Beijing Surgerii Technology Co., Ltd.

Beijing Surgerii Robotics Company Limited

Huichao Zhang

Kai Xu

Jiangran Zhao

Zhengchen Dai

Huan Liu

Shu'an Zhang

Wei Wei

Zhixiong Yang

Tianlai Dong

Bin Zhao

Bo Liang

Zhijun Zhu

Zenghui Liu

Zhaoyu Zhang

Wukun Mei

Disclosed are a flexible surgical instrument and a driving unit thereof. The flexible surgical instrument may comprise a flexible continuous body structure composed of a distal structural body, a middle connecting body and a proximal structural body linked in sequence. The driving unit is linked to the flexible continuous body structure. When a structural backbone driving mechanism in the driving unit drives the proximal structural body to turn in any direction, the distal structural body correspondingly turns in the opposite direction. A surgical end effector driving mechanism in the driving unit can drive a surgical end effector linked to the distal end of the distal structural body to implement the action control of the surgical end effector.

Flexible surgical instrument and driving unit thereof

This invention relates to a method for detecting faults in the operating states of a surgical robotic system, wherein the surgical robotic system including a master computer, a master embedded computer and a plurality of slave embedded computers is provided; the master computer controls the master embedded computer and the slave embedded computers via the LAN router; the master embedded computer communicates with the slave embedded computers via the LAN router and a first communication bus. In the present invention, the master computer, the master embedded computer and the slave embedded computers can detect faults interactively. Safety and reliability of the operation of the surgical robotic system can be improved without increasing any additional detection components, and communication burden of the system can be effectively reduced. The present invention can be widely applied to a minimally invasive surgical robotic system.

Method for detecting faults in operating states of surgical robots

Disclosed is a flexible surgical instrument system, comprising a distal structural body comprising at least one distal structural segment each comprising a distal spacing disk, a fixing disk and structural backbones; a proximal structural body comprises at least one proximal structural segment each comprising a proximal spacing disk, a proximal fixing disk and structural backbones; a plurality of cable transmission mechanisms each comprising a gear set and a pulley-cable part, the gear set being operable to transfer a rotational motion to the pulley-cable part; and a driving unit comprising a motion transmission part comprising a plurality of proximal segment turning transmission chains to convert a rotational output into mutually reversed rotational motions, and transfer one of the mutually reversed rotational motions to one of the gear sets.

Flexible surgical instrument system

Disclosed is a flexible surgical instrument system (), comprising a flexible surgical instrument () composed of a distal structural body (), a proximal structural body (), a driving transmission mechanism () and a middle connecting body (), wherein a surgical end effector () is located at a distal end of the distal structural body (), a proximal end of the distal structural body () is linked to the middle connecting body (), and the driving transmission mechanism () is linked to the proximal structural body () via the middle connecting body (); the distal structural body () comprises at least one distal structural segment (), wherein each distal structural segment () comprises a distal fixing disk () and structural backbones (); the proximal structural body () comprises at least one proximal structural segment (), wherein each proximal structural segment () comprises a proximal fixing disk (), structural backbones (), and driving backbones (); and the driving transmission mechanism () comprises an introducing part, a driving part, and a reversing part.

Disclosed is a flexible surgical instrument system, comprising a distal structural body comprising at least one distal structural segment each comprising a distal fixing disk and structural backbones; a proximal structural body comprising at least one proximal structural segment each comprising a proximal fixing disk, structural backbones and driving backbones; a plurality of cable pulling mechanisms operable to convert a rotational motion into a linear motion to turn the at least one proximal structural segment; and a driving unit to input the rotational motion to the plurality of cable pulling mechanisms; the driving unit comprises: a plurality of driving shafts operable to transfer the rotational motion to the plurality of cable pulling mechanisms, and a first end of each of the plurality of driving shafts is connected with each of the plurality of cable pulling mechanisms.

Growing community of inventors

Beijing, China

Huichao Zhang