Abstract: In a handle unit for interventional procedure, a master device for interventional procedure, and a remote control interventional procedure system, the handle unit is gripped by an operator. The handle unit includes a gripper, a mode selection module and a linear motion module. The gripper is gripped by the operator. The mode selection module is equipped to the gripper, and selects one of motion modes including a linear motion mode, a rotational motion mode and a plane motion mode. The needle linearly moves with one degree of freedom in the linear motion mode. The needle rotationally moves with two degrees of freedom in the rotational motion mode. The needle moves in a plane with two degrees of freedom in the plane motion mode. The linear motion module performs the linear motion of the needle based on the selection of the mode selection module, and is equipped to the gripper.

Abstract: In a handle unit for interventional procedure, a master device for interventional procedure, and a remote control interventional procedure system, the handle unit is gripped by an operator. The handle unit includes a gripper, a mode selection module and a linear motion module. The gripper is gripped by the operator. The mode selection module is equipped to the gripper, and selects one of motion modes including a linear motion mode, a rotational motion mode and a plane motion mode. The needle linearly moves with one degree of freedom in the linear motion mode. The needle rotationally moves with two degrees of freedom in the rotational motion mode. The needle moves in a plane with two degrees of freedom in the plane motion mode. The linear motion module performs the linear motion of the needle based on the selection of the mode selection module, and is equipped to the gripper.

Abstract: An echographic apparatus includes a base frame, a driving part, an upper frame, a connecting frame, an echographic probe, a grasping part and a connecting part. The base frame has a first opening portion. The driving part is fixed to the base frame and generates a driving power. The upper frame has a second opening portion, and is disposed over the base frame. The connecting frame is fixed to an upper surface of the upper frame. The echographic probe makes contact with a body of a patient through the first opening portion to diagnose the patient. The grasping part is fixed to the connecting frame through the second opening portion, and grasps the echographic probe. The connecting part is connected between the driving part and the upper frame, and transfers the driving power of the driving part to change a position or a posture of the echographic probe.

Abstract: A detachable device of a loading unit for a robot, detachably combining the loading unit to a connection unit of the robot, includes: a first magnet unit provided in the loading unit and having a first magnet pattern; a second magnet unit provided in the connection unit, having a second magnet pattern including a pattern that corresponds to the first magnet pattern, and combined with the first magnet unit by a magnetic force generated by power applied thereto; a pattern recognition unit recognizing an object held by the loading unit and one of the first magnet pattern and the pattern corresponding to the first magnet pattern; and a matching control unit controlling power applied to the second magnet unit to apply magnetic attraction force to the first magnet pattern from a part of the second magnet pattern according to operation of the pattern recognition unit.

Abstract: A detachable device of a loading unit for a robot, detachably combining the loading unit to a connection unit of the robot, includes: a first magnet unit provided in the loading unit and having a first magnet pattern; a second magnet unit provided in the connection unit, having a second magnet pattern including a pattern that corresponds to the first magnet pattern, and combined with the first magnet unit by a magnetic force generated by power applied thereto; a pattern recognition unit recognizing an object held by the loading unit and one of the first magnet pattern and the pattern corresponding to the first magnet pattern; and a matching control unit controlling power applied to the second magnet unit to apply magnetic attraction force to the first magnet pattern from a part of the second magnet pattern according to operation of the pattern recognition unit.

Abstract: An echographic apparatus includes a base frame, a driving part, an upper frame, a connecting frame, an echographic probe, a grasping part and a connecting part. The base frame has a first opening portion. The driving part is fixed to the base frame and generates a driving power. The upper frame has a second opening portion, and is disposed over the base frame. The connecting frame is fixed to an upper surface of the upper frame. The echographic probe makes contact with a body of a patient through the first opening portion to diagnose the patient. The grasping part is fixed to the connecting frame through the second opening portion, and grasps the echographic probe. The connecting part is connected between the driving part and the upper frame, and transfers the driving power of the driving part to change a position or a posture of the echographic probe.