公开(公告)号：US20200323599A1

公开(公告)日：2020-10-15

申请号：US16711430

申请日：2019-12-12

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keri KIM ,  Jeongryul KIM ,  Seong Il KWON

IPC: A61B34/00

Abstract: There is disclosed an articulating structure that is steered by relative movement of a plurality of segments connected in series, the articulating structure including a first segment and a second segment arranged in contact with each other, wherein contact surfaces of the first segment and the second segment are rolling contact surfaces in line contact on a first direction contact line, the first segment has a pin on a side, the second segment has a coupling hole into which the pin is inserted, the first segment and the second segment make a relative rolling movement for translation of the first direction contact line while maintaining the line contact, and the coupling hole is formed with a larger area than the pin to allow the pin to make a relative position movement within the coupling hole during the rolling movement.

公开(公告)号：US20220257091A1

公开(公告)日：2022-08-18

申请号：US17477535

申请日：2021-09-17

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keri KIM ,  Jeongryul KIM ,  Seong Il KWON ,  Yonghwan MOON

IPC: A61B1/005

Abstract: An operation apparatus for performing an operation by steering an end effector includes a wire which is connected to the end effector to steer the end effector, and a tension compensator which is connected with the wire, wherein in an operating state, the tension compensator changes a shape or position in response to tension of the wire to keep the wire tight, and when the wire is pulled to steer the end effector, the tension compensator is shifted to a lock state in which the shape or position is not changed.

公开(公告)号：US20210085303A1

公开(公告)日：2021-03-25

申请号：US17008639

申请日：2020-09-01

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keri KIM ,  Seong Il KWON ,  Jeongryul KIM

IPC: A61B17/00

Abstract: An articulating structure includes a joint unit including a front segment and a rear segment that are connected in series and perform relative rotation with respect to a rotation portion, and an elastic member interposed between the front segment and the rear segment, and a wire that passes through the front segment and the rear segment in a lengthwise direction of the joint unit, wherein the front segment rotates relative to the rear segment in one direction when the wire is pulled rearward, and the elastic member elastically deforms by a pressing force by the rotation of the front segment to provide a force that resists the pressing force.

公开(公告)号：US20180042678A1

公开(公告)日：2018-02-15

申请号：US15363068

申请日：2016-11-29

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Seong Il KWON ,  Keri KIM ,  Sung Chul KANG

IPC: A61B18/24

CPC classification number: A61B18/24 ,  A61B2018/00202 ,  A61B2018/2272

Abstract: A laser operation device has an elongated catheter, a light steering unit disposed at a front of a tip of the catheter, and a light irradiating unit configured to irradiate a laser to the front of the tip of the catheter, wherein the light steering unit is rotatable based on a rotary shaft and includes a plurality of prisms disposed in a circumferential direction of the rotary shaft, wherein the plurality of prisms are formed to have different deflection angles with respect to the same light, wherein the laser irradiated from the light irradiating unit is steered by refracting while passing through the prism, and wherein when the light steering unit rotates, the prism located at the front of the light irradiating unit is exchanged to adjust a steering angle of the laser.