Title:
CONTINUUM ROBOT ARM FOR SURGERY
Document Type and Number:
WIPO Patent Application WO/2021/133145
Kind Code:
A1
Abstract:
Disclosed are a device to which a continuum mechanism is applied, which is capable of being embedded in or advancing from a cage, and which is designed to be attachable and detachable, and a continuum robot arm for surgery, which is capable of implementing a C-type or an S-type movement without a particular division of a section. The continuum robot arm for surgery according to the present invention comprises: a plurality of continua sequentially arranged in back and forth directions and having through holes which are formed in upper and lower portions thereof and through which a wire can pass; a cross guide arranged on one of the plurality of continua, having through holes in upper and lower portions thereof such that the wire can pass therethrough, and having a crossed through hole such that the wire that passed through the through hole in the upper or lower portion crosses to the lower or upper portion at the opposite side; a first wire which sequentially passes through the upper through holes of the plurality of continua, from among the plurality of continua, is adjacent to a rear continuum, passes through the crossed through hole of the cross guide, and then sequentially passes through the lower through holes of the plurality of adjacent continua such that an end portion thereof is fixed to a front continuum; and a second wire which passes through the cross guide from the lower through hole of the rear continuum in a manner corresponding to the first wire, such that an end portion thereof is fixed onto the front continuum.
Inventors:
HONG DAEHIE (KR)
LEE CHAE DONG (KR)
KIM BYUNG GON (KR)
CHOI JINWOO (KR)
IM JUNG HYUN (KR)
CHOI HYUK SOON (KR)
KIM JEONGHAN (KR)
KIM KYUNGNAM (KR)
HONG KIHUN (KR)
LEE CHAE DONG (KR)
KIM BYUNG GON (KR)
CHOI JINWOO (KR)
IM JUNG HYUN (KR)
CHOI HYUK SOON (KR)
KIM JEONGHAN (KR)
KIM KYUNGNAM (KR)
HONG KIHUN (KR)
Application Number:
PCT/KR2020/019230
Publication Date:
July 01, 2021
Filing Date:
December 28, 2020
Export Citation:
Assignee:
UNIV KOREA RES & BUS FOUND (KR)
ENDO ROBOTICS CO LTD (KR)
ENDO ROBOTICS CO LTD (KR)
International Classes:
A61B34/00; A61B17/00; A61B17/29; A61B34/30; B25J9/06; B25J9/16
Foreign References:
| JPH05142482A | 1993-06-11 | |||
| KR20140134360A | 2014-11-24 | |||
| KR20120071183A | 2012-07-02 | |||
| KR20190075910A | 2019-07-01 | |||
| KR20180025934A | 2018-03-09 |
Attorney, Agent or Firm:
ERUUM & LEEON INTELLECTUAL PROPERTY LAW FIRM (KR)
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