Abstract: A minimally invasive surgical instrument is provided, comprising a shaft and an end effector connected to the shaft, wherein the end effector operates in the pitch or yaw direction against the shaft when a first wire and a second wire conveyed through the shaft operate cooperatively according to a first aspect; and the end effector operates in the roll direction against the shaft when the first wire and the second wire operate cooperatively according to a second aspect, wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to one aspect of the first aspect and the second aspect; and the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the other aspect of the first aspect and the second aspect.

Abstract: 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.

Abstract: The present invention relates to a minimally invasive surgical instrument having a bent shaft, and more particularly to a minimally invasive surgical instrument in which at least a part of a shaft includes a bend. According to one aspect of the invention, there is provided a minimally invasive surgical instrument comprising: a shaft; an end effector connected to one end of the shaft; a joint unit interposed between the shaft and the end effector; and a plurality of wires connected to the joint unit to enable the end effector to carry out joint motion, wherein the shaft comprises at least one bend, and the at least one bend may transmit therein force to operate the end effector in a roll direction, independently of the shaft. The present invention relates to a minimally invasive surgical instrument having a bent shaft, and more particularly, to a minimally invasive surgical instrument in which at least a portion of a shaft is curved.

Abstract: Provided is a catheter including a shaft having a distal end and a loop disposed near the distal end and configured to curl around a tissue and receive, via the shaft, energy to denervate at least a portion of the tissue.

Abstract: The present invention relates to a convenient, minimally invasive surgical instrument, and more particularly to a minimally invasive surgical instrument to allow a user to operate an end effector by manipulating a handling unit or the like to perform a minimally invasive surgery in a delicate and convenient manner. According to one aspect of the invention, there is provided a minimally invasive surgical instrument comprising: a shaft; an end effector being connected to one end of the shaft via a joint unit; a rotation manipulation unit being connected to the other end of the shaft, the rotation manipulation unit comprising a gyro link including a gyro wheel; and a plurality of wires being connected between the joint unit and the gyro wheel, wherein the end effector carries out joint motion by the joint unit according to the action of at least some of the plurality of wires caused by a manipulation of the gyro wheel.

Abstract: A semiconductor device includes a fin-type pattern extending in a first direction, a device isolation film surrounding the fin-type pattern, while exposing an upper portion of the fin-type pattern, a gate electrode extending on the device isolation film and the fin-type pattern in a second direction intersecting the first direction, a gate isolation film isolating the gate electrode in the second direction, and including a first material and on the device isolation film, an interlayer insulating film filling a side surface of the fin-type pattern and including a second material different from the first material.

Abstract: The present invention relates to a device for fixing a joint structure. The device for fixing a joint structure, according to one aspect of the present invention, comprises: a first slider for fixing a first directional joint movement state of a joint structure that includes a first joint element and a second joint element; a first locking member included in the first slider; and a first corresponding locking member which operates relative to the first locking member and blocks a forward directional movement and a backward directional movement of the first slider.

Abstract: Provided are a method for fabricating a semiconductor device The method for fabricating include providing a substrate including a first region and a second region, the first region including first and second sub-regions, and the second region including third and fourth sub-regions, forming first to fourth fins on the first and second regions to protrude from the substrate, the first fin being formed on the first sub-region, the second fin being formed on the second sub-region, the third fin being formed on the third sub-region, and the fourth fin being formed on the fourth sub-region, forming first to fourth dummy gate structures to intersect the first to fourth fins, the first dummy gate structure being formed on the first fin, the second dummy gate structure being formed on the second fin, the third dummy gate structure being formed on the third fin, and the fourth dummy gate structure being formed on the fourth fin, forming a first doped region in each of the first and second fins and a second doped region

Abstract: A tool for minimally invasive surgery includes a main shaft, a first control shaft and a second control shaft, a first actuating shaft and a second actuating shaft, an adjustment handle, an end effector, a pitch control part, a first yaw control part and a second yaw control part, a pitch actuating part, a first yaw actuating part and a second yaw actuating part, and a pitch cable, a first yaw cable and a second yaw cable.

Abstract: Provided are a method for fabricating a semiconductor device The method for fabricating include providing a substrate including a first region and a second region, the first region including first and second sub-regions, and the second region including third and fourth sub-regions, forming first to fourth fins on the first and second regions to protrude from the substrate, the first fin being formed on the first sub-region, the second fin being formed on the second sub-region, the third fin being formed on the third sub-region, and the fourth fin being formed on the fourth sub-region, forming first to fourth dummy gate structures to intersect the first to fourth fins, the first dummy gate structure being formed on the first fin, the second dummy gate structure being formed on the second fin, the third dummy gate structure being formed on the third fin, and the fourth dummy gate structure being formed on the fourth fin, forming a first doped region in each of the first and second fins and a second doped region

Abstract: The present invention relates to a device for fixing a joint structure. The device for fixing a joint structure, according to one aspect of the present invention, comprises: a first slider for fixing a first directional joint movement state of a joint structure that includes a first joint element and a second joint element; a first locking member corresponding to the first slider; and a first corresponding locking member which operates relative to the first locking member and blocks a forward directional movement and a backward directional movement of the first slider.

Abstract: The present invention relates to a surgical robot system having a tool for minimally invasive surgery. More specifically, the present invention relates to a surgical robot system that helps a user such as a surgeon control the tool for minimally invasive surgery in a dexterous and convenient manner.

Abstract: The present invention relates to a minimally invasive surgery tool having a variable bend. According to one embodiment of the present invention, provided is the minimally invasive surgery tool comprising: a shaft; an end constituent element which is connected to one end of the shaft; and a first joint portion which is arranged between the shaft and the end constituent element, wherein the first joint portion comprises a modifiable link portion which can variably form the bend by means of the reaction of at least one wire.

Abstract: The present invention relates to a minimally invasive surgical instrument having an articulation immobilising structure. The present invention is a s minimally invasive surgical instrument and includes a shaft, an end effector connected towards one end of the shaft, a wire for controlling the articulated movement of the end effector, and an immobilising structure adapted to immobilise the state of articulated movement of the end effector. The immobilising structure includes a resilient member covering the wire, and the resilient member holds the wire when an internal space therein contracts.

Abstract: A minimally invasive surgical instrument is provided, comprising a shaft and an end effector connected to the shaft, wherein the end effector operates in the pitch or yaw direction against the shaft when a first wire and a second wire conveyed through the shaft operate cooperatively according to a first aspect; and the end effector operates in the roll direction against the shaft when the first wire and the second wire operate cooperatively according to a second aspect, wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to one aspect of the first aspect and the second aspect; and the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the other aspect of the first aspect and the second aspect.

Abstract: The present invention relates to a joint motion control apparatus. According to one aspect of the invention, there is provided a joint motion control apparatus, comprising: an annular unit; and a rotating unit to guide and fix a wire such that the wire causes joint motion of an instrument according to the rotation thereof, wherein the annular unit comprises a first fixing unit and a second fixing unit, and wherein the rotating unit carries out sliding operation in a pitch or yaw direction via a sliding assistance member disposed with respect to the first or second fixing unit.

Abstract: 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.

Abstract: The present invention relates to an easy-to-control tool for minimally invasive surgery.

Abstract: 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.

Abstract: 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.