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公开(公告)号：US09277968B2
公开(公告)日：2016-03-08
申请号：US13707826
申请日：2012-12-07
发明人： Seung Ki Min , Woong Kwon
CPC分类号： A61B34/30 , A61B17/3421 , A61B34/20 , A61B34/25 , A61B2017/00119 , A61B2090/064 , A61B2090/0811
摘要： A medical robot system and a method for controlling the same. The medical robot system includes a trocar, inserted into an incision of a patient, to guide a surgical apparatus and transmit at least one of position information of the surgical apparatus and pressure information of the surgical apparatus, and a console to display a screen including at least one of the position information and the pressure information.
摘要翻译： 医疗机器人系统及其控制方法。 医疗机器人系统包括插入患者的切口中的套针针，以引导手术装置并且传送外科手术装置的位置信息和手术装置的压力信息中的至少一个以及控制台，以显示包括 位置信息和压力信息中的至少一个。
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公开(公告)号：US20140309659A1
公开(公告)日：2014-10-16
申请号：US14192186
申请日：2014-02-27
发明人： Se Gon ROH , Young Do Kwon , Woong Kwon , Yong Jae Kim , Jeong Hun Kim , Kyung Shik Roh , Youn Baek Lee , Jong Won Lee , Byung June Choi
IPC分类号： A61B19/00
摘要： A surgical robot including a slave arm and an instrument provided at the slave arm to be introduced into a single port to perform surgery. The instrument includes a plurality of surgical instrument members to perform surgery while coming into contact with a surgical object, and a plurality of arm members. The arm members include surgical position regulators to move the surgical instrument members from the single port to a first surgical region where the surgical object is located, and surgical workers connecting the surgical position regulators and the surgical instrument members to each other, the surgical workers serving to move the surgical instrument members to a position close to surgical object within the first surgical region. The single-port surgical robot may effectively perform simultaneous surgery upon various surgical regions like multi-port surgery.
摘要翻译： 一种外科手术机器人，包括从臂和设置在从臂上的仪器，以引入单个口进行手术。 该仪器包括多个外科器械构件，用于在与外科对象接触的同时执行手术，以及多个手臂构件。 手臂构件包括手术位置调节器，以将手术器械构件从单个端口移动到手术对象所在的第一手术区域，以及将手术位置调节器和手术器械构件彼此连接的外科工作者，外科工作者服务 将手术器械构件移动到第一外科手术区域内靠近手术对象的位置。 单端口手术机器人可以有效地执行多种手术区域的同时手术，如多端口手术。
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3.发明授权Method of tracking moving object, method of determining display state of moving object, and control apparatus for tracking moving object 有权跟踪运动物体的方法，确定运动物体的显示状态的方法以及跟踪运动物体的控制装置公开(公告)号：US09349048B2
公开(公告)日：2016-05-24
申请号：US14162879
申请日：2014-01-24
发明人： No San Kwak , Seung Yong Hyung , Woong Kwon , Ji Young Kim , Kwang Kyu Lee
CPC分类号： G06K9/00624 , G06K2209/057 , G06T7/277 , G06T7/73 , G06T2207/10068 , G06T2207/30021
摘要： A method of tracking a moving object includes measuring displacement of an object to be tracked, obtaining a particle of the object to be tracked using the measured displacement, and tracking the object using pose information of the object in an image thereof and the obtained particle. A control apparatus includes an imaging module to perform imaging of an object and generates an image, and a tracking unit to acquire displacement and pose information of the object using the generated image of the object, to set a particle of the object using the acquired displacement of the object, and to track the object using the pose information of the object and the particle.
摘要翻译： 跟踪运动物体的方法包括测量待跟踪对象的位移，使用所测量的位移获得待跟踪对象的粒子，并使用其图像中的对象的姿态信息和所获得的粒子来跟踪对象。 控制装置包括：成像模块，用于对物体进行成像并生成图像;跟踪单元，使用所生成的对象的图像获取位移并构图物体的信息;使用获取的位移来设定物体的粒子; 并且使用对象和粒子的姿势信息来跟踪对象。
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公开(公告)号：US09254568B2
公开(公告)日：2016-02-09
申请号：US14153302
申请日：2014-01-13
发明人： Ji Young Kim , Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh , Ju Suk Lee , Seung Yong Hyung
CPC分类号： B25J9/1625 , G05B2219/40299 , Y10S901/16
摘要： A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.
摘要翻译： 控制机器人的机器人控制方法包括：测量平移运动距离，平移运动角度和俯仰角度的柔性模块，该柔性模块包括参与平移运动的第一节点和第n节点参与倾斜运动 柔性模块的运动角度; 使用测量的平移运动距离计算'n'个第一节点和'n'个第二节点的状态向量; 使用“n”个第一节点的计算状态矢量和“n”个第二节点的计算状态向量来计算'n'个第一节点的运行角分布率和'n'个第二节点的操作角分布率; 和/或使用所计算的操作角分布速率和测量的平移运动角度和倾斜运动角度来计算'n'个第一节点的运动角度和'n'个第二节点的操作角度。
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公开(公告)号：US20130116706A1
公开(公告)日：2013-05-09
申请号：US13723688
申请日：2012-12-21
发明人： Kwang Kyu LEE , Woong Kwon , Kyung Shik Roh
IPC分类号： A61B19/00
摘要： A method for controlling a surgical robot includes calculating an external force acting on a robot arm mounted with a surgical instrument, filtering the external force acting on the robot arm when a central point of an incision is set, calculating a virtual force to enable the surgical instrument which is positioned away from the central point of the incision to return to the central point of the incision, and applying the calculated virtual force to the filtered external force, to control movement of the robot arm. As a result, it is possible to compactly design the surgical robot and thereby reduce the volume of the surgical robot.
摘要翻译： 一种外科手术机器人的控制方法，其特征在于，计算作用在安装有外科手术器械的机器人手臂上的外力，当设置切口的中心点时，过滤作用在机器人手臂上的外力，计算虚拟力以使手术 远离切口的中心点定位以返回到切口的中心点的仪器，并将计算出的虚拟力施加到经过滤的外力上，以控制机器人手臂的运动。 结果，可以紧凑地设计外科手术机器人，从而减小手术机器人的体积。
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公开(公告)号：US11619952B2
公开(公告)日：2023-04-04
申请号：US17013465
申请日：2020-09-04
发明人： Woong Kwon , Junho Park , Sunggu Kwon , Jawon Seo , Kyungshik Roh , Minsu Lee
摘要： An unmanned aerial vehicle may include: a sensor part configured to acquire inertia information or position information of the unmanned aerial vehicle; and a controller. The controller is configured to estimate the position of the unmanned aerial vehicle by applying the information acquired by the sensor part to an extended Kalman filter and control movement of the unmanned aerial vehicle, based on the estimated position of the unmanned aerial vehicle. The sensor part includes: an inertia sensor configured to acquire the inertia information of the unmanned aerial vehicle; a tag recognition sensor configured to recognize a tag attached to a rack and acquire absolute position information of the unmanned aerial vehicle; and an image sensor attached to the unmanned aerial vehicle so as to acquire an image of the movement environment of the unmanned aerial vehicle.
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7.发明授权Robots comprising multi-tool modules having redundancy and methods of controlling the same 有权机器人包括具有冗余的多工具模块及其控制方法公开(公告)号：US09566709B2
公开(公告)日：2017-02-14
申请号：US14217808
申请日：2014-03-18
发明人： Woong Kwon , Bok Man Lim , Gurel Ogan
CPC分类号： B25J9/1607 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00225 , A61B2034/302 , A61B2034/742 , A61B2090/373 , A61B2090/378 , B25J9/1689 , G05B2219/39079 , G05B2219/40182 , G05B2219/40333 , G05B2219/40336 , G05B2219/40338 , G05B2219/40352 , G05B2219/40371 , G05B2219/45117
摘要： A robot may include: a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube; and/or a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space. The control signal may be generated using the redundancy.
摘要翻译： 机器人可以包括：具有冗余的多工具模块，所述多工具模块包括引导管和多个工具，所述多个工具被配置成在与所述引导管相互作用并且从所述引导管延伸的同时进行操作; 和/或控制器，被配置为基于关于任务空间中的多个工具的远端的运动指令信息来生成关于多工具模块在关节空间中的运动的控制信号。 冗余可以反映联合空间中多工具模块的多个自由度大于任务空间的多个自由度。 可以使用冗余来产生控制信号。
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公开(公告)号：US20140228631A1
公开(公告)日：2014-08-14
申请号：US13941934
申请日：2013-07-15
发明人： No San Kwak , Hee Kuk Lee , Woong Kwon
CPC分类号： B25J9/1697 , A61B1/00009 , A61B1/0005 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2090/064 , G05B2219/37076 , G05B2219/39528 , G05B2219/45117 , Y10S901/47
摘要： A surgical robot and a control method for the enables measurement of external force applied to a surgical tool of a slave device. In the surgical robot, the slave device may include an external force measurement unit, an image capture unit, and a controller. The external force measurement unit may include a force sensor attached to a surgical instrument to measure external force applied to a surgical tool provided at the surgical instrument, and a visual information display unit connected to the force sensor to display visual information corresponding to the external force output from the force sensor. The image capture unit acquires an image with regard to the visual information. The controller extracts the visual information from the image using image processing, and converts the extracted visual information into corresponding external force information.
摘要翻译： 一种外科手术机器人和用于能够测量施加于从属装置的外科手术工具的外力的控制方法。 在外科手术机器人中，从属装置可以包括外力测量单元，图像捕获单元和控制器。 外力测量单元可以包括附接到手术器械以测量施加到设置在手术器械上的外科手术工具的外力的力传感器，以及连接到力传感器以显示对应于外力的视觉信息的视觉信息显示单元 从力传感器输出。 图像捕获单元获取关于视觉信息的图像。 控制器使用图像处理从图像中提取视觉信息，并将提取的视觉信息转换为对应的外力信息。
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公开(公告)号：US20130172908A1
公开(公告)日：2013-07-04
申请号：US13728223
申请日：2012-12-27
发明人： Tae Jun SANG , Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh
CPC分类号： G01B11/14 , A61B17/3403 , A61B17/3494 , A61B34/20 , A61B34/30 , A61B34/77 , A61B90/03 , A61B90/13 , A61B2017/3445 , A61B2017/348 , A61B2034/2055 , A61B2034/2057 , A61B2034/2072 , A61B2034/301 , A61B2090/0811 , A61B2090/373
摘要： A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.
摘要翻译： 使用医疗机器人系统和控制医疗机器人系统的方法来检测切割区域中的外科器械的位置信息，从而提高机器人手术的安全性。 手术器械可以插入插入患者切口区域的套管针的通孔中。 医疗机器人系统包括手术器械位置检测装置，用于当手术器械插入到通孔中时，检测套管针的通孔中的外科器械的位置信息。 医疗机器人系统还包括控制台，用于基于检测到的外科器械的位置信息来控制具有手术器械的手术机器人的操作。
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公开(公告)号：US20130150865A1
公开(公告)日：2013-06-13
申请号：US13707826
申请日：2012-12-07
发明人： Seung Ki Min , Woong Kwon
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/3421 , A61B34/20 , A61B34/25 , A61B2017/00119 , A61B2090/064 , A61B2090/0811
摘要： A medical robot system and a method for controlling the same. The medical robot system includes a trocar, inserted into an incision of a patient, to guide a surgical apparatus and transmit at least one of position information of the surgical apparatus and pressure information of the surgical apparatus, and a console to display a screen including at least one of the position information and the pressure information.
摘要翻译： 医疗机器人系统及其控制方法。 医疗机器人系统包括插入患者的切口中的套针针，以引导手术装置并且传送外科手术装置的位置信息和手术装置的压力信息中的至少一个以及控制台，以显示包括 位置信息和压力信息中的至少一个。
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