Beijing Surgerii Technology Co., Ltd.

Beijing Surgerii Robotics Company Limited

Jiangran Zhao

Kai Xu

Zhengchen Dai

Huan Liu

Zhixiong Yang

Tianlai Dong

Wei Wei

Zhijun Zhu

Yuyang Chen

Zhaoyu Zhang

Bin Zhao

Jing Zhu

Yi Sun

Shu'an Zhang

Bo Liang

Huichao Zhang

Zenghui Liu

Wukun Mei

Linhui Niu

Haozhe Yang

Jingxi Lu

Yitang Ren

Shu′an Zhang

A control method for controlling a robot system is provided. The robot system includes a plurality of motion arms. The plurality of motion arms include a reference motion arm and at least one following motion arm. The control method includes: controlling, based on an input command, the reference motion arm to move to a reference position and a reference orientation; determining a positioning position and a positioning orientation of the at least one following motion arm based on the reference position and the reference orientation of the reference motion arm and a relative pose relationship between the plurality of motion arms; and controlling the at least one following motion arm to move to the positioning position and the positioning orientation.

Robot system and control method thereof

A control method for a robot system is provided. The robot system includes a plurality of motion arms, and the plurality of motion arms include a first motion arm and a second motion arm. The control method includes: determining a motion mode of ends of the first motion arm and the second motion arm of the robot system, where the motion mode includes synchronous motion of the ends of the first motion arm and the second motion arm; determining motion paths of the first motion arm and the second motion arm based on the motion mode and a relative end pose relationship between the first motion arm and the second motion arm; and controlling, based on the corresponding motion paths, the first motion arm and the second motion arm to move.

Robot system and control method

The present disclosure generally relates to a surgical instrument. In some embodiments, The surgical instrument, comprising: a distal structural body comprising a first distal structural segment and a second distal structural segment in serial arrangement; a proximal structural body comprising a first proximal structural segment and a second proximal structural segment in nested arrangement; and the first proximal structural segment and the second proximal structural segment are operable to turn the first distal structural segment and the second distal structural segment, respectively.

Flexible surgical instrument system based on continuous body structure

The present disclosure generally relates to a surgical instrument. In some embodiments, the flexible surgical instrument, comprising: a distal structural body comprising first distal structural segment and second distal structural segment, the first distal structural segment comprising a first distal fixing disk and first distal segment structural backbones, the second distal structural segment comprising a second distal fixing disk and second distal segment structural backbones; and a proximal structural body comprising a proximal structural segment, the proximal structural segment comprising a proximal fixing disk, first proximal segment structural backbones, and second proximal segment structural backbones, the first proximal segment structural backbones being connected to the first distal segment structural backbones in a crossed arrangement; or the second proximal segment structural backbones being connected to the second distal segment structural backbones in a crossed arrangement.

Flexible surgical instrument with structural bones in a crossed arrangement

The invention relates to a multi-purpose flexible surgical instrument system including a flexible surgical instrument, which includes a flexible continuum structure and a transmission driving unit. The flexible continuum structure includes a distal structure, a proximal structure, and a connecting body; the proximal structure includes a first distal segment and a second distal segment; the transmission drive unit is coupled to the first distal segment to drive the first distal segment to perform a bending motion; the second distal segment is coupled to the proximal structure via the connecting body, and the transmission driving unit is further coupled to the proximal structure to drive the proximal structure perform a bending motion, thereby indirectly drive the second distal segment to perform a bending motion.

Multi-purpose flexible surgical tool system

Disclosed is a flexible surgical instrument system, comprising: a distal structural body comprising at least one distal structural segment, the at least one distal structural segment comprising a distal fixing disk and distal structural backbones; a proximal structural body comprising at least one proximal structural segment, the at least one proximal structural segment comprising a proximal fixing disk, proximal structural backbones, and driving backbones, the distal structural backbones being securely connected in one-to-one correspondence to or the same as corresponding proximal structural backbones, and a driving unit comprising a linear motion mechanism operable to convert a first rotary motion into linear motions to cooperatively push or pull a pair of driving backbones of the driving backbones to turn the at least one proximal structural segment.

Flexible surgical instrument system with prepositioned drive input

The present disclosure provides a flexible surgical instrument system, comprising: a flexible surgical instrument comprising: a distal structural body comprising at least one distal structural segment comprising a distal fixing disk and structural backbones; a proximal structural body comprising at least one proximal structural segment comprising a proximal fixing disk, structural backbones, and driving backbones, the structural backbones of the distal structural segment being securely connected to or the same as corresponding structural backbones of the proximal structural segment; and a driving unit comprising a plurality of linear motion mechanisms operable to cooperatively push-pull the driving backbones to turn the proximal structural segment, each linear motion mechanism comprising an input end to receive a first linear motion; and a sterile barrier disposed at a proximal side of the plurality of linear motion mechanisms and operable to transfer the first linear motions to the input ends, respectively.

Flexible surgical instrument system

Disclosed is a flexible surgical instrument system, comprising a flexible continuum structure consisting of a distal structure, a middle connecting body and a proximal structure linked in sequence, and further comprising a transmission driving unit linked to the proximal structure. The transmission driving unit comprises a plurality of transmission mechanisms respectively driving corresponding proximal segments. The transmission mechanisms are operable to control the direction of a bending plane of the proximal segments and to control the bending angle of the proximal segments in the bending plane, so as to drive the proximal segments in the proximal structure to bend or turn in any arbitrary direction, and to further drive distal segments in the distal structure linked thereto to bend or turn in the opposite direction.

A multi-degree-of-freedom flexible surgical instrument that includes a flexible continuous body structure () and a driving unit () is disclosed. The flexible continuous body structure () includes a distal structural body (), a proximal structural body () and a middle connecting body (). The distal structural body () includes a first distal structural segment () and a second distal structural segment (). The proximal structural body () includes a proximal structural segment. Second segment structural backbones () located on the proximal structural segment are securely connected in one-to-one correspondence to or are the same as second segment structural backbones () located on the second distal structural segment (). The middle connecting body () includes channel fixing plates (), channel fixing blocks (), first structural backbone guide channels () and second structural backbone guide channels ().

Multi-degree-of-freedom flexible surgical instrument

Disclosed is a sterilizable flexible surgical instrument system, comprising a flexible continuous body structure. The flexible continuous body structure comprises a distal structural body, a middle connecting body and a proximal structural body. The distal structural body comprises at least one distal structural segment, the distal structural segment comprising a distal spacing disk, a distal fixing disk and a structural backbone. The proximal structural body comprises the same number of proximal structural segments as distal structural segments, the proximal structural segments comprising a proximal spacing disk, a proximal fixing disk and a structural backbone. The proximal structural segment is linked to the distal structural segment via a middle connecting body. A transmission unit is further comprised. The transmission unit comprises a transmission mechanism fixing plate arranged in front of the middle connecting body. A gear transmission mechanism for converting a rotary motion input into a linear motion output is arranged on the transmission mechanism fixing plate. An output end of the gear transmission mechanism is securely connected to one end of a driving backbone via a adaptor, and the other end of the driving backbone passes through the proximal spacing disks, and is then securely connected to the proximal fixing disks.

Sterilizable flexible surgical instrument system

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

Disclosed is a flexible surgical instrument system comprising a flexible surgical instrument and a driving unit. The flexible surgical instrument can comprise a flexible continuous body structure composed of a distal structural body, a proximal structural body and a middle connecting body. The distal structural body can comprise a distal segment, comprising a distal spacing disk, a distal fixation disk and structural backbones. The proximal structural body can comprise a proximal segment comprising a proximal spacing disk, a proximal fixation disk and structural backbones. The middle connecting body can comprise channel fixing plates and a structural backbone guide channel. The driving unit can comprise a driving unit fixing plate. Linear motion mechanisms are provided between the driving unit fixing plate and the channel fixing plate near the proximal structural body, an output end of each of the linear motion mechanisms is securely connected to a first driving backbone.

A control system for a surgical robot is provided. The control system includes a first embedded computer and a second embedded computer configured to receive status information from the first embedded computer. The status information includes a status of zero-return for a surgical tool driving module or an imaging tool driving module. The control system also includes a host computer configured to receive the status information from the second embedded computer. The surgical tool driving module or the imaging tool driving module includes a controller, a motor connected with a first coupling and configured to drive the surgical tool or an imaging tool, and a zero point switch configured to detect whether the first coupling is at a zero position. The controller is configured to transmit the status of zero-return to the first embedded computer based on whether the first coupling is at the zero position.

Integrated control system for a surgical robot based on embedded computers

Disclosed is a locking device, comprising an outer sleeve () and at least one locking unit () located in the outer sleeve (), wherein the locking unit () is formed by connecting a plurality of pressing blocks (), a gap () is provided between two adjacent ones of pressing blocks (), a rod locking hole () is provided in the gap (), and a set screw hole () is provided on the outer sleeve () at a position corresponding to the locking unit (); and when a set screw is screwed into the set screw hole () to directly or indirectly press the locking unit (), the locking unit () deforms and drives the pressing blocks () to tightly press rods () mounted in the respective rod locking holes () at the same time.

Locking device

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.

Growing community of inventors

Beijing, China

Jiangran Zhao