公开(公告)号：US08460175B2

公开(公告)日：2013-06-11

申请号：US12589439

申请日：2009-10-23

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

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

IPC分类号： A61B1/00

CPC分类号： A61B1/00149 ,  A61B34/30 ,  A61B90/50 ,  A61B2034/301

摘要： According to endoscope manipulator for MIS capable of overcoming disadvantages of multiaxial endoscope manipulator including conventional robot arm and providing compact and light-weight structure to obtain maximum activity space for medical staff, multi-joint arm is configured so that movement of all joints from base link to tip link is manually locked-unlocked by user and not controlled by motors. Endoscope mounted on end of multi-joint arm is manipulated using motors to enable movement of three-degrees of freedom, thereby accomplishing compact and light-weight endoscope manipulator. Tube of endoscope can be press-fitted onto tip of multi-joint arm, and three-axis movement function for vertical, lateral and forward/backward conveyance of endoscope is implemented in tip of multi-joint arm. Since external manual joints are not moved during operation, disturbance or restriction to activities of medical staff can be minimized. One-click button function of readily and rapidly attaching/detaching endoscope to/from endoscope manipulator can increase convenience of use.

摘要翻译： 根据MIS的内窥镜操纵器，能够克服包括常规机器人手臂的多轴内窥镜操纵器的缺点，并且提供紧凑且重量轻的结构以获得医务人员的最大活动空间，多关节臂构造成使得所有关节从基部连杆 提示链接由用户手动锁定解锁，不受电机控制。 使用电动机操纵安装在多关节臂端部的内窥镜，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。 内窥镜管可以压配合到多关节臂的尖端，在多关节臂的尖端实现内窥镜垂直，横向和向前/向后输送的三轴运动功能。 由于外部手动接头在运行过程中没有移动，因此可以将医疗人员的活动干扰或限制到最小限度。 内窥镜操作器易于快速安装/拆卸内窥镜的一键式按钮功能可提高使用方便性。

公开(公告)号：US20100274078A1

公开(公告)日：2010-10-28

申请号：US12589439

申请日：2009-10-23

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

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

IPC分类号： A61B1/00

CPC分类号： A61B1/00149 ,  A61B34/30 ,  A61B90/50 ,  A61B2034/301

摘要： According to endoscope manipulator for MIS capable of overcoming disadvantages of multiaxial endoscope manipulator including conventional robot arm and providing compact and light-weight structure to obtain maximum activity space for medical staff, multi-joint arm is configured so that movement of all joints from base link to tip link is manually locked-unlocked by user and not controlled by motors. Endoscope mounted on end of multi-joint arm is manipulated using motors to enable movement of three-degrees of freedom, thereby accomplishing compact and light-weight endoscope manipulator. Tube of endoscope can be press-fitted onto tip of multi-joint arm, and three-axis movement function for vertical, lateral and forward/backward conveyance of endoscope is implemented in tip of multi-joint arm. Since external manual joints are not moved during operation, disturbance or restriction to activities of medical staff can be minimized. One-click button function of readily and rapidly attaching/detaching endoscope to/from endoscope manipulator can increase convenience of use.

摘要翻译： 根据MIS的内窥镜操纵器，能够克服包括常规机器人手臂的多轴内窥镜操纵器的缺点，并且提供紧凑且重量轻的结构以获得医务人员的最大活动空间，多关节臂构造成使得所有关节从基部连杆 提示链接由用户手动锁定解锁，不受电机控制。 使用电动机操纵安装在多关节臂端部的内窥镜，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。 内窥镜管可以压配合到多关节臂的尖端，在多关节臂的尖端实现内窥镜垂直，横向和向前/向后输送的三轴运动功能。 由于外部手动接头在运行过程中没有移动，因此可以将医疗人员的活动干扰或限制到最小限度。 内窥镜操作器易于快速安装/拆卸内窥镜的一键式按钮功能可提高使用方便性。

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：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：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：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：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。