公开(公告)号：US09713874B2

公开(公告)日：2017-07-25

申请号：US14532399

申请日：2014-11-04

Applicant: Samsung Electronics Co., Ltd.

Inventor： Youn Baek Lee ,  Yong Jae Kim ,  Jeong Hun Kim ,  Kyung Shik Roh ,  Se Gon Roh ,  Jong Won Lee ,  Byung June Choi

IPC: B25J9/06 ,  B25J18/06 ,  B25J9/10 ,  B25J17/00

CPC classification number: B25J18/06 ,  B25J9/06 ,  B25J9/104 ,  B25J17/00 ,  Y10T74/20323 ,  Y10T74/20329

Abstract: Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.

公开(公告)号：US20130199327A1

公开(公告)日：2013-08-08

申请号：US13759506

申请日：2013-02-05

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Heum Yong PARK ,  Yong Jae Kim ,  Jeong Hun Kim ,  Youn Baek Lee

IPC: B25J18/06 ,  F16C11/04

CPC classification number: B25J18/06 ,  A61B1/00078 ,  A61B1/0055 ,  A61B17/115 ,  A61B2017/00278 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61B2090/508 ,  B25J9/104 ,  F16C11/04 ,  Y10T74/20323 ,  Y10T403/32622

Abstract: A surgical apparatus having sufficient rigidity in a fixed mode and being freely operable in a steering mode includes one or more arm modules having at least one degree of freedom, each arm module including at least one steering cable to steer the arm module and a plurality of link units to form the at least one arm module, each link unit including a head disposed at an upper portion thereof and having a hemispherical shape, a seat formed at a lower portion thereof, and a sliding ball arranged at the seat, wherein the link units are arranged such that the head of one of the link units is seated on the seat of the other of the link units, and the head of one of the link units and the seat of the other of the link units are slid with respect to each other by the sliding ball.

Abstract translation: 具有固定模式的足够的刚度并且能够在转向模式下自由操作的手术装置包括具有至少一个自由度的一个或多个臂模块，每个臂模块包括至少一个转向电缆以转向臂模块和多个 连杆单元以形成至少一个臂模块，每个连杆单元包括设置在其上部并具有半球形状的头部，形成在其下部的座椅和布置在座椅处的滑动球，其中，连杆 单元布置成使得一个链接单元的头部位于另一个链接单元的座位上，并且一个链接单元的头部和另一个连接单元的座部相对于 彼此通过滑球。