人： ROEN Surgical, Inc.

发明人： Duk Yoo Kong ,  Un Je Yang ,  Chang Kyun Kim

IPC分类号： A61B34/00 ,  A61B34/30 ,  B25J9/04 ,  B25J9/16 ,  A61B17/29

CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B34/71 ,  B25J9/04 ,  B25J9/1615 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2034/301

摘要： A surgical robot includes a surgical tool including a bendable joint portion, and a bending tendon connected to the joint portion and configured to bend the joint portion, a tube connected to the surgical tool and configured to accommodate the bending tendon therein, a base housing configured to rotatably support the tube and accommodate the bending tendon that passes through the tube, a bending driver configured to grasp the bending tendon, and translate in a longitudinal direction parallel to a rotation axis of the tube with respect to the base housing, and a rotation driver configured to rotatably support the tube with respect to the base housing, wherein when the tube rotates, the rotation driver is connected to one portion of the bending driver that grasps the bending tendon, and rotates the tube and the bending tendon together.

公开(公告)号：US12011830B2

公开(公告)日：2024-06-18

申请号：US17427081

申请日：2019-08-07

申请人： ROEN Surgical, Inc. ,  KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

发明人： Dong Soo Kwon ,  Chang Kyun Kim ,  Byung Sik Cheon

IPC分类号： B25J9/10 ,  B25J18/02

CPC分类号： B25J9/102 ,  B25J9/1065 ,  B25J18/02

摘要： A positioning arm including a link assembly including a translation link configured to translationally move along a virtual axis passing a remote center of motion (RCM) present at a predetermined position separated from one point and configured to move in at least two directions based on the one point, and a gravity torque compensator configured to provide a compensation torque in a direction opposite to a gravity torque applied to the one point by a self-weight of the link assembly.