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公开(公告)号：US09713874B2
公开(公告)日：2017-07-25
申请号：US14532399
申请日：2014-11-04
发明人： Youn Baek Lee , Yong Jae Kim , Jeong Hun Kim , Kyung Shik Roh , Se Gon Roh , Jong Won Lee , Byung June Choi
CPC分类号： B25J18/06 , B25J9/06 , B25J9/104 , B25J17/00 , Y10T74/20323 , Y10T74/20329
摘要： Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.
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公开(公告)号：US10039687B2
公开(公告)日：2018-08-07
申请号：US14531001
申请日：2014-11-03
发明人： Hyun Do Choi , Taesin Ha , Jeong Hun Kim , Se-Gon Roh , Min Hyung Lee , Youn Baek Lee , Jong Won Lee , Byung June Choi
摘要： A driving module may include: an object fix member configured to be fixed to an object; a first sub-module including a body portion, connected to a first side of the object fix member, and a first rotating member, connected rotatably to the body portion; a second sub-module including an extension link, connected to a second side of the object fix member, and a second rotating member, connected rotatably to the extension link; and/or a power transmitting member connected to the first rotating member and the second rotating member, and configured to transmit power.
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公开(公告)号：US10390687B2
公开(公告)日：2019-08-27
申请号：US14202527
申请日：2014-03-10
发明人： Byung June Choi , Yong Jae Kim , Jeong Hun Kim , Kyung Shik Roh , Se Gon Roh , Youn Baek Lee , Jong Won Lee
摘要： An endoscopic surgical instrument may include: two surgical instrument modules, each of which is provided with a surgical instrument portion; and/or an endoscopic module configured to form a triangular shape with the two surgical instrument modules and configured to capture operations of the surgical instrument modules at different angles using a plurality of joints. Wires connecting respective members coupled by the plurality of joints may be configured to amplify drive forces of a drive portion applied to the plurality of joints. The plurality of joints may include rolling joints at which teeth of gears engage and rotate with each other. The plurality of joints may provide three or more degrees of freedom to the endoscopic module.
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公开(公告)号：US10219968B2
公开(公告)日：2019-03-05
申请号：US14592694
申请日：2015-01-08
发明人： Jong Won Lee , Yong Jae Kim , Young Do Kwon , Jeong Hun Kim , Youn Baek Lee , Se Gon Roh , Min Hyung Lee , Byung June Choi , Hyun Do Choi
摘要： According to an aspect of the present invention, it is possible to implement a joint assembly operating similar to a user's actual ankle joint. An ankle joint included in a walking assistant robot is pivotable around a rotation axis located outside the ankle joint.
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公开(公告)号：US09668821B2
公开(公告)日：2017-06-06
申请号：US14188932
申请日：2014-02-25
发明人： Yong Jae Kim , Jeong Hun Kim , Kyung Shik Roh , Se Gon Roh , Youn Baek Lee , Jong Won Lee , Byung June Choi
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2034/305 , A61B2034/306
摘要： Laparoscopic surgical devices include a first member having a first gear, a second member having a second gear corresponding to the first gear, a connection member configured to connect the first member and the second member; first and second wire mounting pieces respectively at the first and second members, a first wire wound on the first wire mounting pieces so as to be pulled upon receiving a first drive force; and a second wire wound on the second wire mounting pieces so as to be pulled upon receiving a second drive force. The drive unit is configured to selectively transmit the first and second amplified driving forces to a respective one the first member and the second member to cause tilting of the first member and the second member.
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公开(公告)号：US10449666B2
公开(公告)日：2019-10-22
申请号：US14594380
申请日：2015-01-12
发明人： Hyun Do Choi , Jeong Hun Kim , Se-Gon Roh , Min Hyung Lee , Youn Baek Lee , Jong Won Lee , Byung June Choi
摘要： A supporting module may include: a supporting frame configured to support an action part of an object; a pressure member connected to the supporting frame and configured to push the action part to rotate when the supporting frame rotates in a first direction; a supporting member configured to pull the action part to rotate when the supporting frame rotates in a second direction; and/or a dispersion member, between the pressure member and the supporting member, configured to disperse force transmitted from the pressure member in a direction perpendicular to a direction of the transmitted force and configured to transmit the dispersed force to the supporting member.
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公开(公告)号：US09416855B2
公开(公告)日：2016-08-16
申请号：US14270880
申请日：2014-05-06
发明人： Young Bo Shim , Young Do Kwon , Byung June Choi , Yong Jae Kim , Kyung Shik Roh , Min Hyung Lee
CPC分类号： F16H19/08 , B25J9/104 , F16H2019/085 , Y10T74/18848
摘要： A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.
摘要翻译： 线连接装置包括链接单元和被配置为驱动链接单元的驱动单元。 连杆单元包括第一连杆，可旋转地联接到第一连杆的第二连杆，可旋转地联接到第二连杆的第三连杆，多个电线，每个电线的一端固定到第三连杆，并且固定 在驱动单元的另一端，驱动单元从驱动单元向第三连杆传递驱动力，路径形成结构，用于形成驱动单元和第三连杆之间的每根导线的路径，以及 长度保持结构，用于保持驱动单元和第三连杆之间的每条线的长度恒定。
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公开(公告)号：US20140331798A1
公开(公告)日：2014-11-13
申请号：US14270880
申请日：2014-05-06
发明人： Young Bo Shim , Young Do Kwon , Byung June Choi , Yong Jae Kim , Kyung Shik Roh , Min Hyung Lee
IPC分类号： F16H19/08
CPC分类号： F16H19/08 , B25J9/104 , F16H2019/085 , Y10T74/18848
摘要： A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.
摘要翻译： 线连接装置包括链接单元和被配置为驱动链接单元的驱动单元。 连杆单元包括第一连杆，可旋转地联接到第一连杆的第二连杆，可旋转地联接到第二连杆的第三连杆，多个电线，每个电线的一端固定到第三连杆，并且固定 在驱动单元的另一端，驱动单元从驱动单元向第三连杆传递驱动力，路径形成结构，用于形成驱动单元和第三连杆之间的每根导线的路径，以及 长度保持结构，用于保持驱动单元和第三连杆之间的每条线的长度恒定。
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公开(公告)号：US10085908B2
公开(公告)日：2018-10-02
申请号：US14598785
申请日：2015-01-16
发明人： Youn Baek Lee , Yong Jae Kim , Jeong Hun Kim , Se Gon Roh , Min Hyung Lee , Jong Won Lee , Byung June Choi , Hyun Do Choi , Young Do Kwon , Tae Jun Sang
摘要： A holder may be more easily mounted on a user's body by applying tension to a cable. An inner side surface of the holder with which the user's body comes in contact transmits uniform pressure to the user's body such that the holder may be more comfortable to the user.
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公开(公告)号：US09687301B2
公开(公告)日：2017-06-27
申请号：US13943962
申请日：2013-07-17
发明人： Min Hyung Lee , Young Bo Shim , Byung June Choi , Young Do Kwon , Kyung Shik Roh
IPC分类号： A61B19/00 , A61B1/00 , A61B1/04 , A61B17/04 , A61B5/055 , A61B6/03 , A61B17/062 , A61B34/30 , A61B34/37 , A61B5/00 , A61B5/11
CPC分类号： A61B34/37 , A61B1/00009 , A61B1/00149 , A61B1/04 , A61B5/055 , A61B5/11 , A61B5/1124 , A61B5/7264 , A61B5/742 , A61B6/032 , A61B17/0469 , A61B17/062 , A61B34/30
摘要： A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.
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