公开(公告)号：US20110257661A1

公开(公告)日：2011-10-20

申请号：US13140988

申请日：2010-01-19

申请人： Seung Wook Choi ,  Min Kyu Lee ,  Min Hwa Lee

发明人： Seung Wook Choi ,  Min Kyu Lee ,  Min Hwa Lee

IPC分类号： A61B19/00

CPC分类号： A61B1/05 ,  A61B1/00094 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/76 ,  A61B90/361 ,  A61B2034/2059 ,  A61B2217/005 ,  A61M2202/08

摘要： A liposuction surgical robot is disclosed. The liposuction surgical robot, which includes: a control unit, a robot arm driven by a particular control signal received from the control unit, a cannula mounted on the robot arm and extending in one direction, and a suction unit, which is formed on an end portion of the cannula and which is inserted into a surgical site to suction fat, allows the surgeon to perform liposuction surgery conveniently without exerting too much strength. Also, the liposuction operation can be performed with greater convenience, accuracy, and safety, by automatically controlling the surgical robot using a haptic sensor, angle sensor, etc., analyzing visual information obtained from a vision unit to automatically set surgery range, and by mounting an image-taking camera on a front end of the cannula and automatically controlling the operation of the suction unit by analyzing the obtained visual information.

摘要翻译： 公开了一种吸脂手术机器人。 所述吸脂手术机器人包括：控制单元，由从所述控制单元接收的特定控制信号驱动的机器人手臂，安装在所述机器人手臂上并在一个方向上延伸的套管;以及抽吸单元， 套管的端部并插入外科手术部位以抽吸脂肪，允许外科医生方便地进行抽脂手术，而不会施加太多的强度。 此外，可以通过使用触觉传感器，角度传感器等自动控制外科手术机器人，分析从视觉单元获得的视觉信息来自动设置手术范围，并且通过以下方式自动设置手术范围，从而可以更方便，精确和安全地进行抽脂操作; 将照相机安装在套管的前端，并通过分析获得的视觉信息来自动控制抽吸单元的操作。

公开(公告)号：US20110270084A1

公开(公告)日：2011-11-03

申请号：US13144225

申请日：2010-02-08

申请人： Seung Wook Choi ,  Min Kyu Lee

发明人： Seung Wook Choi ,  Min Kyu Lee

IPC分类号： A61B6/00

CPC分类号： A61B34/20 ,  A61B1/00149 ,  A61B34/30 ,  A61B90/361 ,  A61B2034/2055 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/368 ,  G06T7/33 ,  G06T2207/10021 ,  G06T2207/10072 ,  G06T2207/10116 ,  G06T2207/10132 ,  G06T2207/20221 ,  G06T2207/30004 ,  G06T2207/30204

摘要： A surgical navigation apparatus and a method of operating the surgical navigation apparatus are disclosed. The surgical navigation apparatus includes: a first aligning unit configured to align a position of a patient with reference image data by using patient position data and the reference image data of the patient generated by image-taking before surgery; a second aligning unit configured to align the patient position data and comparative image data in real time, where the comparative image data is received from an image-taking unit; and an image processing unit configured to align the comparative image data and the reference image data in real time by using the patient position data. The surgical navigation apparatus can provide in real time images of the lesion taken during surgery, so that these images may be compared with those taken before surgery, to enable more accurate surgery and also provide greater convenience for the surgeon.

摘要翻译： 公开了一种手术导航装置和操作外科导航装置的方法。 手术导航装置包括：第一对准单元，被配置为通过使用患者位置数据和在手术前通过图像拍摄产生的患者的参考图像数据来对准患者的位置与参考图像数据; 第二对准单元，被配置为实时地对准患者位置数据和比较图像数据，其中从摄像单元接收比较图像数据; 以及图像处理单元，被配置为通过使用患者位置数据实时对准比较图像数据和参考图像数据。 手术导航装置可以实时地提供在手术期间拍摄的病变的图像，使得这些图像可以与手术之前拍摄的图像进行比较，以使得能够进行更精确的手术并且还为外科医生提供更大的便利。

公开(公告)号：US20110276058A1

公开(公告)日：2011-11-10

申请号：US13144427

申请日：2010-02-08

申请人： Seung Wook Choi ,  Jong Seok Won ,  Min kyu Lee ,  Bae Sang Jang ,  Woo Jyoung Lee

发明人： Seung Wook Choi ,  Jong Seok Won ,  Min kyu Lee ,  Bae Sang Jang ,  Woo Jyoung Lee

IPC分类号： A61B19/00

CPC分类号： B25J9/1689 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B2090/372 ,  B25J9/1671 ,  G05B2219/39389 ,  G05B2219/40168 ,  G05B2219/40195 ,  G05B2219/45123

摘要： A master interface for a surgical robot, mounted on a master robot for controlling a slave robot, may include two or more robot arms each having a mounted surgical instrument. The master interface may include: a screen display unit configured to display an on-screen image corresponding to a picture signal inputted from a surgical endoscope; two or more arm manipulation units equipped for controlling the two or more robot arms, respectively; and a control unit configured to provide control such that the on-screen image is rotated or mirrored in a pre-designated direction according to a user manipulation, and configured to provide control such that control conditions for the robot arm are renewed to match the rotated or mirrored on-screen image. Thus, the display screen on a surgical monitor can be suitably controlled according to the intent of the surgeon, to remove the non-intuitiveness of a surgical procedure.

摘要翻译： 安装在用于控制从机器人的主机器人上的外科手术机器人的主界面可以包括两个或更多个机器人臂，每个机械臂具有安装的手术器械。 主界面可以包括：屏幕显示单元，被配置为显示与从外科用内窥镜输入的图像信号相对应的屏幕图像; 两个或更多个臂操纵单元分别配备用于控制两个或更多个机器人手臂; 以及控制单元，被配置为提供控制，使得屏幕上的图像根据用户操纵以预先指定的方向旋转或镜像，并且被配置为提供控制，使得更新机器人手臂的控制条件以匹配旋转的 或镜像的屏幕图像。 因此，可以根据外科医生的意图适当地控制手术监视器上的显示屏，以消除外科手术的非直观性。

公开(公告)号：US20110306986A1

公开(公告)日：2011-12-15

申请号：US13203180

申请日：2010-03-22

申请人： Min Kyu Lee ,  Seung Wook Choi ,  Jong Seok Won ,  Sung Kwan Hong

发明人： Min Kyu Lee ,  Seung Wook Choi ,  Jong Seok Won ,  Sung Kwan Hong

IPC分类号： A61B19/00

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/742 ,  A61B2090/365 ,  G05B2219/45171

摘要： Disclosed are a surgical robot system using augmented reality or history information and a control method thereof. A master interface for a surgical robot is provided, where the master interface is configured to be mounted on a master robot, which is configured to control a slave robot having a robot arm. The interface includes: a screen display unit configured to display an endoscope picture corresponding to a picture signal provided from a surgical endoscope; one or more arm manipulation unit for respectively controlling the robot arm; and an augmented reality implementer unit configured to generate virtual surgical tool information according to a user manipulation on the arm manipulation unit for displaying a virtual surgical tool through the screen display unit. This makes it possible to display an actual surgical tool and a virtual surgical tool together using augmented reality and thus enables surgery in a facilitated manner.

摘要翻译： 公开了使用增强现实或历史信息的手术机器人系统及其控制方法。 提供了一种用于外科手术机器人的主界面，其中主界面被配置为安装在主机器人上，主机器人被配置为控制具有机器人臂的从机器人。 该界面包括：屏幕显示单元，被配置为显示与从外科用内窥镜提供的图像信号相对应的内窥镜图像; 用于分别控制所述机器人臂的一个或多个臂操纵单元; 以及增强现实实施器单元，被配置为根据用户操纵在所述手臂操纵单元上生成虚拟外科手术工具信息，用于通过所述屏幕显示单元显示虚拟手术工具。 这使得可以使用增强现实将实际的手术工具和虚拟外科手术工具一起显示，从而以便利的方式进行手术。

公开(公告)号：US09915479B2

公开(公告)日：2018-03-13

申请号：US15234752

申请日：2016-08-11

申请人： Seung Wook Choi ,  Kumho Environment Co., Ltd.

发明人： Seung Wook Choi

IPC分类号： F23L15/02 ,  F28D19/04

CPC分类号： F28D19/044 ,  F23G7/06 ,  F23J15/00 ,  F28D17/04

摘要： A heat storage type combustion system equipped with a disk type distributor having improved sealing according to the present invention, the system includes: the distributor having a rotary distribution unit, a lower distribution unit located on the underside of the rotary distribution unit, an upper distribution unit located on the top of the rotary distribution unit, and a plurality of dumb buckles disposed equally spaced apart from each other along outer circumferential rims of the lower distribution unit and the upper distribution unit to fix the lower distribution unit and the upper distribution unit to each other. Each dumb buckle includes a left-handed screw and a right-handed screw formed on both end portions around the body thereof in such a manner as to be tightened or loosened repeatedly if necessary, and the number of dumb buckles is 4 to 12 in accordance with the sizes of the distributor. The state of the operating distributor is checked by naked eyes, and if the distributor is inclined or a given portion of the distributor is worn out, the distributor is returned to its normal state by means of the manipulations of the dumb buckles at the outside.

公开(公告)号：US20110264136A1

公开(公告)日：2011-10-27

申请号：US13129334

申请日：2009-12-08

申请人： Seung Wook Choi ,  Jong Seok Won ,  Jae Sun Lee

发明人： Seung Wook Choi ,  Jong Seok Won ,  Jae Sun Lee

IPC分类号： A61B17/28

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00477 ,  A61B2017/2901 ,  A61B2017/2905 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/301 ,  A61B2034/742

摘要： A surgical instrument is disclosed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.

摘要翻译： 公开了一种外科器械。 具有接合到一端的用于接合手术部位的效应器和用于操作连接到另一端的效应器的驱动部件的外科器械包括：第一轴，其一端与驱动部分连接，并且延伸 沿第一长度方向; 以及第二轴，其沿着与所述第一轴形成特定角度的第二纵向方向延伸，并且所述第二轴具有与所述第一轴的另一端接合的一端，使得所述第二轴可以围绕所述第二纵向方向的轴线旋转 方向。 因此，可以使用几种这样的手术器械进行手术而不会使器械彼此阻塞，并且可以根据设定的长度使手术器械具有不同的使用模式。

公开(公告)号：US07954397B2

公开(公告)日：2011-06-07

申请号：US12676852

申请日：2009-07-23

申请人： Seung Wook Choi ,  Jong Seok Won

发明人： Seung Wook Choi ,  Jong Seok Won

IPC分类号： B25J18/00

CPC分类号： A61B34/73 ,  A61B34/30 ,  A61B34/37 ,  Y10T74/20305

摘要： A surgical slave robot is disclosed. The surgical slave robot, for performing a surgical operation with a surgical instrument installed on an end portion of a robot arm, can include: a main body; a major support arm that is coupled to the main body such that the major support arm is movable along one direction; a minor support arm rotatably coupled to the major support arm; and a plurality of the robot arms rotatably coupled to the minor support arm. By coupling a twofold support arm of a major and minor support arm to a tower-shaped main body and coupling multiple robot arms to the support arms, the surgical slave robot may be constructed with a compact and slim size that occupies a small amount of space, making it possible to position the surgical robot close to the patient while providing space for the surgeon to access the patient.

摘要翻译： 公开了一种手术从机器人。 用于通过安装在机器人手臂的端部上的外科器械执行外科手术的外科从属机器人可以包括：主体; 主支撑臂，其联接到主体，使得主支撑臂可沿着一个方向移动; 可旋转地联接到主支撑臂的小支撑臂; 以及可旋转地联接到次要支撑臂的多个机器人手臂。 通过将主支撑臂和次支撑臂的双重支撑臂联接到塔形主体并将多个机器人臂联接到支撑臂上，外科从机器人可以构造成具有紧凑且纤细的尺寸，占据少量空间 ，使得可以将外科手术机器人靠近患者，同时为外科医生提供空间以访问患者。

公开(公告)号：US20110015650A1

公开(公告)日：2011-01-20

申请号：US12922630

申请日：2009-03-18

申请人： Seung Wook Choi ,  Jae Sun Lee ,  Jong Seok Won

发明人： Seung Wook Choi ,  Jae Sun Lee ,  Jong Seok Won

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B2017/00477

摘要： An instrument for a surgical robot arm is disclosed. The instrument, which is to be mounted on a front end of a robot arm equipped with an actuator, includes: a housing, which is coupled to the front end of the robot arm; a driving wheel, which is coupled to the housing, and which is operated by way of a driving force transferred from the actuator; and a locking part, which is coupled to the housing, and which locks the operation of the driving wheel in correspondence to the mounting and dismounting of the housing on and from the robot arm. By installing a locking part on the instrument, the locking part can be made to restrain the rotation of the driving wheels when mounting or dismounting the instrument on or from the robot arm, and the driving wheels can be automatically calibrated when the instrument is dismounted from the robot arm. Thus, the driving wheels or the manipulation part may not undergo unnecessary movements, and the driving force of the robot arm can be transferred to the instrument without having to perform a separate aligning process after mounting the instrument onto the robot arm.

摘要翻译： 公开了一种用于外科手术机器人臂的器械。 要安装在装备有致动器的机器人臂的前端的仪器包括：壳体，其联接到机器人手臂的前端; 驱动轮，其联接到壳体，并且通过从致动器传递的驱动力来操作; 以及锁定部件，其联接到所述壳体，并且锁定所述驱动轮的操作，所述操作对应于所述壳体在所述机器人臂上和从所述机器人臂的安装和拆卸。 通过在仪器上安装锁定部件，可以使锁定部件能够在将仪器安装在机器人手臂上或从机器人手臂上拆下时抑制驱动轮的旋转，并且当仪器被卸下时可以自动校准驱动轮 机器人手臂。 因此，驱动轮或操作部可能不会发生不必要的动作，并且可以将机器人臂的驱动力传递到仪器，而不必在将仪器安装到机器人手臂上之后进行单独的对准处理。

公开(公告)号：US20100286712A1

公开(公告)日：2010-11-11

申请号：US12812425

申请日：2008-10-07

申请人： Jong Seok Won ,  Seung Wook Choi ,  William Peine

发明人： Jong Seok Won ,  Seung Wook Choi ,  William Peine

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/50

摘要： Disclosed is a bed integrated surgical robot. The bed integrated surgical robot comprises a supporting part, a frame supported by the supporting part, a table supported by the frame and on which a surgical patient is laid and a surgical robot arm installed on the frame and manipulated to reach for the surgical patient, wherein the robot arm is formed of a plurality of joints and deposited on the frame by driving the plurality of joints, and is easy to deposit, install, move, allows an assistant surgeon to easily access a patient under surgery, requires no additional space to install the robot, and functions as a patient bed.

摘要翻译： 公开了一种床综合手术机器人。 床一体式外科手术机器人包括支撑部分，由支撑部分支撑的框架，由框架支撑并且外科患者被放置在其上的工作台和安装在框架上并被操纵以到达手术患者的手术机器人手臂的工作台， 其特征在于，所述机器人手臂由多个关节形成，通过驱动所述多个关节而被放置在所述框架上，并且易于沉积，安装，移动，允许辅助外科医生在手术下容易地接近患者，不需要额外的空间 安装机器人，并作为病床。

公开(公告)号：US10134756B2

公开(公告)日：2018-11-20

申请号：US15608076

申请日：2017-05-30

申请人： Sun Il Shim ,  Seung Wook Choi

发明人： Sun Il Shim ,  Seung Wook Choi

IPC分类号： H01L29/792 ,  H01L27/11582 ,  H01L23/522

摘要： A semiconductor device includes a plurality of cell gate electrodes on a semiconductor substrate. End portions of the cell gate electrodes include stepped-pad regions that extend in a direction parallel to a surface of the semiconductor substrate. Vertical structures are on the semiconductor substrate and pass through the plurality of cell gate electrodes. The vertical structures respectively include a channel layer. Upper peripheral transistors are disposed on the semiconductor substrate. The upper peripheral transistors include an upper peripheral gate electrode at a level higher than a level of the plurality of cell gate electrodes, body patterns passing through the upper peripheral gate electrode and electrically connected to the pad regions, and gate dielectric layers between the upper peripheral gate electrode and the body patterns.