Abstract: A buckling prevention device for an endoscope overtube according to an embodiment is a buckling prevention device for an endoscope overtube, which includes a plurality of supports capable of supporting an endoscope overtube and a base for supporting the plurality of supports. The plurality of supports includes: an endoscope support which is slidably connected to the base and can support an endoscope body; an overtube support which is fixed to a side of the base and supports an overtube connected to the endoscope body; and at least one additional support for supporting the overtube, the additional support being installed between the endoscope support and the overtube support and slidably with respect to the base, wherein according to a sliding operation of the endoscope support, spacings between every pair of supports, which are most adjacent to each other, among the plurality of supports may have the same amount of change.

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: A colon linearizing device installed in an endoscope to linearize a colon by performing translation and expansion motions in the colon may include a ring-shaped proximal member installed to surround an outer circumferential surface of an insertion tube of an endoscope, a fixed end secured to the insertion tube, a ring-shaped distal member positioned between the proximal member and the fixed end and movably installed along a longitudinal direction of the insertion tube, and an elastic member connected between the fixed end and the distal member.

Abstract: A basket device for an endoscope includes a base tube attached to an end of an endoscope tube and including at least one channel through which an endoscopic camera or a surgical instrument passes, a plurality of baskets provided at locations separate from each other in a radial direction along an edge of an end of the base tube and formed to protrude in a direction in which each of the baskets is to be expanded, and an operator formed to surround the plurality of baskets at the end of the base tube and being slidable in a longitudinal direction of the base tube.

Abstract: A method of determining hysteresis according to an example embodiment may include capturing a real-time image of the surgical robot driven according to a drive input, and measuring a drive angle of the surgical robot by comparing the real-time image to a previously rendered image data set of the surgical robot, and calculating a difference between the drive input and the measured drive angle.

Abstract: Disclosed is a positioning arm including a link assembly including a translation link configured to translationally move along a virtual axis passing a remote center of motion (RCM) present at a predetermined position separated from one point and configured to move in at least two directions based on the one point, and a gravity torque compensator configured to provide a compensation torque in a direction opposite to a gravity torque applied to the one point by a self-weight of the link assembly.

Abstract: A basket actuator includes a base including a base body and a base guide installed in the base body, a slider including a slider body configured to slide along the base guide, and a first slider arm and a second slider arm formed to protrude from the slider body and facing each other, a roller including a roller body rotatably disposed between the first slider arm and the second slider arm and a plurality of roller blades formed to protrude outwardly from the roller body, a wire guide connected to a front end portion of the base body, a wire disposed inside the wire guide and having a first end fixed to the roller, and a basket connected to a second end of the wire. The second slider arm is located rearward in comparison to the first slider arm.

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: According to an embodiment, an autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient may comprise: an endoscope operating device capable of operating a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at the end of the endoscope and is bendable; and a control unit for controlling the endoscope operating device, wherein the control unit controls the endoscope operating device on the basis of a driving record of the endoscope.

Abstract: A urolithiasis removing device according to one embodiment can comprise: an insertion tube; a guide which is inserted into the insertion tube and which is relatively movable with respect to the insertion tube; a wire which is inserted into the guide and which is relatively movable with respect to the guide; a basket positioned in front of the wire and capable of holding urolithiasis; and a control unit for determining the size of the urolithiasis on the basis of the relative movement of the guide with respect to the insertion tube or the relative movement of the wire with respect to the guide.

Abstract: According to an embodiment, an autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient may comprise: an endoscope operating device capable of operating a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at the end of the endoscope and is bendable; and a control unit for controlling the endoscope operating device, wherein the control unit controls the endoscope operating device on the basis of a driving record of the endoscope.

Abstract: A urolithiasis removing device according to one embodiment can comprise: an insertion tube; a guide which is inserted into the insertion tube and which is relatively movable with respect to the insertion tube; a wire which is inserted into the guide and which is relatively movable with respect to the guide; a basket positioned in front of the wire and capable of holding urolithiasis; and a control unit for determining the size of the urolithiasis on the basis of the relative movement of the guide with respect to the insertion tube or the relative movement of the wire with respect to the guide.