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公开(公告)号：US11317879B2
公开(公告)日：2022-05-03
申请号：US15631032
申请日：2017-06-23
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Deukhee Lee , Sangchul Hwang , Sung Chul Kang , Youngjun Kim , Se Hyung Park
Abstract: Embodiments relate to a method for tracking a location of a surgical tool based on a radiographic image, which includes: by a photography system, photographing a surgical tool having a physical marker frame composed of three or more marker bands; by an information processor, detecting a center point of each marker band in the photographed image; and by the information processor, estimating a three-dimensional location of the surgical tool based on a distance between the detected center point and a center point of a true marker band, and a tracking apparatus for the same.
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公开(公告)号：US10160121B2
公开(公告)日：2018-12-25
申请号：US15658394
申请日：2017-07-25
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Woosub Lee , Seong Hun Hong , Dong Eun Choi , Sung Chul Kang , Jeong-Jung Kim
IPC: H01R24/84 , B25J19/00 , H01R27/00 , H01R107/00
Abstract: A module connection system is configured by connecting a plurality of modules by means of connectors. The modules include a base module, a first module and a second module, and the connectors include a first connector and a second connector. The base module transmits power and signals provided from a driving source, the first module is electrically/mechanically connected to the base module by means of the first connector, and the second module is electrically/mechanically connected to the first module by means of the second connector. The first connector includes a larger number of connection terminals in comparison to the second connector in order to transmit power and signals from the base module to the second module and simultaneously supply power and signals required for the first module.
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公开(公告)号：US11219568B2
公开(公告)日：2022-01-11
申请号：US16166158
申请日：2018-10-22
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Junku Yuh , Sung Chul Kang , Woosub Lee , Seungwon Kim , Jiyeon Song , Gang Tae Bae
IPC: A61G7/10
Abstract: The present disclosure provides a standing assistance apparatus including a support part configured to support a load, a saddle part configured to accommodate a patient to allow the patient to position from sitting condition to standing condition, and a guide part coupled between the support part and the saddle part and having an adjustable length to guide the patient to stand, wherein the guide part is disposed in diagonal direction with respect to the support part to guide the patient to stand in the diagonal direction.
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公开(公告)号：US10682193B2
公开(公告)日：2020-06-16
申请号：US15717938
申请日：2017-09-28
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Wooseok Choi , Sung Chul Kang , Jae-In Hwang , Woosub Lee
Abstract: A guiding apparatus for remote medical treatments includes a first pivoting link pivotally connected to a pivot shaft, a second pivoting link pivotally connected to the first pivoting link, a driver pulley member capable of fixing the first pivoting link and the second pivoting link to each other through screw fastening, a driven pulley member capable of fixing the first pivoting link to the pivot shaft through screw fastening, and a locking wire connected to the driver pulley member and the driven pulley member to transmit a rotational force from the driver pulley member to the driven pulley member. As the driver pulley member rotates, the driven pulley member rotates together, so that the fixing of the first pivoting link and the second pivoting link to each other and the fixing of the first pivoting link to the pivot shaft is accomplished simultaneously.
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公开(公告)号：US09526582B2
公开(公告)日：2016-12-27
申请号：US14264579
申请日：2014-04-29
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Keri Kim , Sung Chul Kang , Woosub Lee , Sangmyung Kim , Soojun Lee
CPC classification number: A61B34/30 , A61B1/0016 , A61B1/0051 , A61B2017/00345 , A61B2017/00867 , A61B2034/305 , A61B2034/306
Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.
Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。
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Patent Agency Ranking
公开(公告)号：US10058391B2
公开(公告)日：2018-08-28
申请号：US14496830
申请日：2014-09-25
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Laehyun Kim , Sung Chul Kang
CPC classification number: A61B34/30 , A61B1/00156 , A61B1/00158 , A61B1/041 , A61B2034/303 , A61B2034/733 , Y10S901/01
Abstract: A motion control system includes a first capsule robot, which includes a first housing, a first shaft configured to be movable bi-directionally, the first shaft having a first permanent magnet at an outer end, a first leg unit configured to protrude outwards from the first housing, and a first control unit; and a second capsule robot, which includes a second housing, a second shaft configured to be movable bi-directionally, the second shaft having a second permanent magnet at an outer end, a second leg unit, and a second control unit, wherein the first capsule robot is fixed with respect to an the internal organ wall by protruding the first leg unit to the internal organ, and wherein the second capsule robot is connected to the first capsule robot as the first permanent magnet comes into contact with the second permanent magnet by an attractive force.
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公开(公告)号：US20150223895A1
公开(公告)日：2015-08-13
申请号：US14264579
申请日：2014-04-29
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Keri Kim , Sung Chul Kang , Woosub Lee , Sangmyung Kim , Soojun Lee
CPC classification number: A61B34/30 , A61B1/0016 , A61B1/0051 , A61B2017/00345 , A61B2017/00867 , A61B2034/305 , A61B2034/306
Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.
Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。
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公开(公告)号：US09993308B2
公开(公告)日：2018-06-12
申请号：US14963643
申请日：2015-12-09
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Woosub Lee , Sung Chul Kang , Dong-Eun Choi , Keri Kim
CPC classification number: A61B34/30 , A61B2017/00309 , A61B2017/00331 , A61B2017/00991 , A61B2034/301 , A61B2034/305
Abstract: The present disclosure relates to a tube continuum robot and a robot system for operation using the same, and the tube continuum robot includes a basic tube body including a basic straight section extending straight, and a basic curved section extending in front of the basic straight section and bent to a predetermined curvature, and a connection tube body having a connection flexible section which is flexibly bendable, the connection tube body formed to be inserted into the basic tube body or to surround an exterior of the basic tube body, the connection tube body being connected to the basic tube body.
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公开(公告)号：US09901370B2
公开(公告)日：2018-02-27
申请号：US14043911
申请日：2013-10-02
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Keri Kim , Sung Chul Kang , Soojun Lee , Woosub Lee , Sangmyung Kim , Suhyeon Gim
CPC classification number: A61B17/3415 , A61B1/00098 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B90/361 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2017/2927 , A61B2034/301
Abstract: A tube insertion device which inserts a tube into a line path to perform an operation has an elongated hollow tube, an end effector connected to a front end of the tube such that the direction of the end effector is changed with respect to the tube, a plurality of wires connected to the end effector and extended into the tube and a tension controller controlling tensions of the plurality of wires. The tension controller controls tensions of a pair of wires facing each other in the opposite directions, in order to change the direction of the end effector.
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公开(公告)号：US09853386B1
公开(公告)日：2017-12-26
申请号：US15474672
申请日：2017-03-30
Applicant: Korea Institute of Science and Technology
Inventor： Woosub Lee , Seonghun Hong , Sung Chul Kang , Kang Gyun Kim
IPC: H01R13/28 , H01R13/24 , H01R13/622
CPC classification number: H01R13/2421 , H01R13/24 , H01R13/622 , H01R24/84
Abstract: A module connection mechanism for coupling adjacent modules, has a connector for connecting the modules. The connector has a substrate having a plurality of terminals for transmitting power and signals, installed between the modules, a fixing body disposed to surround the substrate and having a fixing wing with a wing thread formed at an outer surface thereof, and a fixing ring disposed to surround the fixing body and having a ring thread formed at an inner surface thereof, so that the ring thread moves to cover an outer surface of the fixing body.
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