Abstract: Disclosed herein are a video decoding method and apparatus and a video encoding method and apparatus. In video encoding and decoding, multiple partition blocks are generated by splitting a target block. A prediction mode is derived for at least a part of the multiple partition blocks, among the multiple partition blocks, and prediction is performed on the multiple partition blocks based on the derived prediction mode. When prediction is performed on the partition blocks, information related to the target block may be used, and information related to an additional partition block, which is predicted prior to the partition block, may be used.

Abstract: A fuser includes a pressure roller to rotate, a heating belt to form a fixing nip with the pressure roller; and bushings at each end of the heating belt, respectively, to support the heating belt. Each of the bushings includes a side wall outside the each end of the heating belt, and a support member in a direction toward the heating belt with respect to the side wall to support an inner surface of the heating belt, where the support member includes a protruding region downwardly inclined in a direction toward the side wall.

Abstract: Disclosed herein are a video decoding method and apparatus and a video encoding method and apparatus. In video encoding and decoding, multiple partition blocks are generated by splitting a target block. A prediction mode is derived for at least a part of the multiple partition blocks, among the multiple partition blocks, and prediction is performed on the multiple partition blocks based on the derived prediction mode. When prediction is performed on the partition blocks, information related to the target block may be used, and information related to an additional partition block, which is predicted prior to the partition block, may be used.

Abstract: Embodiments relate to a method for tracking a location of a surgical tool based on a radiographic image, which includes: by a photography system, photographing a surgical tool having a physical marker frame composed of three or more marker bands; by an information processor, detecting a center point of each marker band in the photographed image; and by the information processor, estimating a three-dimensional location of the surgical tool based on a distance between the detected center point and a center point of a true marker band, and a tracking apparatus for the same.

Abstract: The present disclosure provides a standing assistance apparatus including a support part configured to support a load, a saddle part configured to accommodate a patient to allow the patient to position from sitting condition to standing condition, and a guide part coupled between the support part and the saddle part and having an adjustable length to guide the patient to stand, wherein the guide part is disposed in diagonal direction with respect to the support part to guide the patient to stand in the diagonal direction.

Abstract: A guiding apparatus for remote medical treatments includes a first pivoting link pivotally connected to a pivot shaft, a second pivoting link pivotally connected to the first pivoting link, a driver pulley member capable of fixing the first pivoting link and the second pivoting link to each other through screw fastening, a driven pulley member capable of fixing the first pivoting link to the pivot shaft through screw fastening, and a locking wire connected to the driver pulley member and the driven pulley member to transmit a rotational force from the driver pulley member to the driven pulley member. As the driver pulley member rotates, the driven pulley member rotates together, so that the fixing of the first pivoting link and the second pivoting link to each other and the fixing of the first pivoting link to the pivot shaft is accomplished simultaneously.

Abstract: The present disclosure provides a standing assistance apparatus including a support part configured to support a load, a saddle part configured to accommodate a patient to allow the patient to position from sitting condition to standing condition, and a guide part coupled between the support part and the saddle part and having an adjustable length to guide the patient to stand, wherein the guide part is disposed in diagonal direction with respect to the support part to guide the patient to stand in the diagonal direction.

Abstract: A module connection system is configured by connecting a plurality of modules by means of connectors. The modules include a base module, a first module and a second module, and the connectors include a first connector and a second connector. The base module transmits power and signals provided from a driving source, the first module is electrically/mechanically connected to the base module by means of the first connector, and the second module is electrically/mechanically connected to the first module by means of the second connector. The first connector includes a larger number of connection terminals in comparison to the second connector in order to transmit power and signals from the base module to the second module and simultaneously supply power and signals required for the first module.

Abstract: A module connection system is configured by connecting a plurality of modules by means of connectors. The modules include a base module, a first module and a second module, and the connectors include a first connector and a second connector. The base module transmits power and signals provided from a driving source, the first module is electrically/mechanically connected to the base module by means of the first connector, and the second module is electrically/mechanically connected to the first module by means of the second connector. The first connector includes a larger number of connection terminals in comparison to the second connector in order to transmit power and signals from the base module to the second module and simultaneously supply power and signals required for the first module.

Abstract: A guiding apparatus for remote medical treatments includes a first pivoting link pivotally connected to a pivot shaft, a second pivoting link pivotally connected to the first pivoting link, a driver pulley member capable of fixing the first pivoting link and the second pivoting link to each other through screw fastening, a driven pulley member capable of fixing the first pivoting link to the pivot shaft through screw fastening, and a locking wire connected to the driver pulley member and the driven pulley member to transmit a rotational force from the driver pulley member to the driven pulley member. As the driver pulley member rotates, the driven pulley member rotates together, so that the fixing of the first pivoting link and the second pivoting link to each other and the fixing of the first pivoting link to the pivot shaft is accomplished simultaneously.

Abstract: Embodiments relate to a method for tracking a location of a surgical tool based on a radiographic image, which includes: by a photography system, photographing a surgical tool having a physical marker frame composed of three or more marker bands; by an information processor, detecting a center point of each marker band in the photographed image; and by the information processor, estimating a three-dimensional location of the surgical tool based on a distance between the detected center point and a center point of a true marker band, and a tracking apparatus for the same.

Abstract: A motion control system includes a first capsule robot, which includes a first housing, a first shaft configured to be movable bi-directionally, the first shaft having a first permanent magnet at an outer end, a first leg unit configured to protrude outwards from the first housing, and a first control unit; and a second capsule robot, which includes a second housing, a second shaft configured to be movable bi-directionally, the second shaft having a second permanent magnet at an outer end, a second leg unit, and a second control unit, wherein the first capsule robot is fixed with respect to an the internal organ wall by protruding the first leg unit to the internal organ, and wherein the second capsule robot is connected to the first capsule robot as the first permanent magnet comes into contact with the second permanent magnet by an attractive force.

Abstract: The present disclosure relates to a tube continuum robot and a robot system for operation using the same, and the tube continuum robot includes a basic tube body including a basic straight section extending straight, and a basic curved section extending in front of the basic straight section and bent to a predetermined curvature, and a connection tube body having a connection flexible section which is flexibly bendable, the connection tube body formed to be inserted into the basic tube body or to surround an exterior of the basic tube body, the connection tube body being connected to the basic tube body.

Abstract: A tube insertion device which inserts a tube into a line path to perform an operation has an elongated hollow tube, an end effector connected to a front end of the tube such that the direction of the end effector is changed with respect to the tube, a plurality of wires connected to the end effector and extended into the tube and a tension controller controlling tensions of the plurality of wires. The tension controller controls tensions of a pair of wires facing each other in the opposite directions, in order to change the direction of the end effector.

Abstract: A laser operation device has an elongated catheter, a light steering unit disposed at a front of a tip of the catheter, and a light irradiating unit configured to irradiate a laser to the front of the tip of the catheter, wherein the light steering unit is rotatable based on a rotary shaft and includes a plurality of prisms disposed in a circumferential direction of the rotary shaft, wherein the plurality of prisms are formed to have different deflection angles with respect to the same light, wherein the laser irradiated from the light irradiating unit is steered by refracting while passing through the prism, and wherein when the light steering unit rotates, the prism located at the front of the light irradiating unit is exchanged to adjust a steering angle of the laser.

Abstract: A module connection mechanism for coupling adjacent modules, has a connector for connecting the modules. The connector has a substrate having a plurality of terminals for transmitting power and signals, installed between the modules, a fixing body disposed to surround the substrate and having a fixing wing with a wing thread formed at an outer surface thereof, and a fixing ring disposed to surround the fixing body and having a ring thread formed at an inner surface thereof, so that the ring thread moves to cover an outer surface of the fixing body.

Abstract: A module connection mechanism for coupling adjacent modules, has a connector for connecting the modules. The connector has a substrate having a plurality of terminals for transmitting power and signals, installed between the modules, a fixing body disposed to surround the substrate and having a fixing wing with a wing thread formed at an outer surface thereof, and a fixing ring disposed to surround the fixing body and having a ring thread formed at an inner surface thereof, so that the ring thread moves to cover an outer surface of the fixing body.

Abstract: The present disclosure relates to a tube continuum robot and a robot system for operation using the same, and the tube continuum robot includes a basic tube body including a basic straight section extending straight, and a basic curved section extending in front of the basic straight section and bent to a predetermined curvature, and a connection tube body having a connection flexible section which is flexibly bendable, the connection tube body formed to be inserted into the basic tube body or to surround an exterior of the basic tube body, the connection tube body being connected to the basic tube body.

Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.

Abstract: The optical sensor according to an embodiment disclosed herein includes: a lighting unit; a color photographing element for obtaining a color image in the sensing region; a photographing control unit for controlling a light irradiating time; a memory unit for storing a color image and a resultant image; a measurement light image extracting unit for processing the color image or the resultant image; a distance calculating unit for calculating distance or location information of the object; and a color correcting unit for calculating corrected distance or location information of the object.