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公开(公告)号：US11654555B2
公开(公告)日：2023-05-23
申请号：US17102853
申请日：2020-11-24
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Soonkyum Kim , Woosub Lee , Alchan Yun , Junhyoung Ha , Deaho Moon
IPC: B25J9/16
CPC classification number: B25J9/163
Abstract: The present disclosure relates to a robot teaching system, which moves a robot according to an external force applied from the outside so that the robot has a location and posture intended for teaching and then teaches a location and posture of the moved robot, and the robot teaching system comprises: an arm including a plurality of articular shafts and a plurality of links connected by the plurality of articular shafts; a plurality of strain gauges respectively coupled to frames of the plurality of links to measure a deformation value of the link that is deformed by the external force; and a calculating device configured to estimate the external force from the deformation value of the link obtained by the plurality of strain gauges, calculate a teaching force from the external force and move the robot by an operation corresponding to the teaching force.
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公开(公告)号：US20150223895A1
公开(公告)日：2015-08-13
申请号：US14264579
申请日：2014-04-29
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Keri Kim , Sung Chul Kang , Woosub Lee , Sangmyung Kim , Soojun Lee
CPC classification number: A61B34/30 , A61B1/0016 , A61B1/0051 , A61B2017/00345 , A61B2017/00867 , A61B2034/305 , A61B2034/306
Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.
Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。
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公开(公告)号：US10160121B2
公开(公告)日：2018-12-25
申请号：US15658394
申请日：2017-07-25
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Woosub Lee , Seong Hun Hong , Dong Eun Choi , Sung Chul Kang , Jeong-Jung Kim
IPC: H01R24/84 , B25J19/00 , H01R27/00 , H01R107/00
Abstract: A module connection system is configured by connecting a plurality of modules by means of connectors. The modules include a base module, a first module and a second module, and the connectors include a first connector and a second connector. The base module transmits power and signals provided from a driving source, the first module is electrically/mechanically connected to the base module by means of the first connector, and the second module is electrically/mechanically connected to the first module by means of the second connector. The first connector includes a larger number of connection terminals in comparison to the second connector in order to transmit power and signals from the base module to the second module and simultaneously supply power and signals required for the first module.
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4.发明授权公开(公告)号：US12253859B2
公开(公告)日：2025-03-18
申请号：US17369466
申请日：2021-07-07
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Kanggeon Kim , Jongsuk Choi , Woosub Lee , Jun-Sik Kim , Soonkyum Kim , Sona Kwak
Abstract: Disclosed is a disinfection robot capable of autonomous driving and recognition of a disinfection target. The disinfection robot includes: a recognition unit configured to generate recognition information by recognizing a surrounding environment of the disinfection robot; a movement unit configured to move a position of the disinfection robot; a light source unit configured to emit a light of a predetermined wavelength area for disinfection; an injection unit configured to inject a fluid for disinfection; and a control unit configured to move the disinfection robot through the movement unit based on the recognition information, wherein the control unit is configured to identify a disinfection target from the recognition information and control at least one of the light source unit and the injection unit to perform disinfection to at least one of the surrounding environment of the disinfection robot and the disinfection target.
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公开(公告)号：US11219568B2
公开(公告)日：2022-01-11
申请号：US16166158
申请日：2018-10-22
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Junku Yuh , Sung Chul Kang , Woosub Lee , Seungwon Kim , Jiyeon Song , Gang Tae Bae
IPC: A61G7/10
Abstract: The present disclosure provides a standing assistance apparatus including a support part configured to support a load, a saddle part configured to accommodate a patient to allow the patient to position from sitting condition to standing condition, and a guide part coupled between the support part and the saddle part and having an adjustable length to guide the patient to stand, wherein the guide part is disposed in diagonal direction with respect to the support part to guide the patient to stand in the diagonal direction.
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Patent Agency Ranking
公开(公告)号：US10682193B2
公开(公告)日：2020-06-16
申请号：US15717938
申请日：2017-09-28
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Wooseok Choi , Sung Chul Kang , Jae-In Hwang , Woosub Lee
Abstract: A guiding apparatus for remote medical treatments includes a first pivoting link pivotally connected to a pivot shaft, a second pivoting link pivotally connected to the first pivoting link, a driver pulley member capable of fixing the first pivoting link and the second pivoting link to each other through screw fastening, a driven pulley member capable of fixing the first pivoting link to the pivot shaft through screw fastening, and a locking wire connected to the driver pulley member and the driven pulley member to transmit a rotational force from the driver pulley member to the driven pulley member. As the driver pulley member rotates, the driven pulley member rotates together, so that the fixing of the first pivoting link and the second pivoting link to each other and the fixing of the first pivoting link to the pivot shaft is accomplished simultaneously.
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公开(公告)号：US09526582B2
公开(公告)日：2016-12-27
申请号：US14264579
申请日：2014-04-29
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Keri Kim , Sung Chul Kang , Woosub Lee , Sangmyung Kim , Soojun Lee
CPC classification number: A61B34/30 , A61B1/0016 , A61B1/0051 , A61B2017/00345 , A61B2017/00867 , A61B2034/305 , A61B2034/306
Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.
Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。
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公开(公告)号：US09993308B2
公开(公告)日：2018-06-12
申请号：US14963643
申请日：2015-12-09
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Woosub Lee , Sung Chul Kang , Dong-Eun Choi , Keri Kim
CPC classification number: A61B34/30 , A61B2017/00309 , A61B2017/00331 , A61B2017/00991 , A61B2034/301 , A61B2034/305
Abstract: The present disclosure relates to a tube continuum robot and a robot system for operation using the same, and the tube continuum robot includes a basic tube body including a basic straight section extending straight, and a basic curved section extending in front of the basic straight section and bent to a predetermined curvature, and a connection tube body having a connection flexible section which is flexibly bendable, the connection tube body formed to be inserted into the basic tube body or to surround an exterior of the basic tube body, the connection tube body being connected to the basic tube body.
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公开(公告)号：US09901370B2
公开(公告)日：2018-02-27
申请号：US14043911
申请日：2013-10-02
Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Inventor： Keri Kim , Sung Chul Kang , Soojun Lee , Woosub Lee , Sangmyung Kim , Suhyeon Gim
CPC classification number: A61B17/3415 , A61B1/00098 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B90/361 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2017/2927 , A61B2034/301
Abstract: A tube insertion device which inserts a tube into a line path to perform an operation has an elongated hollow tube, an end effector connected to a front end of the tube such that the direction of the end effector is changed with respect to the tube, a plurality of wires connected to the end effector and extended into the tube and a tension controller controlling tensions of the plurality of wires. The tension controller controls tensions of a pair of wires facing each other in the opposite directions, in order to change the direction of the end effector.
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公开(公告)号：US09853386B1
公开(公告)日：2017-12-26
申请号：US15474672
申请日：2017-03-30
Applicant: Korea Institute of Science and Technology
Inventor： Woosub Lee , Seonghun Hong , Sung Chul Kang , Kang Gyun Kim
IPC: H01R13/28 , H01R13/24 , H01R13/622
CPC classification number: H01R13/2421 , H01R13/24 , H01R13/622 , H01R24/84
Abstract: A module connection mechanism for coupling adjacent modules, has a connector for connecting the modules. The connector has a substrate having a plurality of terminals for transmitting power and signals, installed between the modules, a fixing body disposed to surround the substrate and having a fixing wing with a wing thread formed at an outer surface thereof, and a fixing ring disposed to surround the fixing body and having a ring thread formed at an inner surface thereof, so that the ring thread moves to cover an outer surface of the fixing body.
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