Title:
HANDHELD MICRO-SURGICAL ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/027241
Kind Code:
A1
Abstract:
A handheld micro-surgical robot according to an embodiment of the present invention may comprise: a tool; and a drive mechanism which detachably secures the tool thereto and operates the tool, wherein: the drive mechanism comprises a platform which supports the tool, a plurality of drive assemblies which are connected to the platform and operate the platform, and a base to which the plurality of drive assemblies are fixed; each of the plurality of drive assemblies is linearly movable with respect to the base and rotatable about the base; and the position and angle of the platform to the base is controlled by the linear movement of each of the drive assemblies.
Inventors:
YANG SUNGWOOK (KR)
KIM EUNCHAN (KR)
CHOI INGU (KR)
KIM EUNCHAN (KR)
CHOI INGU (KR)
Application Number:
PCT/KR2021/014594
Publication Date:
March 02, 2023
Filing Date:
October 19, 2021
Export Citation:
Assignee:
KOREA INST SCI & TECH (KR)
International Classes:
A61B34/00; A61B17/00; A61B34/30
Foreign References:
| US20140267804A1 | 2014-09-18 | |||
| US20190076203A1 | 2019-03-14 |
Other References:
NASSERI M. A., EDER M., EBERTS D., NAIR S., MAIER M., ZAPP D., LOHMANN C. P., KNOLL A.: "Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications", 2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, IEEE, 1 July 2013 (2013-07-01) - 12 July 2013 (2013-07-12), pages 293 - 299, XP093039749, ISBN: 978-1-4673-5319-9, DOI: 10.1109/AIM.2013.6584107
ADHIKARI KABITA, TATINATI SIVANAGARAJA, VELUVOLU KALYANA C., CHAMBERS JONATHON A.: "Physiological Tremor Filtering Without Phase Distortion for Robotic Microsurgery", IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 19, no. 1, 1 January 2022 (2022-01-01), US , pages 497 - 509, XP093039748, ISSN: 1545-5955, DOI: 10.1109/TASE.2020.3041427
ZHENG KUIJING, WANG CHAO: "Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control", JOURNAL OF CONTROL SCIENCE AND ENGINEERING, HINDAWI PUB. CORP., vol. 2014, 1 January 2014 (2014-01-01), pages 1 - 6, XP093039734, ISSN: 1687-5249, DOI: 10.1155/2014/857947
AHRONOVICH ELAN Z.; SIMAAN NABIL; JOOS KAREN M.: "A Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery", ADVANCES IN THERAPY., HEALTH COMMUNICATIONS, METUCHEN, NJ., US, vol. 38, no. 5, 3 April 2021 (2021-04-03), US , pages 2114 - 2129, XP037447793, ISSN: 0741-238X, DOI: 10.1007/s12325-021-01692-z
KIM EUNCHAN; CHOI INGU; YANG SUNGWOOK: "Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation", 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 30 May 2021 (2021-05-30), pages 12289 - 12295, XP033990701, DOI: 10.1109/ICRA48506.2021.9561200
ADHIKARI KABITA, TATINATI SIVANAGARAJA, VELUVOLU KALYANA C., CHAMBERS JONATHON A.: "Physiological Tremor Filtering Without Phase Distortion for Robotic Microsurgery", IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 19, no. 1, 1 January 2022 (2022-01-01), US , pages 497 - 509, XP093039748, ISSN: 1545-5955, DOI: 10.1109/TASE.2020.3041427
ZHENG KUIJING, WANG CHAO: "Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control", JOURNAL OF CONTROL SCIENCE AND ENGINEERING, HINDAWI PUB. CORP., vol. 2014, 1 January 2014 (2014-01-01), pages 1 - 6, XP093039734, ISSN: 1687-5249, DOI: 10.1155/2014/857947
AHRONOVICH ELAN Z.; SIMAAN NABIL; JOOS KAREN M.: "A Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery", ADVANCES IN THERAPY., HEALTH COMMUNICATIONS, METUCHEN, NJ., US, vol. 38, no. 5, 3 April 2021 (2021-04-03), US , pages 2114 - 2129, XP037447793, ISSN: 0741-238X, DOI: 10.1007/s12325-021-01692-z
KIM EUNCHAN; CHOI INGU; YANG SUNGWOOK: "Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation", 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 30 May 2021 (2021-05-30), pages 12289 - 12295, XP033990701, DOI: 10.1109/ICRA48506.2021.9561200
Attorney, Agent or Firm:
KIM, Sun-young (KR)
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