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    Master-slave system using 4-DOF parallel mechanism
    3.
    发明授权
    Master-slave system using 4-DOF parallel mechanism 有权
    主从系统采用4自由度并联机制

    公开(公告)号：US08874241B2

    公开(公告)日：2014-10-28

    申请号：US13173433

    申请日：2011-06-30

    申请人： Byung-Ju Yi ,  Jaeheon Chung ,  Hyo-Jeong Cha

    发明人： Byung-Ju Yi ,  Jaeheon Chung ,  Hyo-Jeong Cha

    IPC分类号： G05B19/19 ,  B25J13/02 ,  B25J9/00 ,  B25J13/04 ,  B25J17/02 ,  B25J9/16

    CPC分类号： B25J13/025 ,  B25J9/0048 ,  B25J9/1689 ,  B25J13/04 ,  B25J17/0266

    摘要： A master-slave system using a 4-degree of freedom (DOF) parallel mechanism includes: a master device having a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation by the manipulation of a user; a slave device having a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation according to the movement of the master device; and a controller for receiving a behavior signal generated by the master device and outputting a driving signal to the slave device so that the slave device moves according to the movement of the master device. The master-slave system may be utilized as a remote needling robot with excellent manipulation and precision.

    摘要翻译： 使用4自由度（DOF）并行机构的主从系统包括：具有4-DOF并行机构的主装置，其通过用户的操纵产生1-DOF平移和3-DOF旋转; 具有4-DOF并联机构的从设备，其根据主设备的移动产生1-DOF平移和3-DOF旋转; 以及控制器，用于接收由主设备产生的行为信号并将驱动信号输出到从设备，使得从设备根据主设备的移动而移动。 主从系统可以用作具有良好操作和精度的远程针刺机器人。

    Parallel-type micro robot and surgical robot system having the same
    4.
    发明授权
    Parallel-type micro robot and surgical robot system having the same 有权

    公开(公告)号：US10517683B2

    公开(公告)日：2019-12-31

    申请号：US15323261

    申请日：2015-06-30

    申请人： Sung-Mok Kim ,  Whee-Kuk Kim ,  Byung-Ju Yi

    发明人： Sung-Mok Kim ,  Whee-Kuk Kim ,  Byung-Ju Yi

    IPC分类号： A61B34/30 ,  B25J7/00 ,  B25J17/00 ,  A61B34/00 ,  B25J9/00 ,  B23Q1/54 ,  B25J5/02 ,  A61B17/00 ,  B25J9/04 ,  B25J9/02

    摘要： A parallel-type micro robot capable of precise control while minimizing size thereof and a surgical robot system having the same are disclosed. The parallel-type micro robot includes a base plate, a work plate, a main fixing shaft module, a horizontal movement module and at least one angle-controlling module. The base plate includes a base body portion and at least one base connecting portion connected to the base body portion. The work plate includes a work body portion corresponding to the base body portion and at least one work connecting portion connecting to the work body portion to correspond to the base connecting portion. The main fixing shaft module is disposed between the base body portion and the work body portion, and coupled to the work body portion such that the work body portion is rotatable. The horizontal movement module is disposed between the main fixing shaft module and the base body portion, and moves the main fixing shaft module along first and second directions intersecting each other. The angle-controlling module is coupled to the base connecting portion such that the base connecting portion is rotatable, is coupled to the work connecting portion such that the work connecting portion is rotatable, and allows translational motion between the base connecting portion and the work connecting portion. Thus, a size of a robot may be minimized while improving the structural stability and precise control.

    Needle-coupled parallel mechanism
    5.
    发明授权
    Needle-coupled parallel mechanism 有权
    针耦合并联机构

    公开(公告)号：US08535335B2

    公开(公告)日：2013-09-17

    申请号：US12759101

    申请日：2010-04-13

    申请人： Byung-Ju Yi ,  Hoon Lim ,  Sang-Heon Lee

    发明人： Byung-Ju Yi ,  Hoon Lim ,  Sang-Heon Lee

    IPC分类号： A61B19/00

    CPC分类号： A61B17/3403 ,  A61B90/11 ,  A61B2017/3409 ,  A61M5/3287 ,  Y10T74/1824

    摘要： A needle-coupled parallel mechanism is provided. The needle-coupled parallel mechanism is structurally improved so as to have a broad working area and a high precision. The needle-coupled parallel mechanism comprises a fixedly positioned frame, a main shaft, three first links, three second links, and a needle. The main shaft is arranged so as to be movable relative to the frame. One end of each of the first links is connected to the frame between both ends of the main shaft and the other end thereof is connected to one end of the main shaft. One end of each of the second links is connected to the frame between both ends of the main shaft and the other end thereof is connected to the other end of the main shaft. The needle is linearly movably coupled to the main shaft to perform a predetermined operation on a target object. Each of the first links and the second links has at least three joints selected from a prismatic joint, a 1-axis revolute joint, a 2-axis revolute joint and a spherical joint. The needle and the main shaft are moved with 6 degrees-of-freedom in conjunction with the operations of the first links and the second links.

    摘要翻译： 提供一种针连接的并联机构。 针结并联机构在结构上得到改善，具有宽的工作面积和高精度。 针连接的平行机构包括固定的框架，主轴，三个第一连杆，三个第二连杆和针。 主轴被布置成相对于框架可移动。 每个第一连杆的一端连接到主轴两端之间的框架，而另一端连接到主轴的一端。 每个第二连杆的一端连接到主轴两端之间的框架，并且其另一端连接到主轴的另一端。 针线可移动地联接到主轴以对目标物体执行预定的操作。 第一连杆和第二连杆中的每一个具有从棱柱形接头，1轴旋转接头，2轴旋转接头和球形接头中选择的至少三个接头。 结合第一连杆和第二连杆的操作，针和主轴以6自由度移动。

    Steering controller for movable robot, steering control method using the steering controller and movable robot system using the steering controller
    7.
    发明授权
    Steering controller for movable robot, steering control method using the steering controller and movable robot system using the steering controller 有权
    用于可移动机器人的转向控制器，使用转向控制器的转向控制方法和使用转向控制器的可移动机器人系统

    公开(公告)号：US08442721B2

    公开(公告)日：2013-05-14

    申请号：US12722859

    申请日：2010-03-12

    申请人： Byung-Ju Yi ,  Young-sik Kwon

    发明人： Byung-Ju Yi ,  Young-sik Kwon

    IPC分类号： A01B69/00 ,  G06F19/00

    CPC分类号： B25J9/1679 ,  G05B2219/35438 ,  G05B2219/45233

    摘要： A steering controller for a movable robot is provided. The steering controller drives a plurality of motors, each of which is connected to a wheel. The wheels are spaced apart from each other in the circumferential direction with respect to an axis of a body of the movable robot. The steering controller comprises an input unit, an output unit and a conversion unit. The input unit receives steering signals including velocities of the movable robot according to the moving directions. The output unit outputs driving signals including rotational velocities of the motors. The conversion unit converts the steering signals to the driving signals. The use of the steering controller enables an operator to intuitionally steer the movable robot, making the movable robot convenient to use.

    摘要翻译： 提供了一种用于可移动机器人的转向控制器。 转向控制器驱动多个电动机，每个电动机连接到车轮。 轮相对于可移动机器人的主体的轴线在圆周方向上彼此间隔开。 转向控制器包括输入单元，输出单元和转换单元。 输入单元根据移动方向接收包括可动机器人的速度的转向信号。 输出单元输出包括电动机的旋转速度的驱动信号。 转换单元将转向信号转换为驱动信号。 使用转向控制器使操作者能够直观地转向可移动机器人，使可动机器人方便使用。

    One-Degree-Of-Freedom Link Device, A Robot Arm Using The Same And A Surgical Robot Comprising The Same
    8.
    发明申请
    One-Degree-Of-Freedom Link Device, A Robot Arm Using The Same And A Surgical Robot Comprising The Same 有权
    一个自由度链接装置，一个使用它的机器人手臂和一个包含它的手术机器人

    公开(公告)号：US20130074637A1

    公开(公告)日：2013-03-28

    申请号：US13638370

    申请日：2011-03-31

    申请人： Youngjin Choi ,  Byung-Ju Yi ,  Hoyul Lee

    发明人： Youngjin Choi ,  Byung-Ju Yi ,  Hoyul Lee

    IPC分类号： B25J17/00

    CPC分类号： B25J17/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00327 ,  A61B2017/2908 ,  A61B2034/302 ,  A61B2090/506 ,  B25J9/106 ,  B25J9/1689 ,  Y10S901/28 ,  Y10T74/20329

    摘要： The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

    摘要翻译： 本发明包括：固定的四节点链路，其中四个链路以铰链方式连接在一起，包括固定的位置固定链路，位于第一链路相对侧的连接杆， 连接所述连杆的一侧的端部和所述第一连杆的侧面传动链路，以及位于所述输入侧传输链路的相对侧的输出侧传输链路; 连接有致动器的输入连杆部分，并且以铰链方式连接在输入侧传动链节的两端之间; 以及输出连杆部，其固定地连接到输出侧传动链路，并且通过输出侧传动链路以及根据本发明的一个自由度链接装置和使用 可以使用相同的方式来允许链接装置之间的容易的附接和拆卸，并且根据期望的方式在机器人手臂中实现平滑的动作。