公开(公告)号：US09439733B2

公开(公告)日：2016-09-13

申请号：US14030302

申请日：2013-09-18

Applicant: Samsung Electronics Co., Ltd.

Inventor： Tae Sin Ha ,  Won Jun Ko ,  Young Do Kwon ,  Gyung Rock Kim ,  Byung Kwon Choi

IPC: B25J9/00 ,  A61B19/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2017/00212 ,  A61B2034/2065

Abstract: A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device.

Abstract translation: 手术机器人系统包括设置有外科器械的从属装置和用于控制外科器械的运动的主装置。 主设备包括具有操纵工具的主操纵模块，姿势识别器附接到该操纵工具，以及主控制模块，其使用经由姿态识别器获取的姿势信息来估计操作工具的姿势，生成外科器械姿态控制信号 对应于操作工具的估计姿势，并将控制信号发送到从设备。

公开(公告)号：US20140303643A1

公开(公告)日：2014-10-09

申请号：US14030302

申请日：2013-09-18

Applicant: Samsung Electronics Co., Ltd.

Inventor： Tae Sin Ha ,  Won Jun Ko ,  Young Do Kwon ,  Gyung Rock Kim ,  Byung Kwon Choi

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2017/00212 ,  A61B2034/2065

Abstract: A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device.

Abstract translation: 手术机器人系统包括设置有外科器械的从属装置和用于控制外科器械的运动的主装置。 主设备包括具有操纵工具的主操纵模块，姿势识别器附接到该操纵工具，以及主控制模块，其使用经由姿态识别器获取的姿势信息来估计操作工具的姿势，生成外科器械姿态控制信号 对应于操作工具的估计姿势，并将控制信号发送到从设备。

公开(公告)号：US09149338B2

公开(公告)日：2015-10-06

申请号：US13886751

申请日：2013-05-03

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Won Jun Ko ,  Jung Yun Choi ,  Se Gon Roh ,  Tae Sin Ha

IPC: G06F19/00 ,  A61B19/00 ,  A61B17/04 ,  A61B17/062 ,  A61B17/00

CPC classification number: A61B19/2203 ,  A61B17/0469 ,  A61B17/062 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00212 ,  A61B2090/065

Abstract: An end effector includes a tip part having a deformation member that is physically changed due to contact with an object, a gauge display part configured to display gauge information according to a physical change of the deformation member, and a connecting rod part connected to the tip part and configured to operate the tip part. A manipulator including an end effector configured to display physical information, which varies according to an object making contact with a tip part, on a gauge display part, an endoscope configured to obtain an image of the tip part of the end effector and an image of the gauge display part, and a control part configured to control transmission of the image obtained by the endoscope, and to control operations of the tip part and the endoscope.

Abstract translation: 端部执行器包括具有由于与物体接触而物理变化的变形构件的顶端部件，被配置为根据变形构件的物理变化显示仪表信息的仪表显示部件和连接到尖端的连杆部件 并配置成操作尖端部分。 一种机械手，其包括端部执行器，其构造成显示根据与尖端部分接触的物体而变化的物理信息，在计量显示部分上，被构造成获得末端执行器的末端部分的图像的内窥镜和 所述量规显示部以及被配置为控制由所述内窥镜获得的图像的透射的控制部，并且控制所述前端部和所述内窥镜的动作。