公开(公告)号：US11911014B2

公开(公告)日：2024-02-27

申请号：US17008639

申请日：2020-09-01

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keri Kim ,  Seong Il Kwon ,  Jeongryul Kim

IPC: A61B17/00

CPC classification number: A61B17/00234 ,  A61B2017/00309 ,  A61B2017/00314 ,  A61B2017/00331 ,  A61B2017/00345

Abstract: An articulating structure includes a joint unit including a front segment and a rear segment that are connected in series and perform relative rotation with respect to a rotation portion, and an elastic member interposed between the front segment and the rear segment, and a wire that passes through the front segment and the rear segment in a lengthwise direction of the joint unit, wherein the front segment rotates relative to the rear segment in one direction when the wire is pulled rearward, and the elastic member elastically deforms by a pressing force by the rotation of the front segment to provide a force that resists the pressing force.

公开(公告)号：US09798137B1

公开(公告)日：2017-10-24

申请号：US15362067

申请日：2016-11-28

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keri Kim ,  Seong Il Kwon ,  Heechul Kim

IPC: G02B26/08 ,  H01S3/00 ,  G02B19/00 ,  A61B18/24 ,  A61B18/00 ,  A61B18/22

CPC classification number: G02B26/0875 ,  A61B18/24 ,  A61B2018/00339 ,  A61B2018/2238 ,  A61B2018/2266 ,  G02B19/0009 ,  G02B19/0047 ,  H01S3/0071

Abstract: A laser operation device includes an elongated catheter, a light irradiator configured to irradiate a laser in front of a tip of the catheter, a lens disposed at a front of the light irradiator and allowing the laser to pass therethrough, a wire configured to steering the lens by pulling one side of the lens, and an elastic body configured to give an elastic force to restore the lens against a tension of the wire, wherein when the lens is steered, the laser passes through the lens and is refracted.

公开(公告)号：US12185918B2

公开(公告)日：2025-01-07

申请号：US17477535

申请日：2021-09-17

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keri Kim ,  Jeongryul Kim ,  Seong Il Kwon ,  Yonghwan Moon

IPC: A61B1/005 ,  A61B17/00 ,  A61B34/00 ,  A61B17/29

Abstract: An operation apparatus for performing an operation by steering an end effector includes a wire which is connected to the end effector to steer the end effector, and a tension compensator which is connected with the wire, wherein in an operating state, the tension compensator changes a shape or position in response to tension of the wire to keep the wire tight, and when the wire is pulled to steer the end effector, the tension compensator is shifted to a lock state in which the shape or position is not changed.

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.

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.