公开(公告)号：US20240316800A1

公开(公告)日：2024-09-26

申请号：US18468949

申请日：2023-09-18

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Yongseok IHN ,  Junwon LEE ,  Sungwook YANG ,  Donghyun HWANG

IPC: B25J19/02 ,  A61B34/30

CPC classification number: B25J19/021 ,  A61B34/30 ,  A61B2034/2061

Abstract: A forceps unit and a forceps apparatus are provided. The forceps unit according to an aspect of the present disclosure may comprise a base portion connected to a motor; a grasping portion disposed in front of the base portion and grasping a surgical instrument; a connecting portion connecting the base portion and the grasping portion; and a plurality of optical fibers, wherein some of the plurality of optical fibers are fixed to the grasping portion and others of the plurality of optical fibers are fixed to the base portion, wherein the plurality of optical fibers may include a first optical fiber disposed in a central region of the grasping portion and second to fifth optical fibers radially disposed with respect to the first optical fiber, and the first optical fiber may protrude further forward than the second to fifth optical fibers.

公开(公告)号：US20240375272A1

公开(公告)日：2024-11-14

申请号：US18468968

申请日：2023-09-18

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Yongseok IHN ,  Yunseong NA ,  Donghyun HWANG ,  Sungwook YANG

IPC: B25J9/10

Abstract: A robot arm is provided. The robot arm according to an aspect of the present disclosure comprises a motor portion; a support connected to the motor portion; first and second links connected to the motor portion and movable in a vertical direction; a first gimbal coupled to upper ends of the first and second links, respectively; third and fourth links coupled to the first gimbal; fifth and sixth links coupled to lower ends of the third and fourth links, respectively; seventh and eighth links coupled to central areas of the fifth and sixth links in the vertical direction; a second gimbal coupled to upper ends of the seventh and eighth links; ninth and tenth links coupled to the second gimbal; eleventh and twelfth links coupled to lower ends of the ninth and tenth links; and a top portion coupled to upper ends of the fifth and sixth links and upper ends of the eleventh and twelfth links.