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1. 发明申请

WO2013036023A3 MINIMALLY INVASIVE SURGICAL INSTRUMENT HAVING JOINT SECTION COMPRISING SPHERICAL COMPONENTS 审中-公开
标题翻译：具有包含球形部件的联合部分的微型外科手术仪器
公开(公告)号：WO2013036023A3
公开(公告)日：2013-05-02
申请号：PCT/KR2012007093
申请日：2012-09-05
申请人： MOVASU INC , JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
IPC分类号： A61B17/34 , B25J18/06
CPC分类号： A61B17/00234 , A61B17/29 , A61B2017/00314 , A61B2017/292 , A61B2017/2931
摘要： The present invention relates to a minimally invasive surgical instrument having a joint section comprising spherical components. According to one embodiment of the present invention, a minimally invasive surgical instrument comprises a shaft, a joint section connected to one end of the shaft, and an end effector which is connected to the joint section and thus is capable of articulatory movement, wherein the joint section comprises multiple spherical components and multiple joint links, and at least some of the multiple joint links move in the pitch direction or in the yaw direction in accordance with the shape of slots formed in the spherical components housed therein, enabling the end effector to move in the pitch or the yaw direction.
摘要翻译：本发明涉及具有包括球形部件的关节部分的微创手术器械。根据本发明的一个实施例，微创手术器械包括轴，连接到轴的一端的接合部分和连接到接合部分并因此能够发音运动的端部执行器，其中，关节部分包括多个球形部件和多个关节连杆，并且所述多个关节部分中的至少一些根据形成在容纳在其中的球形部件中的狭槽的形状在俯仰方向或偏航方向上移动，使得末端执行器在俯仰或偏航方向上移动。

2. 发明申请

WO2012144875A3 MINIMALLY INVASIVE SURGICAL INSTRUMENT IMPLEMENTING A MOTOR 审中-公开
标题翻译：微型外科手术器械实现电机
公开(公告)号：WO2012144875A3
公开(公告)日：2013-03-07
申请号：PCT/KR2012003124
申请日：2012-04-23
申请人： MOVASU INC , JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
IPC分类号： A61B17/34 , B25J9/06 , B25J17/00
CPC分类号： A61B19/22 , A61B17/29 , A61B34/71 , A61B2017/00398 , A61B2017/2925 , A61B2017/2927
摘要： The present invention relates to a minimally invasive surgical instrument implementing a motor. According to one embodiment of the present invention, a minimally invasive surgical instrument comprises a shaft, an end effector connected to one end of the shaft, and a handle unit connected to the other end of the shaft. The handle unit includes a pair of linearly moving members, at least one rotating member for moving the pair of linear moving members away from each other in opposite directions, and a driving element for driving said at least one rotating member. The pair of linearly moving members operates the end effector in the pitch direction or in the yaw direction.
摘要翻译：本发明涉及实现电动机的微创手术器械。根据本发明的一个实施例，微创手术器械包括轴，连接到轴的一端的端部执行器和连接到轴的另一端的手柄单元。手柄单元包括一对直线移动构件，用于使一对线性移动构件沿相反方向彼此远离地移动的至少一个旋转构件和用于驱动所述至少一个旋转构件的驱动元件。一对线性移动构件在俯仰方向或偏航方向上操作端部执行器。

3. 发明申请

WO2013032229A3 MINIMALLY INVASIVE SURGICAL INSTRUMENT HAVING AN IMPROVED JOINT 审中-公开
标题翻译：具有改善关节的微创手术器械
公开(公告)号：WO2013032229A3
公开(公告)日：2013-05-10
申请号：PCT/KR2012006908
申请日：2012-08-29
申请人： MOVASU INC , JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
IPC分类号： A61B17/29 , A61B17/00
CPC分类号： A61B17/00234 , A61B17/07207 , A61B17/29 , A61B2017/00314 , A61B2017/2929 , A61B2017/2931
摘要： The present invention relates to a minimally invasive surgical instrument having an improved joint. According to one aspect of the present invention, provided is a minimally invasive surgical instrument comprising a shaft, a joint which is coupled to one end of the shaft, and an end effector which is coupled to the joint and can effect joint movement thereby. The joint comprises a plurality of joint links, and a joint for pitch-direction operation and a joint for yaw direction operation, the joints being formed by interposing at least one of the plurality of joint links.
摘要翻译：本发明涉及具有改进的接头的微创手术器械。根据本发明的一个方面，提供了一种微创手术器械，其包括轴，联接到轴的一端的接头以及联接到接头并可以由此实现联合运动的端部执行器。接头包括多个接头连杆，以及用于俯仰方向操作的接头和用于偏航方向操作的接头，接头通过插入多个接头连杆中的至少一个而形成。

4. 发明申请

WO2013036024A2 MINIMALLY INVASIVE SURGICAL INSTRUMENT HAVING DETACHABLE END EFFECTOR 审中-公开
标题翻译：具有可拆卸端部效应器的微型外科手术器械
公开(公告)号：WO2013036024A2
公开(公告)日：2013-03-14
申请号：PCT/KR2012007094
申请日：2012-09-05
申请人： MOVASU INC , JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , SIN CHUN CHOL , KIM SUNG RYUL , KIM HYUNG TAE
IPC分类号： A61B17/29
CPC分类号： A61B17/00234 , A61B17/29 , A61B2017/003 , A61B2017/00314 , A61B2017/292 , A61B2017/2929 , A61B2017/2931
摘要： The present invention relates to a minimally invasive surgical instrument having a detachable end effector. Provided is a minimally invasive surgical instrument comprising a shaft, a joint section which is connected to one end of the shaft, and an end effector which is connected to the joint section and thus is capable of articulatory movement. Therein, the joint section comprises a detachable connection section which can receive rotational torque, and the end effector comprises an operational end-section connection unit which can be attached to the detachable connection section by being screwed in, or can be separated from the detachable connection section by being unscrewed.
摘要翻译：本发明涉及一种具有可拆卸末端执行器的微创手术器械。提供一种微创外科器械，其包括轴，连接到轴的一端的接合部分和连接到接合部分并因此能够发音运动的端部执行器。其中，接合部分包括可接收旋转扭矩的可拆卸连接部分，并且末端执行器包括操作端部连接单元，该连接部分可以通过螺纹连接到可拆卸连接部分，或者可以与可拆卸连接分离通过拧松。

5. 发明申请

WO2013022325A3 APPARATUS FOR FIXING A JOINT STRUCTURE 审中-公开
标题翻译：固定联结结构的装置
公开(公告)号：WO2013022325A3
公开(公告)日：2013-06-20
申请号：PCT/KR2012006444
申请日：2012-08-13
申请人： MOVASU INC , JEONG CHANG WOOK , KIM HYUNG TAE , SIN CHUN CHOL
发明人： JEONG CHANG WOOK , KIM HYUNG TAE , SIN CHUN CHOL
IPC分类号： B25J19/00 , A61B17/062 , B25J17/00
CPC分类号： A61B17/062 , A61B17/29 , A61B2017/291 , A61B2017/2927 , A61B2017/294
摘要： The present invention relates to an apparatus for fixing a joint structure. According to an aspect of the present invention, the apparatus for fixing the joint structure includes: a positioning guide; at least three sliders; a lock member for locking each of the at least three sliders; and at least three links for connecting each of the at least three sliders to the positioning guide.
摘要翻译：本发明涉及一种用于固定接头结构的装置。根据本发明的一个方面，用于固定接头结构的装置包括：定位引导件; 至少有三个滑块用于锁定所述至少三个滑块中的每一个的锁定构件; 以及用于将至少三个滑动器中的每一个连接到定位引导件的至少三个连杆。

6. 发明申请

WO2013009156A3 MINIMALLY-INVASIVE SURGICAL INSTRUMENT CAPABLE OF SELECTIVELY COVERING AN END EFFECTOR 审中-公开
标题翻译：能够选择性地覆盖终末效应的微型外科手术器械
公开(公告)号：WO2013009156A3
公开(公告)日：2013-04-11
申请号：PCT/KR2012005666
申请日：2012-07-16
申请人： MOVASU INC , JEONG CHANG WOOK , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , KIM HYUNG TAE
IPC分类号： A61B17/34 , A61B17/94
CPC分类号： A61B18/14 , A61B2018/1422 , A61B2090/0436
摘要： The present invention relates to a minimally-invasive surgical instrument capable of selectively covering an end effector. The minimally-invasive surgical instrument according to one embodiment of the present invention comprises: a shaft; an end effector connected to one end of the shaft; and a protection member capable of covering the end effector. The protection member covers the end effector when there is a first control of a user and exposes the end effector when there is a second control of the user.
摘要翻译：本发明涉及能够选择性地覆盖端部执行器的微创手术器械。根据本发明的一个实施例的微创手术器械包括：轴; 连接到所述轴的一端的末端执行器; 以及能够覆盖末端执行器的保护构件。当存在用户的第一控制时，保护构件覆盖端部执行器，并且当存在用户的第二控制时暴露端部执行器。

7. 发明申请

WO2011149187A3 SURGICAL ROBOT SYSTEM FOR REALIZING SINGLE-PORT SURGERY AND MULTI-PORT SURGERY AND METHOD FOR CONTROLLING SAME 审中-公开
标题翻译：用于实现单端口手术和多端口手术的外科手术系统及其控制方法
公开(公告)号：WO2011149187A3
公开(公告)日：2012-03-01
申请号：PCT/KR2011002659
申请日：2011-04-14
申请人： JEONG CHANG WOOK , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , KIM HYUNG TAE
IPC分类号： A61B19/00 , B25J9/00 , B25J13/00
CPC分类号： B25J9/0087 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/10 , A61B90/11 , A61B2017/00477 , A61B2017/3466
摘要： Provided is a surgical robot system for realizing single-port surgery and multi-port surgery, the system comprising: an operating device; and a controlling device for electro-mechanically controlling the operating device, wherein the operating device includes an alignment section having a plurality of main robot arms, and a plurality of manipulating sections each having a plurality of auxiliary robot arms, and in the multi-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be placed in correspondence with each of a plurality of incisions, and in the single-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be aligned in correspondence with one incision.
摘要翻译：提供了一种用于实现单端口手术和多端口手术的手术机器人系统，该系统包括：操作装置; 以及用于电动机械地控制操作装置的控制装置，其中所述操作装置包括具有多个主机器人手臂的对准部分和多个操作部分，每个操纵部分具有多个辅助机器人手臂，并且在所述多端口手术模式，多个主机器人臂和多个辅助机器人手臂的至少一部分被操作，使得联接到多个操作部中的每一个的每个外科手术工具可以与多个切口中的每一个对应地放置，并且在单端口手术模式中，多个主机器人臂和多个辅助机器人手臂的至少一部分被操作，使得联接到多个操纵部中的每一个的每个手术工具可以对准一个切口。

8. 发明申请

WO2012134201A3 MINIMALLY INVASIVE SURGICAL INSTRUMENT HAVING SHAFT INCLUDING INTERNAL TORQUE-TRANSMISSION MEMBER 审中-公开
标题翻译：具有轴的微型外科手术仪器，包括内部扭矩传动部件
公开(公告)号：WO2012134201A3
公开(公告)日：2013-01-10
申请号：PCT/KR2012002340
申请日：2012-03-29
申请人： JEONG CHANG WOOK , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , KIM HYUNG TAE
IPC分类号： A61B17/34 , A61B17/29 , A61M25/01
CPC分类号： A61B17/00234 , A61B17/29 , A61B2017/00309 , A61B2017/00314 , A61B2017/00473 , A61B2017/2905 , A61B2017/2908
摘要： The present invention relates to a minimally invasive surgical instrument having a shaft including an internal torque transmission member. According to one aspect of the present invention, the minimally invasive surgical instrument comprises a shaft, and an end effector connected to one end of the shaft. The shaft has at least one curved portion, and the at least one curved portion can transmit torque for operating the end effector in a rolling direction by means of a torque-transmission member therein.
摘要翻译：本发明涉及具有包括内部转矩传递部件的轴的微创手术器械。根据本发明的一个方面，微创手术器械包括轴，以及连接到轴的一端的端部执行器。所述轴具有至少一个弯曲部分，并且所述至少一个弯曲部分可以通过其中的扭矩传递构件传递用于在滚动方向上操作所述末端执行器的扭矩。

9. 发明申请

WO2012067468A2 MINIMALLY INVASIVE SURGICAL INSTRUMENT 审中-公开
标题翻译：微创外科手术仪器
公开(公告)号：WO2012067468A2
公开(公告)日：2012-05-24
申请号：PCT/KR2011008851
申请日：2011-11-18
申请人： JEONG CHANG WOOK , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , KIM HYUNG TAE
IPC分类号： A61B17/00 , A61B17/94 , A61B19/00
CPC分类号： A61B17/00234 , A61B17/29 , A61B34/70 , A61B34/71 , A61B2017/00367 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2946
摘要： Provided is a minimally invasive surgical instrument comprising a shaft, and an end effecter connected to the shaft. The end effecter operates in a pitch direction or in a yaw direction relative to the shaft as a first wire and a second wire transferred through the shaft operate in cooperation with each other in a first aspect. The end effecter operates in a roll direction relative to the shaft as the first wire and the second wire operate in cooperation with each other in a second aspect. The first wire and the second wire operate in the same direction during the cooperative operation in either the first aspect or second aspect, whereas the first wire and the second wire operate in opposite directions during the cooperative operation in the other aspect.
摘要翻译：提供了一种微创手术器械，其包括轴和连接到轴的端部执行器。在第一方面，端部执行器在俯仰方向或相对于轴的偏转方向上作为第一线并且通过轴传递的第二线彼此协作地操作。在第二方面中，当第一线和第二线彼此协作操作时，端部执行器相对于轴以滚动方向操作。在第一方面或第二方面的协作操作期间，第一线和第二线在相同的方向上操作，而在另一方面的协作操作期间，第一线和第二线在相反的方向上工作。

10. 发明申请

WO2012096464A3 MINIMALLY INVASIVE SURGICAL INSTRUMENT 审中-公开
标题翻译：微创手术器械
公开(公告)号：WO2012096464A3
公开(公告)日：2012-09-07
申请号：PCT/KR2011010345
申请日：2011-12-29
申请人： JEONG CHANG WOOK , KIM HYUNG TAE
发明人： JEONG CHANG WOOK , KIM HYUNG TAE
IPC分类号： A61B17/00 , A61B17/32 , A61B17/34
CPC分类号： A61B34/70 , A61B17/00234 , A61B17/062 , A61B17/068 , A61B17/29 , A61B19/22 , A61B2017/00314 , A61B2017/00323 , A61B2017/291 , A61B2017/2929
摘要： The present invention relates to a minimally invasive surgical instrument which is simply manipulated, and more particularly, to a minimally invasive surgical instrument in which a user controls a handle part to operate an end effector, thereby delicately and simply performing a minimally invasive surgery. According to an embodiment of the present invention, the minimally invasive surgical instrument includes: a shaft; an end effector connected to one end of the shaft with a joint part therebetween; a rotation manipulation part connected to the other end of the shaft, wherein the rotation manipulation part includes a gyro link including a gyro rotation plate, and a plurality of wires connected between the joint part and the gyro rotation plate. In the end effector, at least one portion of the plurality of wires is operated due to the manipulation of the gyro rotation plate to perform a joint motion by the joint part.
摘要翻译：本发明涉及一种简单操纵的微创手术器械，更具体地涉及一种微创手术器械，其中用户控制手柄部分以操作末端执行器，从而微妙且简单地执行微创手术。根据本发明的实施例，微创手术器械包括：轴; 末端执行器，所述末端执行器通过其间的接合部连接至所述轴的一端; 旋转操作部分，其连接到所述轴的另一端，其中，所述旋转操作部分包括陀螺仪连杆，所述陀螺仪连杆包括陀螺旋转板以及连接在所述连接部分和所述陀螺旋转板之间的多根导线。在末端执行器中，由于陀螺旋转板的操纵，多根金属丝中的至少一部分被操作，以通过接合部分执行关节运动。

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