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Pub. No.: WO/2019/045530 International Application No.: PCT/KR2018/010174
Publication Date: 07.03.2019 International Filing Date: 31.08.2018
A61B 34/00 (2016.01) ,A61B 34/30 (2016.01) ,B25J 9/06 (2006.01)
[IPC code unknown for A61B 34][IPC code unknown for A61B 34/30]
Programme-controlled manipulators
characterised by multi-articulated arms
주식회사 고영테크놀러지 KOH YOUNG TECHNOLOGY INC [KR/KR]; 서울시 금천구 가산디지털2로 53, 14층 15층 14F, 15F, 53, Gasan digital 2-ro Geumcheon-gu Seoul 08588, KR
한양대학교 에리카산학협력단 INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY ERICA CAMPUS [KR/KR]; 경기도 안산시 상록구 한양대학로 55 55, Hanyangdaehak-ro, Sangnok-gu Ansan-si Gyeonggi-do 15588, KR
이병주 YI, Byung Ju; KR
우재홍 WOO, Jae Hong; KR
장덕순 CHANG, Duck Soon; KR
김봉섭 KIM, Bong Seop; KR
Priority Data:
(KO) 의료용 암 어셈블리
(EN) The medical arm assembly according to one disclosed embodiment comprises: a remote joint on which a remote point is located; a position-adjusting arm unit which supports the remote joint, is configured so as to be able to move the remote joint such that the relative position of the remote point with respect to a reference point changes only in the direction of a virtual straight reference line passing through the reference point and the remote point, and is configured so as to be able to fixate the relative position of the remote point; an operating arm unit which is connected to the remote joint, and which is configured such that a medical instrument can be fixed thereto, and also configured so as to be able to rotate the instrument with respect to a remote rotational axis that is vertical to the straight reference line and passes through the remote point, and so as to be able to move the instrument in the direction that is vertical to the remote rotational axis and passes through the remote point; and an arm-supporting unit by which the position-adjusting arm unit and the operating arm unit are connectedly supported, and on which the reference point is located.
(FR) L'ensemble bras médical selon un mode de réalisation de la présente invention comprend : une articulation à distance sur laquelle est situé un point distant ; une unité de bras de réglage de position qui supporte l'articulation à distance, est conçue de manière à pouvoir déplacer l'articulation à distance de telle sorte que la position relative du point distant par rapport à un point de référence change uniquement dans la direction d'une ligne de référence rectiligne virtuelle passant par le point de référence et le point distant, et est conçue de façon à pouvoir fixer la position relative du point distant ; une unité de bras d'actionnement qui est reliée à l'articulation à distance, et qui est conçue de telle sorte qu'un instrument médical puisse être fixé à celle-ci, et également conçue de façon à pouvoir faire tourner l'instrument par rapport à un axe de rotation à distance qui est vertical par rapport à la ligne de référence rectiligne et qui passe par le point distant, et de manière à pouvoir déplacer l'instrument dans la direction qui est verticale par rapport à l'axe de rotation à distance et qui passe par le point distant ; et une unité de support de bras au moyen de laquelle l'unité de bras de réglage de position et l'unité de bras d'actionnement sont supportées de manière à être reliées, et sur laquelle est situé le point de référence.
(KO) 개시된 일 실시예에 따른 의료용 암 어셈블리는, 원격 점이 위치하는 원격 조인트; 상기 원격 조인트를 지지하고, 기준 점에 대한 상기 원격 점의 상대 위치가 상기 기준 점 및 상기 원격 점을 통과하는 가상의 기준 직선 방향으로만 변경되게 상기 원격 조인트를 이동시킬 수 있도록 구성되고, 상기 원격 점의 상기 상대 위치를 고정시킬 수 있도록 구성되는 위치조절 암부; 상기 원격 조인트와 연결되고, 의료용 도구가 고정 가능하게 구성되고, 상기 기준 직선에 수직하고 상기 원격 점을 통과하는 원격 회전축을 중심으로 상기 도구를 회전시킬 수 있도록 구성되고, 상기 원격 회전축에 수직하고 상기 원격 점을 통과하는 방향으로 상기 도구를 이동시킬 수 있도록 구성되는 동작 암부; 및 상기 위치조절 암부 및 상기 동작 암부가 연결되어 지지되고, 상기 기준 점이 위치하는 암 지지부를 포함한다.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Korean (KO)
Filing Language: Korean (KO)