Beijing Surgerii Technology Co., Ltd.

Beijing Surgerii Robotics Company Limited

Tianlai Dong

Kai Xu

Jiangran Zhao

Zhengchen Dai

Huan Liu

Zhixiong Yang

Shu'an Zhang

Bo Liang

Zhijun Zhu

Huichao Zhang

Linhui Niu

Yuyang Chen

Zhaoyu Zhang

Jingxi Lu

Yitang Ren

Shu′an Zhang

Jing Zhu

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

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 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.

Flexible surgical instrument system

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

A flexible surgical instrument has structural backbones in crossed arrangement, the flexible surgical instrument includes a flexible continuum structure comprising a distal structure, a proximal structure and a middle connection body; the distal structure includes a first distal segment and a second distal segment, the proximal structure includes a proximal segment; first segment structural backbone(s) on the proximal segment and first segment structural backbone(s) on the first distal segment are fixedly connected respectively one to one or are of the same structural backbone; second segment structural backbone(s) on the proximal segment and second segment structural backbone(s) the second distal segment are fixedly connected respectively one to one or are of the same structural backbone; the middle connection body includes two passage fixing plates, between which structural backbone guiding passage(s) and structural backbone cross guiding passage(s) are fixedly connected; the first segment structural backbone(s) () extends through the structural backbone cross guiding passage(s) (), the second segment structural backbone(s) extends through the structural backbone guiding passage(s).

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.

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Beijing, China

Tianlai Dong