公开(公告)号：US09186797B2

公开(公告)日：2015-11-17

申请号：US13452071

申请日：2012-04-20

申请人： Jun-hyung Kim ,  Hyun-do Choi ,  Yeon-ho Kim ,  Chang-bae Park

发明人： Jun-hyung Kim ,  Hyun-do Choi ,  Yeon-ho Kim ,  Chang-bae Park

IPC分类号： G01L1/24 ,  B25J13/08 ,  G01L5/16 ,  A61B19/00

CPC分类号： B25J13/085 ,  A61B34/30 ,  A61B2090/064 ,  G01L1/246 ,  G01L5/166

摘要： A multi-axis force sensing apparatus that is installed at an operational end of a surgery robot and is capable of measuring force acting upon the operational end and a robot arm including the force sensing apparatus includes a body that is elastically deformable and has a pipe form extending along an axial direction of the body, an optical fiber strain gauge attached to a surface of the body to measure a tension and compression of the body in at least three directions. The optical fiber strain gauge may include at least three fiber Bragg gratings (FBGs) that are attached to the surface of the body and extended in an axial direction of the body, a light source providing light to each of the FBGs, and a light detector detecting light reflected by the FBGs or light that has passed through the FBGs.

摘要翻译： 一种安装在手术机器人的操作端并且能够测量作用在操作端上的力的多轴力检测装置和包括该力检测装置的机器人手臂，包括可弹性变形并具有管形式的主体 沿着身体的轴向方向延伸的光纤应变仪附接到身体的表面以在至少三个方向上测量身体的张力和压缩。 光纤应变计可以包括至少三个光纤布拉格光栅（FBG），其附接到主体的表面并在主体的轴向方向上延伸，向每个FBG提供光的光源，以及光检测器 检测由FBG反射的光或通过FBG的光。

公开(公告)号：US09579162B2

公开(公告)日：2017-02-28

申请号：US13472956

申请日：2012-05-16

申请人： Hyun-do Choi ,  Yeon-ho Kim

发明人： Hyun-do Choi ,  Yeon-ho Kim

IPC分类号： A61B34/30

CPC分类号： A61B34/30 ,  A61B2034/305

摘要： A surgical device including first and second joint parts that are connected in series is provided. The surgical device includes a plurality of link arms that pass through an inner portion of the first joint part so as to drive the second joint part. The link arms are serially connected so as to rotate with respect to each other, and are rotatably connected to a driving unit for driving the plurality of link arms.

摘要翻译： 提供包括串联连接的第一和第二关节部分的手术装置。 手术装置包括穿过第一关节部分的内部以驱动第二关节部分的多个连杆臂。 连杆臂被串联连接以相对于彼此旋转，并且可旋转地连接到用于驱动多个连杆臂的驱动单元。

公开(公告)号：US09649173B2

公开(公告)日：2017-05-16

申请号：US13404920

申请日：2012-02-24

申请人： Hyun-do Choi ,  Yeon-ho Kim

发明人： Hyun-do Choi ,  Yeon-ho Kim

IPC分类号： A61B34/30

CPC分类号： A61B34/30 ,  A61B2034/302 ,  A61B2034/305

摘要： A surgical device, the surgical device including a mounting part mounted on a robot arm of a surgical robot; an extension part extending from the mounting part; a joint driving part that comprises a driving motor having a driving axis, that comprises a driving rod connected to the driving axis and reciprocating, and that is connected to an end of the extension part; and a joint part that is connected to the joint driving part, that is driven at one or more degrees of freedom by the driving rod, wherein the driving motor is connected to the driving axis with an elastic connection member.

公开(公告)号：US20120310252A1

公开(公告)日：2012-12-06

申请号：US13404920

申请日：2012-02-24

申请人： Hyun-do Choi ,  Yeon-ho Kim

发明人： Hyun-do Choi ,  Yeon-ho Kim

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B2034/302 ,  A61B2034/305

摘要： A surgical device, the surgical device including a mounting part mounted on a robot arm of a surgical robot; an extension part extending from the mounting part; a joint driving part that comprises a driving motor having a driving axis, that comprises a driving rod connected to the driving axis and reciprocating, and that is connected to an end of the extension part; and a joint part that is connected to the joint driving part, that is driven at one or more degrees of freedom by the driving rod, wherein the driving motor is connected to the driving axis with an elastic connection member.

摘要翻译： 一种手术装置，所述手术装置包括安装在手术机器人的机器人手臂上的安装部; 从所述安装部延伸的延伸部; 联合驱动部，其包括具有驱动轴的驱动电动机，所述驱动电动机包括连接到所述驱动轴并且往复运动的驱动杆，并且连接到所述延伸部的端部; 以及连接部，其通过所述驱动杆以一个以上的自由度被驱动，所述驱动马达通过弹性连接部件与所述驱动轴连接。