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公开(公告)号：US09532839B2
公开(公告)日：2017-01-03
申请号：US14187803
申请日：2014-02-24
Applicant: Samsung Electronics Co., Ltd.
Inventor： Kee Hong Seo
Abstract: A surgical robot system includes a slave device having a surgical instrument; and a master device configured to transmit a control signal to the surgical instrument. The slave device includes a guide tube to which the surgical instrument is coupled; and a controller operating the surgical instrument in response to the control signal transmitted from the master device, and operate the guide tube so as to move the surgical instrument to a target position if the target position of the surgical instrument according to the control signal corresponds to a position out of a range of a current working space for the surgical instrument.
Abstract translation: 手术机器人系统包括具有手术器械的从属装置; 以及被配置为将控制信号发送到所述外科器械的主装置。 从设备包括：外科器械联接到的引导管; 以及控制器，响应于从主装置发送的控制信号来操作外科器械，并且如果根据控制信号的外科器械的目标位置对应于手术器械，则操作导管以将外科器械移动到目标位置 位于外科手术器械当前工作空间范围之外的位置。
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公开(公告)号：US09060796B2
公开(公告)日：2015-06-23
申请号：US14191945
申请日：2014-02-27
Applicant: Samsung Electronics Co., Ltd.
Inventor： Kee Hong Seo
CPC classification number: A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/77 , A61B2090/064
Abstract: A surgical robot system may include a slave device provided with surgical tools and a master device remotely controlling motion of the surgical tools. The master device may include handles controlling the motion of the surgical tools, a master external force estimator estimating external force applied to the handles, a force compensator generating a first force control signal to cancel out the estimated external force, and a master controller moving and rotating respective joints of the handles in such a way that the external force applied to the handles is canceled out using the generated force control signal.
Abstract translation: 手术机器人系统可以包括设置有外科手术工具的从属装置和远程控制外科手术工具的运动的主装置。 主装置可以包括控制外科手术工具运动的手柄，估计施加到把手的外力的主外力估计器，产生第一力控制信号以抵消估计外力的力补偿器，以及主控制器移动和 以使得使用所产生的力控制信号抵消施加到手柄的外力来旋转把手的各个接头。
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公开(公告)号：US11801192B2
公开(公告)日：2023-10-31
申请号：US16144128
申请日：2018-09-27
Applicant: Samsung Electronics Co., Ltd.
Inventor： Bok Man Lim , Kee Hong Seo
CPC classification number: A61H3/00 , A61B34/30 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H2201/0176 , A61H2201/0184 , A61H2201/1215 , A61H2201/1246 , A61H2201/165 , A61H2201/1676 , A61H2201/5002 , A61H2201/5007 , A61H2201/5058 , A61H2201/5061 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084
Abstract: Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint.
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公开(公告)号：US10117801B2
公开(公告)日：2018-11-06
申请号：US14498133
申请日：2014-09-26
Applicant: Samsung Electronics Co., Ltd.
Inventor： Bok Man Lim , Kee Hong Seo
Abstract: Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint.
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公开(公告)号：US10005179B2
公开(公告)日：2018-06-26
申请号：US14591755
申请日：2015-01-07
Applicant: Samsung Electronics Co., Ltd.
Inventor： Kee Hong Seo , Ju Suk Lee
CPC classification number: B25J9/0006 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H3/00 , A61H2201/1207 , A61H2201/1246 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/5007 , A61H2201/501 , A61H2201/5038 , A61H2201/5061 , A61H2201/5069 , A61H2201/5084 , A61H2230/605 , B25J13/085
Abstract: A walking assistant device may calculate a walking cycle by measuring only motion of a specific joint without a force/torque sensor (F/T sensor) of a foot, and a method of controlling the walking assistant device. The method may include measuring motion of a hinge to which different support frames are connected; overlapping a reference trajectory corresponding to the measured motion and modulation trajectories that have been modulated from the reference trajectory; correcting the overlapping trajectory to correspond to the measured motion; determining assistant torque corresponding to a phase of the corrected trajectory; and providing the determined assistant torque to the support frame.
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Patent Agency Ranking
公开(公告)号：US10575761B2
公开(公告)日：2020-03-03
申请号：US14681847
申请日：2015-04-08
Applicant: Samsung Electronics Co., Ltd.
Inventor： Jusuk Lee , Kyung-Rock Kim , Kee Hong Seo , Youngbo Shim , Sunghwan Ahn , Bokman Lim , Jun-Won Jang
Abstract: A method and apparatus for recognizing a gait motion are provided. The apparatus may set a gait motion recognition period based on measured right and left hip joint angle information, may input, to a trained neural network, right and left hip joint angle information and vertical acceleration information measured during the gait motion recognition period, and may recognize a gait motion.
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公开(公告)号：US09861548B2
公开(公告)日：2018-01-09
申请号：US14499621
申请日：2014-09-29
Applicant: Samsung Electronics Co., Ltd.
Inventor： Byung Kwon Choi , Kee Hong Seo , Young Do Kwon , Tae Sin Ha
CPC classification number: A61H1/024 , A61B5/002 , A61B5/0022 , A61B5/1114 , A61B5/112 , A61B5/7232 , A61B5/7475 , A61B2505/07 , A61B2505/09 , A61H1/0244 , A61H3/00 , A61H2201/1215 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/501 , A61H2201/5046 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , A61H2201/5097 , G05B2219/40305 , G06K9/00342 , G06K9/00543
Abstract: Disclosed herein is a method of converting and reconstructing a signal, including: at a data generator, acquiring signal-analyzed data from an original signal, wherein the signal-analyzed data includes at least one feature point acquired from the original signal; transmitting and receiving the signal-analyzed data and at least one reference data corresponding to the signal-analyzed data; and reconstructing the original signal based on the signal-analyzed data and the at least one reference data to acquire a reconstructed signal.
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公开(公告)号：US09314309B2
公开(公告)日：2016-04-19
申请号：US14031580
申请日：2013-09-19
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Kee Hong Seo
CPC classification number: A61B19/2203 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/2065 , Y10S901/47
Abstract: A surgical robot including a slave device performing a surgical operation upon a patient and a master device controlling the surgical operation of the slave device. The slave device includes an image capture unit including a first lighting unit radiating visible light, a second lighting unit radiating UV light, and a camera capturing a visible-light image and a surgical tool coated with a UV reactive material emitting light in response to UV light radiated by the second lighting unit.
Abstract translation: 一种外科手术机器人，包括对患者执行外科手术的从属装置和控制从属装置的手术操作的主装置。 从属设备包括图像捕获单元，其包括发射可见光的第一照明单元，照射UV光的第二照明单元和捕获可见光图像的照相机和涂覆有响应于UV的UV反射材料发射光的外科手术工具 由第二照明单元照射的光。
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公开(公告)号：US09132552B2
公开(公告)日：2015-09-15
申请号：US14089727
申请日：2013-11-25
Applicant: Samsung Electronics Co., Ltd.
Inventor： Kee Hong Seo , Young Do Kwon , Kyung Shik Roh
CPC classification number: B25J9/1689 , B25J3/04 , G05B2219/39181
Abstract: A robot includes a master device including an input unit, the input unit including a first end effector and a first joint, a slave device configured to be controlled by the master device and including a robot arm, the robot arm including a second end effector, a second joint, and a motor configured to drive the second joint, and a controller configured to calculate a friction compensation value to compensate for friction of the second joint based on a speed of the input unit in response to the input unit being in motion, generate a control signal based on the friction compensation value, and transmit the control signal to the motor configured to drive the second joint.
Abstract translation: 机器人包括主装置，其包括输入单元，所述输入单元包括第一末端执行器和第一关节，被配置为由主装置控制并包括机器人手臂的从装置，所述机器人手臂包括第二末端执行器， 第二关节和被配置为驱动第二关节的马达，以及控制器，被配置为响应于输入单元运动而基于输入单元的速度来计算摩擦补偿值以补偿第二关节的摩擦， 基于摩擦补偿值生成控制信号，并将控制信号发送到被配置为驱动第二关节的马达。
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公开(公告)号：US09833376B2
公开(公告)日：2017-12-05
申请号：US14953620
申请日：2015-11-30
Applicant: Samsung Electronics Co., Ltd.
Inventor： Byung-Kwon Choi , Tae Sin Ha , Kee Hong Seo , Chang Hyun Roh , Young Bo Shim , Joon-Kee Cho
CPC classification number: A61H3/00 , A61B5/0205 , A61B5/0816 , A61B5/112 , A61B5/14542 , A61B5/14546 , A61B5/4266 , A61B2505/09 , A61F5/0102 , A61F2005/0155 , A61F2250/0074 , A61H1/0244 , A61H2201/1215 , A61H2201/164 , A61H2201/165 , A61H2201/5005 , A61H2201/5007 , A61H2201/5048 , A61H2201/5058 , A61H2201/5061 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , A61H2201/5097 , A61H2230/06 , A61H2230/08 , A61H2230/40 , A61H2230/42 , A61H2230/60 , A61H2230/605 , A61H2230/65 , A63B23/04 , A63B24/0087 , B25J9/0006 , B25J13/088
Abstract: A walking assistance method may include: computing an amount of exercise of a user based on a biosignal of the user; adjusting a pattern of an assist parameter based on the amount of exercise; and/or generating a force corresponding to the amount of exercise, based on the adjusted pattern. A walking assistance apparatus may include: a pattern adjuster configured to compute an amount of exercise of a user based on a biosignal of the user; and/or a driver configured to generate a force corresponding to the amount of exercise based on a pattern of an assist parameter based on the amount of exercise.
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