Abstract: This application relates to a surgical data acquisition method. In one aspect, the surgical data acquisition method includes acquiring information about movement of a surgical robot, and dividing a hexahedral block including a maximum movement range of the surgical robot into a plurality of sub-blocks of a specified number. The method may also include storing, for each of the plurality of sub-blocks, information on a sub-block corresponding to a position in which the surgical robot has moved and information about the movement of the surgical robot within the sub-block.

Abstract: This application relates to a surgical robot apparatus and a method of driving the surgical robot apparatus. The surgical robot apparatus may include a passive arm, of which a position is set before performing surgery, and an active arm connected to the passive arm, and driven to manipulate a surgical tool while performing surgery. The apparatus may also include a cannula holder which is installed at an end portion of the active arm and in which a cannula for holding the surgical tool is inserted. The apparatus may further include a sensor unit installed between the cannula holder and the end portion of the active arm, and sensing a force and torque applied to the cannula holder and a controller connected to the sensor unit and receiving data about the force and torque.

Abstract: This application relates to a robot arm structure and a manipulator of a surgical robot including the robot arm structure. The robot anti structure includes a first robot arm unit and a second robot arm unit. The first robot arm unit includes a plurality of first link arms, a first joint unit mounted on one of the first link arms and rotating the one of the first link arms about a first axis and a second joint unit installed on at least one of the plurality of first link arms to adjust a length of the at least one link arm. The second robot arm unit includes a second link arm connected to one of the first link arms and a third joint unit using a lengthwise direction of the second link arm as a first rotary shaft and rotating the second link arm.

Abstract: A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.

Abstract: A surgical robot system for a single port surgery includes: a first robot arm in which a joint-type instrument is installed and providing a motion displacement to the joint-type instrument with respect to a remote center of motion (RCM); and a second robot arm pairing the first robot arm, in which a non-joint-type instrument is installed and providing a motion displacement to the non-joint-type instrument with respect to the RCM.

Abstract: A button for providing visual-haptic information includes a visual-haptic variable button that adaptively provides various types of visual-haptic information according to input of information to an electronic apparatus. The visual-haptic variable button includes a visual information output part that adaptively changes various types of button icons according to manipulation and touch of the visual-haptic variable button for the input of information, thereby outputting visual information, and a haptic information output part that adaptively changes various types of sense of button manipulation and sense of button touch according to the manipulation and touch of the visual-haptic variable button, thereby outputting haptic information. At least one visual-haptic variable button is provided in the electronic apparatus for the input of information.

Abstract: A terminal for providing visual-haptic information includes a visual-haptic keypad that displays and provides the visual-haptic information. The visual-haptic keypad includes: a button frame of a plurality of buttons provided in the visual-haptic keypad; a visual display layer positioned under the button frame in a vertical direction on a basis of the button frame; and a haptic display layer positioned under the visual display layer in the vertical direction on the basis of the button frame. The button frame and the visual display layer are fixedly bonded to boundary portions of the plurality of buttons.

Abstract: A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.

Abstract: A surgical robot system for a single port surgery includes: a first robot arm in which a joint-type instrument is installed and providing a motion displacement to the joint-type instrument with respect to a remote center of motion (RCM); and a second robot arm pairing the first robot arm, in which a non-joint-type instrument is installed and providing a motion displacement to the non-joint-type instrument with respect to the RCM.

Abstract: Disclosed is a haptic feedback case for electronic equipment, including: a main body configured to accommodate the electronic equipment; a communication unit configured to receive haptic generation information from the electronic equipment; a filmy type actuator configured to generate haptic sensations; and a control unit configured to operate the film type actuator according to the haptic generation information input from the communication unit.

Abstract: A button for providing visual-haptic information includes a visual-haptic variable button that adaptively provides various types of visual-haptic information according to input of information to an electronic apparatus. The visual-haptic variable button includes a visual information output part that adaptively changes various types of button icons according to manipulation and touch of the visual-haptic variable button for the input of information, thereby outputting visual information, and a haptic information output part that adaptively changes various types of sense of button manipulation and sense of button touch according to the manipulation and touch of the visual-haptic variable button, thereby outputting haptic information. At least one visual-haptic variable button is provided in the electronic apparatus for the input of information.

Abstract: Disclosed is a haptic feedback case for electronic equipment, including: a main body configured to accommodate the electronic equipment; a communication unit configured to receive haptic generation information from the electronic equipment; a filmy type actuator configured to generate haptic sensations; and a control unit configured to operate the film type actuator according to the haptic generation information input from the communication unit.

Abstract: A terminal for providing visual-haptic information includes a visual-haptic keypad that displays and provides the visual-haptic information. The visual-haptic keypad includes: a button frame of a plurality of buttons provided in the visual-haptic keypad; a visual display layer positioned under the button frame in a vertical direction on a basis of the button frame; and a haptic display layer positioned under the visual display layer in the vertical direction on the basis of the button frame. The button frame and the visual display layer are fixedly bonded to boundary portions of the plurality of buttons.