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: 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: Proposed is a positioning arm with 3-degree-of-freedom gravity compensation, wherein the positioning arm moves an operating tool (10) by using an incision point as remote center of motion (hereinafter, “RCM”) and includes a link assembly portion (100) capable of rotating in the roll and pitch-directions about the RCM, and allowing the operating tool (10) to carry out translational motion in the direction toward the RCM, and a gravity compensator (200) which provides, with respect to torque caused by gravity acting on the link assembly portion (100) and the operating tool (10), compensation torque having a direction opposite to that of the torque.

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 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: The present invention relates to an apparatus for preventing buckling of a flexible surgical instrument, and more particularly, to an apparatus for preventing buckling of a flexible surgical instrument for preventing the buckling when a catheter or an over-tube of a surgical instrument and the like is inserted into the human body. To this end, disclosed is a surgical-instrument feeder for preventing the buckling of flexible surgical instruments which comprises: a master driving unit for receiving a driving command from the user; and a feeder unit for feeding surgical instruments according to whether to interlock with the master driving unit or not interlock with the master driving unit, and feeding the surgical instruments supplied from the master driving unit so as to prevent the surgical instruments from buckling by means of the feeding control command.

Abstract: Proposed are a surgical tool device having a wire hysteresis compensation function and a method for controlling the surgical tool device compensating for hysteresis of a wire. The surgical tool device includes a flexible tube part having a surgical tool disposed in a channel positioned inside the tube part, the flexible tube part being configured such that a position and an orientation of the flexible tube part are changed according to a traction wire, a manipulation unit to which a manipulation command is input so as to control the position and the orientation of the flexible tube part or the surgical tool, and a hysteresis compensation drive control unit provided with a plurality of modes so as to change the position and the orientation of the flexible tube part and the surgical tool and so as to control hysteresis compensation by calibrating hysteresis of the wire.

Abstract: 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: An autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient includes: 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 renal surgery training system includes: an internal calyx fluid simulation device including a supply hose configured to supply fluid, a simulator connected to the supply hose and through which the fluid supplied by the supply hose flows, a fluid receiver connected to the simulator such that the fluid flows and in which the fluid moved from the simulator is received, and an outlet hose configured to discharge the fluid stored in the fluid receiver, the internal calyx fluid simulation device configured to simulate a flow of fluid in a kidney; and a translation device disposed below the internal calyx fluid simulation device and configured to perform a translational movement to translate the internal calyx fluid simulation device, the renal surgery training system configured to provide training on removing an object swimming inside the kidney by a flow of fluid in the kidney by using training equipment.

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: 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: 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: An endoscope surgical robot system according to an exemplary embodiment may include an endoscope apparatus having an insertion tube and an endoscope camera to monitor an end image of the insertion tube, a driving module connected to the endoscope apparatus and configured to perform pitch rotation or roll rotation of the insertion tube, an operation module configured to be rotated to generate an input signal required for pitch rotation or roll rotation of the endoscope apparatus by a user, and a controller to control operation of the driving module based on the input signal generated by the operation module.

Abstract: The present invention relates to a hysteresis compensation control apparatus of a flexible tube and a method thereof for compensation control of hysteresis of a surgical instrument disposed in a channel of an overtube.

Abstract: Provided is a stiffness-reinforced surgical system. A stiffness-reinforced surgical system includes a plurality of links provided rotatably with each other to form a joint device, a main tendon configured to form a traction force for driving the links, an auxiliary tendon configured to form a traction force to resist rotation of the links, and a controller configured to control the traction forces of the main tendon and the auxiliary tendon. According to example embodiment, it is possible to provide a stiffness-reinforced surgical system configured such that an overtube forms sufficient flexibility while being inserted into the lumen and forms high stiffness during lesion removal, and a control method thereof.

Abstract: Provided is an information output apparatus including one or more information output units, wherein each information output unit includes a coil arranged to be connected to a power source, such that a current flows in the coil; a base unit configured to accommodate the coil; and a driving indicator, which is arranged in the base unit to be apart from and close to the coil to be driven by a current flowing in the coil and is configured to move in a first direction toward the coil and a direction opposite thereto to rotate while being connected to the base unit and to move in a second direction crossing the first direction to be recognized by a user.

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 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.