Abstract: Provided is a forceps driving apparatus including a body, a gripper installed to be received in the body and formed to be open and closed, an opening and closing member rotatably installed in the body to press or release two sides of the gripper by rotation, an elastic member connected to one side of the opening and closing member to provide an elastic force to the opening and closing member, an actuator connected to the other side of the opening and closing member to rotate the opening and closing member by contraction or extension, and a force sensing module to measure a gripping force of the gripper during the rotation of the opening and closing member.

Abstract: Provided is a tele-operated forceps-driver variable stiffness master device including a master member to generate an input displacement signal generated by pressing with a user's finger, and a slave member to operate based on the input displacement signal, measure operation information, calculate a gripping force based on the operation information, and provide the master member with at least one of a stiffness change command signal or a force feedback based on the calculated gripping force.

Abstract: The present disclosure relates to a module-type robot control system comprising: a robot platform including a driving unit which is driven by a control signal, at least one function block which is assemblable and disassemblable on the robot platform and configured to perform a specific function, and a user terminal capable of wirelessly communicating with the robot platform and the function block. According to the system. The user may remotely control the module-type robot through a smart device, or receive related content by receiving data from the robot through the terminal. The user may easily control the robot or receive more diverse customized contents by connection between the smart device and the module-type robot system.

Abstract: A nerve cover for covering a nerve within a living body tissue to protect the nerve includes a base of a flat plate shape, and a pair of covers protruding upward the base to form a hole for receiving a nerve, with one end attached to the base and the other end spaced apart from the one end, wherein when the base is bent in an arch shape when viewed from a side, a spacing between the pair of covers is expanded. In addition, an apparatus for insertion of an electrode structure includes a nerve cover fixing part which fixes the nerve cover with the base being bent, and an electrode structure fixing part in which the electrode structure is mounted, and which linearly moves the mounted electrode structure in an insertion direction to insert the electrode structure into the nerve surrounded by the nerve cover.

Abstract: A robotic platform manipulating peripheral nerve system includes a manipulator and a recorder. The manipulator includes a rotating guide, a plurality of rotating movers and a plurality of manipulating units. The rotating guide has an opening portion through which the recorder records, and has a guide rail at a side. The rotating movers are combined with the rotating guide and move along the guide rail. The manipulating units are respectively fixed to the rotating movers, and a manipulating part performs the operation being connected to an end of each of the manipulating units.

Abstract: The present disclosure relates to a module-type robot control system comprising: a robot platform including a driving unit which is driven by a control signal, at least one function block which is assemblable and disassemblable on the robot platform and configured to perform a specific function, and a user terminal capable of wirelessly communicating with the robot platform and the function block According to the system, The user may remotely control the module-type robot through a smart device, or receive related content by receiving data from the robot through the terminal. The user may easily control the robot or receive more diverse customized contents by connection between the smart device and the module-type robot system.

Abstract: Provided is a tele-operated forceps-driver variable stiffness master device including a master member to generate an input displacement signal generated by pressing with a user's finger, and a slave member to operate based on the input displacement signal, measure operation information, calculate a gripping force based on the operation information, and provide the master member with at least one of a stiffness change command signal or a force feedback based on the calculated gripping force.

Abstract: Disclosed is a peripheral nerve fixing apparatus, which includes: a suction unit configured to provide a negative pressure to a peripheral nerve at an end portion thereof to fix the peripheral nerve; and a negative pressure generating unit having a vacuum pump for generating a negative pressure and connected to the suction unit so that the negative pressure is provided to the suction unit, wherein at one surface of the end portion of the suction unit, the suction unit includes: a fixing unit provided to contact the peripheral nerve to keep a stable fixed state; and a suction hole formed in the fixing unit so that the negative pressure is provided to the peripheral nerve therethrough.

Abstract: A nerve cover for covering a nerve within a living body tissue to protect the nerve includes a base of a flat plate shape, and a pair of covers protruding upward the base to form a hole for receiving a nerve, with one end attached to the base and the other end spaced apart from the one end, wherein when the base is bent in an arch shape when viewed from a side, a spacing between the pair of covers is expanded. In addition, an apparatus for insertion of an electrode structure includes a nerve cover fixing part which fixes the nerve cover with the base being bent, and an electrode structure fixing part in which the electrode structure is mounted, and which linearly moves the mounted electrode structure in an insertion direction to insert the electrode structure into the nerve surrounded by the nerve cover.

Abstract: A robotic platform manipulating peripheral nerve system includes a manipulator and a recorder. The manipulator includes a rotating guide, a plurality of rotating movers and a plurality of manipulating units. The rotating guide has an opening portion through which the recorder records, and has a guide rail at a side. The rotating movers are combined with the rotating guide and move along the guide rail. The manipulating units are respectively fixed to the rotating movers, and a manipulating part performs the operation being connected to an end of each of the manipulating units.

Abstract: Provided is a forceps driving apparatus including a body, a gripper installed to be received in the body and formed to be open and closed, an opening and closing member rotatably installed in the body to press or release two sides of the gripper by rotation, an elastic member connected to one side of the opening and closing member to provide an elastic force to the opening and closing member, an actuator connected to the other side of the opening and closing member to rotate the opening and closing member by contraction or extension, and a force sensing module to measure a gripping force of the gripper during the rotation of the opening and closing member.

Abstract: An apparatus for inserting an electrode structure into nerve in tissue of a living body includes a nerve fixing part which fixes the nerve such that at least part of the nerve is hung thereon, and an electrode structure ejector on which the electrode structure is mounted, and which moves the electrode structure in insertion direction to insert the electrode structure into the fixed part of the nerve, wherein the nerve fixing part and the electrode structure ejector are disposed on the same axis.

Abstract: A neural probe structure, which is fixed to a nerve to acquire an electrical signal from the nerve or apply electrical stimulation to the nerve, includes a body which is bent to enclose at least a part of circumference of the nerve, and a probe which extends longitudinally from the body and passes through the nerve, wherein the probe has electrodes. A neural probe assembly includes the neural probe structure, wherein the probe passes through the nerve and the body encloses at least a part of circumference of the nerve, so that the neural probe structure is fixed to the nerve.

Abstract: An electrode structure inserting apparatus includes an electrode structure fixing unit to which the electrode structure is detachably fixed, and a vibration generator connected to the electrode structure fixing unit to vibrate the electrode structure fixing unit in an insertion direction of the electrode structure, and the electrode structure inserting apparatus inserts the invasive electrode structure into a nerve in a biological tissue.

Abstract: Disclosed is a peripheral nerve fixing apparatus, which includes: a suction unit configured to provide a negative pressure to a peripheral nerve at an end portion thereof to fix the peripheral nerve; and a negative pressure generating unit having a vacuum pump for generating a negative pressure and connected to the suction unit so that the negative pressure is provided to the suction unit, wherein at one surface of the end portion of the suction unit, the suction unit includes: a fixing unit provided to contact the peripheral nerve to keep a stable fixed state; and a suction hole formed in the fixing unit so that the negative pressure is provided to the peripheral nerve therethrough.

Abstract: An apparatus for inserting an electrode structure into nerve in tissue of a living body includes a nerve fixing part which fixes the nerve such that at least part of the nerve is hung thereon, and an electrode structure ejector on which the electrode structure is mounted, and which moves the electrode structure in insertion direction to insert the electrode structure into the fixed part of the nerve, wherein the nerve fixing part and the electrode structure ejector are disposed on the same axis.

Abstract: A neural probe structure, which is fixed to a nerve to acquire an electrical signal from the nerve or apply electrical stimulation to the nerve, includes a body which is bent to enclose at least a part of circumference of the nerve, and a probe which extends longitudinally from the body and passes through the nerve, wherein the probe has electrodes. A neural probe assembly includes the neural probe structure, wherein the probe passes through the nerve and the body encloses at least a part of circumference of the nerve, so that the neural probe structure is fixed to the nerve.

Abstract: An electrode structure inserting apparatus includes an electrode structure fixing unit to which the electrode structure is detachably fixed, and a vibration generator connected to the electrode structure fixing unit to vibrate the electrode structure fixing unit in an insertion direction of the electrode structure, and the electrode structure inserting apparatus inserts the invasive electrode structure into a nerve in a biological tissue.

Abstract: Present invention describes a swallowable device with a soft, compliant exterior, whose shape can be changed through the use of magnetic fields, and which can be locomoted in a rolling motion through magnetic control from the exterior of the patient. The present invention could be used for a variety of medical applications inside the GI tract including but not limited to drug delivery, biopsy, heat cauterization, pH sensing, biochemical sensing, micro-surgery, and active imaging.

Abstract: Present invention describes a swallowable device with a soft, compliant exterior, whose shape can be changed through the use of magnetic fields, and which can be locomoted in a rolling motion through magnetic control from the exterior of the patient. The present invention could be used for a variety of medical applications inside the GI tract including but not limited to drug delivery, biopsy, heat cauterization, pH sensing, biochemical sensing, micro-surgery, and active imaging.