Abstract: Provided is a parallel mechanism consisting of: a first module including a first plate having a first hollow formed therein; a second module disposed to be spaced apart from the first module, and including a second plate having a second hollow formed therein; and a power transmission unit provided in a space between the first and second modules, and including a third plate connecting the first and second modules in parallel, wherein the first and second modules form a symmetrical structure on the basis of the power transmission unit, a first range of motion in the first module is amplified, by means of the symmetrical structure, to a second range of motion that is wider than the first range of motion in the second module, a working space is formed in a space communicating with the first and second hollows, and the third plate is provided outside the working space.

Abstract: Provided is a flexible mechanism. The flexible mechanism comprises: a flexible backbone which is introduced into a treatment area in the human body and which bends along a path in the human body; and a wire for transmitting an operation force provided through a handler prepared at one end of the flexible backbone to an end-effector prepared at the other end of the flexible backbone, wherein the wire extends from the one end of the flexible backbone to the other end of the flexible backbone and can wind around the outer circumferential surface of the flexible backbone in multiples of 360 degrees or passes through a spiral path formed on an inner surface in multiples of 360 degrees.

Abstract: Provided is a robot for vascular intervention. The robot for vascular intervention comprises: a catheter driving unit for rotating and translating a catheter extending in a longitudinal direction while having the longitudinal direction as an axis; a guide wire driving unit provided at a side of the catheter driving unit, drawing a guide wire into the catheter by translating the guide wire, and rotating the guide wire coaxially with the catheter; a micro-catheter driving unit provided at a rear of the catheter driving unit and translating the micro-catheter in a path coaxial with the catheter that is different from draw-in and draw-out paths of the guide wire when the guide wire is drawn out from an inside of the catheter; and a micro-guide wire driving unit provided at a rear of the micro-catheter driving unit, and drawing a micro-guide wire into the micro-catheter by translating the micro-guide wire, and rotating the micro-guide wire coaxially with the micro-catheter.

Abstract: A medical arm assembly according to embodiments disclosed includes: a remote joint where a remote point spaced forward from a reference point is located; a positioning arm section configured to support the remote joint, move the remote joint that a relative position of the remote point with respect to the reference point is changed in forward-and-rearward direction and upward-and-downward direction, and fix the relative position of the remote point with respect to the reference point; an operating arm section connected to the remote joint and configured to fix a surgery tool, rotate the surgery tool about a remote-rotation axis through the remote point in left-and-right direction, and move the surgery tool in a direction perpendicular to the remote rotation axis and through the remote point; and an arm supporting section where the positioning arm section and the operating arm section are supported by connecting and the reference point is located.

Abstract: The present disclosure provides an image matching device. The image matching device according to the present disclosure includes a 3D scanner configured to three-dimensionally scan a dorsal surface of a patient to obtain a first dorsal surface scan image, a tracking sensor configured to obtain position and posture information of a reference marker and position and posture information of a scanner marker, and a processor configured to generate a virtual first vertebrae measurement image for estimation of a position of the vertebrae of the patient based on a human body correlation model and the first dorsal surface scan image and match a coordinate system of the virtual first vertebrae measurement image with a coordinate system of the patient based on the position and posture information of the reference marker and the position and posture information of the scanner marker.

Abstract: A medical arm assembly according to an embodiment disclosed includes: a remote joint where a remote point is located; a positioning arm section configured to support the remote joint, move the remote joint that a position of the remote point relative to the reference point is changed only in the direction of a virtual reference straight-line through the reference point and the remote point, and fix the relative position of the remote point; an operating arm section connected to the remote joint and configured to fix a medical tool, rotate the tool about a remote rotation axis perpendicular to the reference straight-line and through the remote point, and move the tool in a direction perpendicular to the remote rotation axis and through the remote point; and an arm supporting section where the positioning arm section and the operating arm section are supported by connecting and the reference point is located.

Abstract: A medical arm assembly according to embodiments disclosed includes: a remote joint where a remote point spaced forward from a reference point is located; a positioning arm section configured to support the remote joint, move the remote joint that a relative position of the remote point with respect to the reference point is changed in forward-and-rearward direction and upward-and-downward direction, and fix the relative position of the remote point with respect to the reference point; an operating arm section connected to the remote joint and configured to fix a surgery tool, rotate the surgery tool about a remote-rotation axis through the remote point in left-and-right direction, and move the surgery tool in a direction perpendicular to the remote rotation axis and through the remote point; and an arm supporting section where the positioning arm section and the operating arm section are supported by connecting and the reference point is located.

Abstract: A medical arm assembly according to an embodiment disclosed includes: a remote joint where a remote point is located; a positioning arm section configured to support the remote joint, move the remote joint that a position of the remote point relative to the reference point is changed only in the direction of a virtual reference straight-line through the reference point and the remote point, and fix the relative position of the remote point; an operating arm section connected to the remote joint and configured to fix a medical tool, rotate the tool about a remote rotation axis perpendicular to the reference straight-line and through the remote point, and move the tool in a direction perpendicular to the remote rotation axis and through the remote point; and an arm supporting section where the positioning arm section and the operating arm section are supported by connecting and the reference point is located.

Abstract: Disclosed is a flexible mechanism including: a backbone extending in a lengthwise direction thereof; a first steering wire group including one or more steering wires disposed in a spiral direction of a first direction along the lengthwise direction of the backbone and configured to transfer a handling force applied to ends thereof to an end effector; and a second steering wire group including one or more steering wires disposed in a spiral direction of a second direction, which is different from the first direction, along the lengthwise direction of the backbone and configured to transfer a handling force applied to ends thereof to the end effector.

Abstract: A medical stand may include a first link, a second link parallel to the first link, a third link connected between one end of the first link and one end of the second link, a fourth link parallel to the third link and connected between the other end of the first link and the other end of the second link, a mounting arm extending from the other end of the first link, a variable balancing arm connected to at least one of the second link or the third link, a counterweight provided at a distal end of the variable balancing arm, a detector detecting a displacement of at least one of the first link, the second link, the third link, or the fourth link, and a controller generating the control signal to adjust the center-of-gravity position of the variable balancing arm in accordance with the displacement detected by the detector.

Abstract: The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

Abstract: The present disclosure provides an image matching device. The image matching device according to the present disclosure includes a 3D scanner configured to three-dimensionally scan a dorsal surface of a patient to obtain a first dorsal surface scan image, a tracking sensor configured to obtain position and posture information of a reference marker and position and posture information of a scanner marker, and a processor configured to generate a virtual first vertebrae measurement image for estimation of a position of the vertebrae of the patient based on a human body correlation model and the first dorsal surface scan image and match a coordinate system of the virtual first vertebrae measurement image with a coordinate system of the patient based on the position and posture information of the reference marker and the position and posture information of the scanner marker.

Abstract: A parallel-type micro robot capable of precise control while minimizing size thereof and a surgical robot system having the same are disclosed. The parallel-type micro robot includes a base plate, a work plate, a main fixing shaft module, a horizontal movement module and at least one angle-controlling module. The base plate includes a base body portion and at least one base connecting portion connected to the base body portion. The work plate includes a work body portion corresponding to the base body portion and at least one work connecting portion connecting to the work body portion to correspond to the base connecting portion. The main fixing shaft module is disposed between the base body portion and the work body portion, and coupled to the work body portion such that the work body portion is rotatable. The horizontal movement module is disposed between the main fixing shaft module and the base body portion, and moves the main fixing shaft module along first and second directions intersecting each other.

Abstract: Provided is a flexible mechanism. The flexible mechanism comprises: a flexible backbone which is introduced into a treatment area in the human body and which bends along a path in the human body; and a wire for transmitting an operation force provided through a handler prepared at one end of the flexible backbone to an end-effector prepared at the other end of the flexible backbone, wherein the wire extends from the one end of the flexible backbone to the other end of the flexible backbone and can wind around the outer circumferential surface of the flexible backbone in multiples of 360 degrees or passes through a spiral path formed on an inner surface in multiples of 360 degrees.

Abstract: The present invention relates to a stand equipped with a counterbalance unit, i.e., a stand consisting of links, joints, a front link, and a counterbalance unit. Therefore, even when various medical apparatuses including such as a microscope, etc. are used, a stable counterbalance can be maintained and the degree of freedom of movements of the medical apparatus can be easily adjusted according to the purpose of users.

Abstract: A stand includes first to fourth links, first to fourth joints, a front link, first to fifth extension links, and first to fourth extension joints. The first to fourth links are arranged in a parallelogram configuration, wherein the first and third links are arranged on opposite sides and the second and fourth joints are arranged in a diagonal direction. The front link extends from the first link. The first extension link is rotatably connected to the second joint. The second extension link is rotatably connected to the first extension joint. The third extension link is rotatably connected to the second extension joint. The fourth extension link is arranged between the third extension joint and the fourth extension joint. The fifth extension link is arranged between the first joint and the second extension joint. The first, fourth, and fifth extension links are in parallel with one another.

Abstract: A medical stand may include a first link, a second link parallel to the first link, a third link connected between one end of the first link and one end of the second link, a fourth link parallel to the third link and connected between the other end of the first link and the other end of the second link, a mounting arm extending from the other end of the first link, a variable balancing arm connected to at least one of the second link or the third link, a counterweight provided at a distal end of the variable balancing arm, a detector detecting a displacement of at least one of the first link, the second link, the third link, or the fourth link, and a controller generating the control signal to adjust the center-of-gravity position of the variable balancing arm in accordance with the displacement detected by the detector.

Abstract: The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

Abstract: The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

Abstract: A stand includes first to fourth links, first to fourth joints, a front link, first to fifth extension links, and first to fourth extension joints. The first to fourth links are arranged in a parallelogram configuration, wherein the first and third links are arranged on opposite sides and the second and fourth joints are arranged in a diagonal direction. The front link extends from the first link. The first extension link is rotatably connected to the second joint. The second extension link is rotatably connected to the first extension joint. The third extension link is rotatably connected to the second extension joint. The fourth extension link is arranged between the third extension joint and the fourth extension joint. The fifth extension link is arranged between the first joint and the second extension joint. The first, fourth, and fifth extension links are in parallel with one another.