Abstract: Disclosed is an endoscope apparatus. The endoscope apparatus of the present invention includes: an endoscope including a flexible insertion section to be inserted into a human body; a flexible channel attached to the insertion section so that a part forms a passage in a longitudinal direction of the insertion section; and an assistant arm movably inserted into the passage and manipulated by a control device, and the assistant arm includes forceps capable of gripping a human body tissue, and a bending section bent by the control device to pull the human body tissue griped by the forceps.

Abstract: The present invention relates to a surgical double parallelogram device, and to a surgical double parallelogram device in which respective pitch and roll module units form a double parallelogram while pitch- and roll-rotating. To this end, disclosed is the surgical double parallelogram device comprising: a plurality of pitch and roll module units in which each module forms a plurality of stages and which provides two degrees of freedom for each module to be capable of dependently pitch- and roll-rotating; and a plurality of pitch link units connected to the plurality of pitch and roll module units to form a double parallelogram.

Abstract: The present invention relates to an apparatus for locking a surgical instrument by using magnetic force and, more specifically, to an apparatus for locking a surgical instrument by using magnetic force, which installs or uninstalls an instrument for microsurgery by using magnetic force in order to reduce a load that may occur during installing/uninstalling an instrument for microsurgery.

Abstract: A slave device according to an example embodiment may comprise: a lower shaft; an upper shaft connected to the lower shaft so as to be able to slide with a single degree of freedom; a lower gripper rotatably supporting the lower shaft; an upper gripper rotatably supporting the upper shaft; a lower delta robot movably supporting the lower gripper; and an upper delta robot movably supporting the upper gripper.

Abstract: A surgical robot includes a surgical tool including a bendable joint portion, and a bending tendon connected to the joint portion and configured to bend the joint portion, a tube connected to the surgical tool and configured to accommodate the bending tendon therein, a base housing configured to rotatably support the tube and accommodate the bending tendon that passes through the tube, a bending driver configured to grasp the bending tendon, and translate in a longitudinal direction parallel to a rotation axis of the tube with respect to the base housing, and a rotation driver configured to rotatably support the tube with respect to the base housing, wherein when the tube rotates, the rotation driver is connected to one portion of the bending driver that grasps the bending tendon, and rotates the tube and the bending tendon together.

Abstract: A flexible drive manipulator according to an example embodiment may include a proximal portion, a plurality of joint portions drivably connected from an end of the proximal portion with respect to a longitudinal axis, a distal portion connected to an end of the plurality of joint portions, a pair of drive wires passing through the plurality of joint portions in parallel along the longitudinal axis, the pair of drive wires configured to drive the plurality of joint portions in a rotational direction of rotation with respect to a transverse axis perpendicular to the longitudinal axis, and a fixing wire passing through the plurality of joint portions in a shape of converging along the longitudinal axis, the fixing wire configured to adjust rigidity of the plurality of joint portions.

Abstract: An arm rest apparatus, according to one embodiment, may comprise: a fixed part fixed to an external object; a horizontal movement module having one end rotatably connected to the fixed part and the other end having two-translational-degree-of-freedom movement with respect to the fixed part; and an arm support module installed to have two rotational degrees of freedom with respect to the other end of the horizontal movement module.

Abstract: A flexible drive manipulator according to an example embodiment may include a proximal portion, a plurality of joint portions drivably connected from an end of the proximal portion with respect to a longitudinal axis, a distal portion connected to an end of the plurality of joint portions, a pair of drive wires passing through the plurality of joint portions in parallel along the longitudinal axis, the pair of drive wires configured to drive the plurality of joint portions in a rotational direction of rotation with respect to a transverse axis perpendicular to the longitudinal axis, and a fixing wire passing through the plurality of joint portions in a shape of converging along the longitudinal axis, the fixing wire configured to adjust rigidity of the plurality of joint portions.