Beijing Surgerii Robotics Company Limited

Beijing Xiaomi Mobile Software Co., Ltd.

Beijing Surgerii Technology Co., Ltd.

China University of Mining and Technology

Zenghui Liu

Kai Xu

Huan Liu

Jiangran Zhao

Zhengchen Dai

Zhixiong Yang

Shu'an Zhang

Songyong Liu

Hongxiang Jiang

Bo Liang

Zhijun Zhu

Huichao Zhang

Changlong Du

Hongsheng Li

Fuye Wang

Kuidong Gao

Xiaobing Mao

Daolong Yang

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.

Flexible surgical instrument system

A method includes that: a user event to be processed is received; the user event to be processed is stored into an event queue corresponding to an event attribute of the user event to be processed, user events with different event attributes corresponding to different event queues; the user event is read from the event queue through multiple processes and is processed; and the processed user event is deleted from the event queue.

Method and apparatus for data processing, server and storage medium

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

Growing community of inventors

Beijing, China

Zenghui Liu