Beijing Surgerii Technology Co., Ltd.

Beijing Surgerii Robotics Company Limited

Shu'an Zhang

Kai Xu

Jiangran Zhao

Zhengchen Dai

Zhixiong Yang

Huan Liu

Wei Wei

Tianlai Dong

Yuyang Chen

Huichao Zhang

Zhaoyu Zhang

Zenghui Liu

Bo Liang

Zhijun Zhu

Jing Zhu

Jingxi Lu

Yitang Ren

Linhui Niu

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

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.

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 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.

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.

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.

Disclosed is a flexible surgical instrument system, comprising a flexible surgical instrument and a driving unit, wherein the flexible surgical instrument comprises a distal structural body, a proximal structural body and a middle connecting body; the distal structural body comprises a distal structural segment, the distal structural segment comprising a distal spacing disk, a distal fixing disk and structural backbones; the proximal structural body comprises a proximal structural segment, the proximal structural segment comprising a proximal spacing disk, a proximal fixing disk and structural backbones; the middle connecting body comprises channel fixing and structural backbone guide channels; the driving unit comprises a motor part, a motion conversion part and linear motion mechanisms; the motor part comprises a first fixing plate and a first motor; the motion conversion part comprises transmission chains, the transmission chain converts a rotational output of the first motor into a linear motion of output rods, the linear motion is transferred to an input end of the linear motion mechanism through a sterile barrier, an output end of the linear motion mechanism is connected to one end of a driving backbone, the driving backbone passes through the proximal spacing disks, and the other end of the driving backbone is connected to the proximal fixing disk.

Disclosed is a flexible surgical instrument system comprising a flexible surgical instrument and a driving unit. The flexible surgical instrument comprises a flexible continuous body structure composed of a distal structural body, a proximal structural body. The driving unit comprises a motor part, a motion conversion part and a plurality of linear motion mechanisms. The motor part comprises a motor fixing plate and a first motor. The motion conversion part comprises a plurality of first transmission chains, each of the first transmission chains converts rotary output of the first motor into a linear motion of two first output rods and the linear motion each of the two first output rods is transferred to an input end of each of the linear motion mechanisms through a sterile barrier, an output end of each of the linear motion mechanisms is connected to one end of one driving backbone.

Growing community of inventors

Beijing, China

Shu'an Zhang