公开(公告)号：US08231610B2

公开(公告)日：2012-07-31

申请号：US11515738

申请日：2006-09-06

申请人： Yung-Ho Jo ,  Dong-Jun Kim ,  Jaesoon Choi ,  Jae-Gahb Park ,  Young-Woo Kim ,  Sang-Jae Park

发明人： Yung-Ho Jo ,  Dong-Jun Kim ,  Jaesoon Choi ,  Jae-Gahb Park ,  Young-Woo Kim ,  Sang-Jae Park

IPC分类号： A61B19/00

CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/305

摘要： A robotic surgical system includes a master manipulator, slave robotic units having a surgical instrument for performing a Minimal Invasive Surgery (MIS), and a control system for electrically associating the master manipulator with the slave robotic units. The slave robotic unit includes the driving mechanisms which are more compact than those of the conventional MIS system. In use, the existing surgical instruments used in the conventional MIS procedure can be applied to the slave robotic unit. Moreover, by using the pivotal mechanism of the driving mechanisms, a pivot point of the surgical instrument is allowed to be shifted with respect to an incision of a patient. So, the patient's tissues surrounding the surgical instrument are not excessively affected by the surgical instrument during the procedure.

摘要翻译： 机器人手术系统包括主操纵器，具有用于执行微创手术（MIS）的手术器械的从属机器人单元以及用于将主操纵器与从机器人单元电联动的控制系统。 从机器人单元包括比常规MIS系统更紧凑的驱动机构。 在使用中，常规MIS程序中使用的现有手术器械可以应用于从动机器人单元。 此外，通过使用驱动机构的枢转机构，允许手术器械的枢转点相对于患者的切口移动。 因此，手术器械周围的患者组织不会被手术器械过度影响。

公开(公告)号：US07780624B2

公开(公告)日：2010-08-24

申请号：US11789059

申请日：2007-04-23

申请人： Seung-Hoon Lee ,  Yung-Ho Jo ,  Heon Yoo ,  Sang-Hoon Shin ,  Heung-Ki Jeon

发明人： Seung-Hoon Lee ,  Yung-Ho Jo ,  Heon Yoo ,  Sang-Hoon Shin ,  Heung-Ki Jeon

IPC分类号： A61M3/00 ,  A61M1/00 ,  A61B8/14

CPC分类号： A61B18/04 ,  A61B5/01 ,  A61B2017/00084 ,  A61B2017/22051 ,  A61B2018/046 ,  A61M25/007 ,  A61M25/10

摘要： Disclosed herein is an apparatus for removing fine tumor cells, which remain around a treatment area of patient body, from which a tumor is eliminated, after surgery for removing the tumor has been conducted. The apparatus of the present invention includes a main body, which has a supply tube and a discharge tube that circulate liquid supplied from a storage tank, which is provided outside, and a therapeutic member, which is integrally coupled to an extension pipe that is coupled to the main body and surrounds the supply tube and the discharge tube. A cavity, which communicates with the supply tube and the discharge tube and is supplied with the liquid, is defined in the therapeutic member. The apparatus further includes a temperature sensing unit, which measures a temperature of a treatment area of a patient.

摘要翻译： 本文公开了一种用于除去肿瘤消除手术后的肿瘤细胞残留在病人身体的治疗区域附近的细胞的装置。 本发明的装置包括一个主体，该主体具有一个供给管和一个使从外部设置的储罐供应的液体循环的排放管，以及一个整体连接到一个延伸管上的治疗部件， 到主体并且围绕供应管和放电管。 在治疗部件中限定与供给管和放电管连通并供给液体的空腔。 该装置还包括温度检测单元，其测量患者的治疗区域的温度。

公开(公告)号：US20070265562A1

公开(公告)日：2007-11-15

申请号：US11789059

申请日：2007-04-23

申请人： Seung-Hoon Lee ,  Yung-Ho Jo ,  Heon Yoo ,  San-Hoon Shin ,  Heung-Ki Jeon

发明人： Seung-Hoon Lee ,  Yung-Ho Jo ,  Heon Yoo ,  San-Hoon Shin ,  Heung-Ki Jeon

IPC分类号： A61M1/00 ,  A61M3/00

CPC分类号： A61B18/04 ,  A61B5/01 ,  A61B2017/00084 ,  A61B2017/22051 ,  A61B2018/046 ,  A61M25/007 ,  A61M25/10

摘要： Disclosed herein is an apparatus for removing fine tumor cells, which remain around a treatment area of patient body, from which a tumor is eliminated, after surgery for removing the tumor has been conducted. The apparatus of the present invention includes a main body, which has a supply tube and a discharge tube that circulate liquid supplied from a storage tank, which is provided outside, and a therapeutic member, which is integrally coupled to an extension pipe that is coupled to the main body and surrounds the supply tube and the discharge tube. A cavity, which communicates with the supply tube and the discharge tube and is supplied with the liquid, is defined in the therapeutic member. The apparatus further includes a temperature sensing unit, which measures a temperature of a treatment area of a patient.

摘要翻译： 本文公开了一种用于除去肿瘤消除手术后的肿瘤细胞残留在病人身体的治疗区域附近的细胞的装置。 本发明的装置包括一个主体，该主体具有一个供给管和一个使从外部设置的储罐供应的液体循环的排放管，以及一个整体连接到一个延伸管上的治疗部件， 到主体并且围绕供应管和放电管。 在治疗部件中限定与供给管和放电管连通并供给液体的空腔。 该装置还包括温度检测单元，其测量患者的治疗区域的温度。

公开(公告)号：US08425403B2

公开(公告)日：2013-04-23

申请号：US12589444

申请日：2009-10-23

申请人： Yung-Ho Jo ,  Kwang-Gi Kim ,  Kyoung-Won Nam ,  Young-Woo Kim ,  Dong-Jun Kim

发明人： Yung-Ho Jo ,  Kwang-Gi Kim ,  Kyoung-Won Nam ,  Young-Woo Kim ,  Dong-Jun Kim

IPC分类号： A61B1/00

CPC分类号： A61B1/00147 ,  A61B1/00149

摘要： Endoscope manipulator for MIS can overcome disadvantages of multiaxial endoscope manipulator including conventional robot arm and provide compact and lightweight structure to obtain maximum activity space for medical staff. According to the endoscope manipulator for MIS, multi-joint arm is configured so that movement of all of the joints from base link to tip link is manually locked and unlocked by user and not controlled by motors. Additionally, endoscope mounted on an end of multi-joint arm is manipulated using motors to enable movement of three degrees of freedom, thereby accomplishing compact and lightweight endoscope manipulator. Additionally, tube of endoscope can be press-fitted onto tip part of multi-joint arm, and triaxial movement function for vertical, horizontal and forward/backward conveyance of endoscope is implemented in the tip part of multi-joint arm. Therefore, since external manual joints are not moved during operation, Disturbance or restriction to activities of medical staff can be minimized.

摘要翻译： 用于MIS的内窥镜操纵器可以克服包括常规机器人手臂的多轴内窥镜操纵器的缺点，并提供紧凑轻巧的结构，以获得医务人员的最大活动空间。 根据用于MIS的内窥镜操纵器，多关节臂被构造成使得所有关节从基部连杆到尖端连杆的移动由用户手动地锁定和解锁，而不是由电动机控制。 此外，使用马达来操作安装在多关节臂的端部上的内窥镜，以实现三自由度的移动，从而实现紧凑且重量轻的内窥镜操纵器。 此外，内窥镜管可以压配合到多关节臂的尖端部分，并且在多关节臂的尖端部分中实现用于内窥镜的垂直，水平和向前/向后输送的三轴运动功能。 因此，由于外部手动接头在运行过程中不能移动，因此可以尽量减少对医务人员活动的干扰或限制。

公开(公告)号：US20100280543A1

公开(公告)日：2010-11-04

申请号：US12738478

申请日：2008-10-16

申请人： Dong Jun Kim ,  Jun Woo Park ,  Yung Ho Jo

发明人： Dong Jun Kim ,  Jun Woo Park ,  Yung Ho Jo

IPC分类号： A61B17/29 ,  A61B17/00

CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00398 ,  A61B2017/2902 ,  A61B2017/2905 ,  A61B2017/2932 ,  A61B2017/2936

摘要： A laparoscopic surgical instrument includes a shaft and a head having a distal end to which a variety of surgical instruments are attached. The laparoscopic surgical instrument also includes a flexible joint installed between the shaft and the head; a longitudinal-driving unit including a longitudinal-driving wire connected with both longitudinal ends of the head and a longitudinal-driving roller turning the longitudinal-driving wire and a transverse-driving unit including a transverse-driving wire connected with both transverse ends of the head and a transverse-driving roller turning the transverse-driving wire. The longitudinal-driving unit turns the flexible joint in the longitudinal direction, the transverse-driving unit turns the flexible joint in the transverse direction, and the shaft has a small diameter.

摘要翻译： 腹腔镜手术器械包括轴和具有远端的头部，多个外科器械附接到该远端。 腹腔镜手术器械还包括安装在轴和头部之间的柔性接头; 纵向驱动单元，包括与头部的两个纵向端连接的纵向驱动线和转动纵向驱动线的纵向驱动辊;以及横向驱动单元，横向驱动单元包括横向驱动线，该横向驱动线与 头部和横向驱动辊转动横向驱动线。 纵向驱动单元沿纵向旋转柔性接头，横向驱动单元使柔性接头在横向上转动，并且轴具有小的直径。

公开(公告)号：US20100274079A1

公开(公告)日：2010-10-28

申请号：US12589444

申请日：2009-10-23

申请人： Kwang-Gi Kim ,  Kyoung-Won Nam ,  Yung-Ho Jo ,  Young-Woo Kim ,  Dong-Jun Kim

发明人： Kwang-Gi Kim ,  Kyoung-Won Nam ,  Yung-Ho Jo ,  Young-Woo Kim ,  Dong-Jun Kim

IPC分类号： A61B1/00

CPC分类号： A61B1/00147 ,  A61B1/00149

摘要： Endoscope manipulator for MIS can overcome disadvantages of multiaxial endoscope manipulator including conventional robot arm and provide compact and lightweight structure to obtain maximum activity space for medical staff. According to the endoscope manipulator for MIS, multi-joint arm is configured so that movement of all of the joints from base link to tip link is manually locked and unlocked by user and not controlled by motors. Additionally, endoscope mounted on an end of multi-joint arm is manipulated using motors to enable movement of three degrees of freedom, thereby accomplishing compact and lightweight endoscope manipulator. Additionally, tube of endoscope can be press-fitted onto tip part of multi-joint arm, and triaxial movement function for vertical, horizontal and forward/backward conveyance of endoscope is implemented in the tip part of multi-joint arm. Therefore, since external manual joints are not moved during operation, Disturbance or restriction to activities of medical staff can be minimized.

摘要翻译： 用于MIS的内窥镜操纵器可以克服包括常规机器人手臂的多轴内窥镜操纵器的缺点，并提供紧凑轻巧的结构，以获得医务人员的最大活动空间。 根据用于MIS的内窥镜操纵器，多关节臂被构造成使得所有关节从基部连杆到尖端连杆的移动由用户手动地锁定和解锁，而不是由电动机控制。 此外，使用马达来操作安装在多关节臂的端部上的内窥镜，以实现三自由度的移动，从而实现紧凑且重量轻的内窥镜操纵器。 此外，内窥镜管可以压配合到多关节臂的尖端部分，并且在多关节臂的尖端部分中实现用于内窥镜的垂直，水平和向前/向后输送的三轴运动功能。 因此，由于外部手动接头在运行过程中不能移动，因此可以尽量减少对医务人员活动的干扰或限制。

公开(公告)号：US20100230259A1

公开(公告)日：2010-09-16

申请号：US12504065

申请日：2009-07-16

申请人： Yung Ho Jo ,  Du-Jin Bach ,  Hye Won Im ,  Young Woo Kim

发明人： Yung Ho Jo ,  Du-Jin Bach ,  Hye Won Im ,  Young Woo Kim

IPC分类号： H01H3/14 ,  G05G1/30

CPC分类号： G05G1/445 ,  A61B2017/00973 ,  G05G1/30 ,  Y10T74/20528

摘要： A pedal input device includes a base plate; a rotation center portion provided at the center of the base plate; a contacting plate having a yaw switch contacting portion protruding downwards from lower surface of the contacting plate; a pedal plate carried by the contacting plate and foot-operated so as to cause a drive member to make three-degree-of-freedom movement; a pair of pitch switches installed on the base plate in an opposing relationship with each other; a pair of roll switches installed on the base plate in an perpendicular relationship to the pitch switches so that the roll switches can be alternately contacted to the contacting plate of the pedal plate; and a pair of yaw switches installed on the base plate in an spaced-apart relationship with each other so that the yaw switches can be alternately contacted to the yaw switch contacting portion as the pedal plate rotates.

摘要翻译： 踏板输入装置包括基板; 设置在所述基板的中心的旋转中心部; 接触板，其具有从接触板的下表面向下突出的偏转开关接触部分; 踏板，由接触板承载并脚踏操作，以使驱动构件进行三自由度运动; 一对螺距开关，以彼此相对的关系安装在基板上; 一对滚动开关，其安装在基板上，与所述俯仰开关垂直，使得所述滚动开关可以交替地接触到踏板板的接触板; 以及以彼此间隔开的关系安装在基板上的一对偏航开关，使得当踏板旋转时，偏航开关可以交替地接触到偏航开关接触部分。

公开(公告)号：US20080058776A1

公开(公告)日：2008-03-06

申请号：US11515738

申请日：2006-09-06

申请人： Yung-Ho Jo ,  Dong-Jun Kim ,  Jaesoon Choi ,  Jae-Gahb Park ,  Young-Woo Kim ,  Sang-Jae Park

发明人： Yung-Ho Jo ,  Dong-Jun Kim ,  Jaesoon Choi ,  Jae-Gahb Park ,  Young-Woo Kim ,  Sang-Jae Park

IPC分类号： A61B17/00

CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/305

摘要： A robotic surgical system includes a master manipulator, slave robotic units having a surgical instrument for performing a Minimal Invasive Surgery (MIS), and a control system for electrically associating the master manipulator with the slave robotic units. The slave robotic unit includes the driving mechanisms which are more compact than those of the conventional MIS system. In use, the existing surgical instruments used in the conventional MIS procedure can be applied to the slave robotic unit. Moreover, by using the pivotal mechanism of the driving mechanisms, a pivot point of the surgical instrument is allowed to be shifted with respect to an incision of a patient. So, the patient's tissues surrounding the surgical instrument are not excessively affected by the surgical instrument during the procedure.

摘要翻译： 机器人手术系统包括主操纵器，具有用于执行微创手术（MIS）的手术器械的从属机器人单元以及用于将主操纵器与从机器人单元电联动的控制系统。 从机器人单元包括比常规MIS系统更紧凑的驱动机构。 在使用中，常规MIS程序中使用的现有手术器械可以应用于从动机器人单元。 此外，通过使用驱动机构的枢转机构，允许手术器械的枢转点相对于患者的切口移动。 因此，手术器械周围的患者组织不会被手术器械过度影响。

公开(公告)号：US08702748B2

公开(公告)日：2014-04-22

申请号：US12738478

申请日：2008-10-16

申请人： Dong Jun Kim ,  Jun Woo Park ,  Yung Ho Jo

发明人： Dong Jun Kim ,  Jun Woo Park ,  Yung Ho Jo

IPC分类号： A61B17/00

CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00398 ,  A61B2017/2902 ,  A61B2017/2905 ,  A61B2017/2932 ,  A61B2017/2936

摘要： A laparoscopic surgical instrument includes a shaft and a head having a distal end to which a variety of surgical instruments are attached. The laparoscopic surgical instrument also includes a flexible joint installed between the shaft and the head; a longitudinal-driving unit including a longitudinal-driving wire connected with both longitudinal ends of the head and a longitudinal-driving roller turning the longitudinal-driving wire and a transverse-driving unit including a transverse-driving wire connected with both transverse ends of the head and a transverse-driving roller turning the transverse-driving wire. The longitudinal-driving unit turns the flexible joint in the longitudinal direction, the transverse-driving unit turns the flexible joint in the transverse direction, and the shaft has a small diameter.

摘要翻译： 腹腔镜手术器械包括轴和具有远端的头部，多个外科器械附接到该远端。 腹腔镜手术器械还包括安装在轴和头部之间的柔性接头; 纵向驱动单元，包括与头部的两个纵向端连接的纵向驱动线和转动纵向驱动线的纵向驱动辊;以及横向驱动单元，横向驱动单元包括横向驱动线，该横向驱动线与 头部和横向驱动辊转动横向驱动线。 纵向驱动单元沿纵向旋转柔性接头，横向驱动单元使柔性接头在横向上转动，并且轴具有小的直径。

公开(公告)号：US08319125B2

公开(公告)日：2012-11-27

申请号：US12504065

申请日：2009-07-16

申请人： Yung Ho Jo ,  Du-Jin Bach ,  Hye Won Im ,  Young Woo Kim

发明人： Yung Ho Jo ,  Du-Jin Bach ,  Hye Won Im ,  Young Woo Kim

IPC分类号： H01H3/14

CPC分类号： G05G1/445 ,  A61B2017/00973 ,  G05G1/30 ,  Y10T74/20528

摘要： A pedal input device includes a base plate; a rotation center portion provided at the center of the base plate; a contacting plate having a yaw switch contacting portion protruding downwards from lower surface of the contacting plate; a pedal plate carried by the contacting plate and foot-operated so as to cause a drive member to make three-degree-of-freedom movement; a pair of pitch switches installed on the base plate in an opposing relationship with each other; a pair of roll switches installed on the base plate in an perpendicular relationship to the pitch switches so that the roll switches can be alternately contacted to the contacting plate of the pedal plate; and a pair of yaw switches installed on the base plate in an spaced-apart relationship with each other so that the yaw switches can be alternately contacted to the yaw switch contacting portion as the pedal plate rotates.

摘要翻译： 踏板输入装置包括基板; 设置在所述基板的中心的旋转中心部; 接触板，其具有从接触板的下表面向下突出的偏转开关接触部分; 踏板，由接触板承载并脚踏操作，以使驱动构件进行三自由度运动; 一对螺距开关，以彼此相对的关系安装在基板上; 一对滚动开关，其安装在基板上，与所述俯仰开关垂直，使得所述滚动开关可以交替地接触到踏板板的接触板; 以及以彼此间隔开的关系安装在基板上的一对偏航开关，使得当踏板旋转时，偏航开关可以交替地接触到偏航开关接触部分。