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1. 发明公开

EP3508166A1 FLEXIBLE SURGICAL INSTRUMENT AND DRIVING UNIT THEREOF 有权转让
公开(公告)号：EP3508166A1
公开(公告)日：2019-07-10
申请号：EP17845533.3
申请日：2017-08-31
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , ZHAO, Jiangran , DAI, Zhengchen , ZHANG, Huichao , LIU, Huan , LIU, Zenghui , YANG, Zhixiong , ZHU, Zhijun
IPC分类号： A61B34/30
摘要： Disclosed are a flexible surgical instrument (100) and a driving unit (30) thereof. The flexible surgical instrument (100) may comprise a flexible continuous body structure (10) composed of a distal structural body (11), a middle connecting body (12) and a proximal structural body (13) linked in sequence. The driving unit (30) is linked to the flexible continuous body structure (10). When a structural backbone driving mechanism (310) in the driving unit (30) drives the proximal structural body (13) to turn in any direction, the distal structural body (11) correspondingly turns in the opposite direction. A surgical end effector driving mechanism (311) in the driving unit (30) can drive a surgical end effector (201) linked to the distal end of the distal structural body (11) to implement the action control of the surgical end effector (201).

2. 发明公开

EP3508161A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM 有权转让
公开(公告)号：EP3508161A1
公开(公告)日：2019-07-10
申请号：EP17845462.5
申请日：2017-08-30
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , DAI, Zhengchen , ZHANG, Huichao , ZHANG, Shu'an , ZHAO, Jiangran , YANG, Zhixiong , WEI, Wei
IPC分类号： A61B34/30 , A61B17/00
摘要： Disclosed is a flexible surgical instrument system, comprising a flexible surgical instrument (10). The flexible surgical instrument (10) comprises a flexible continuous body structure composed of a distal structural body (11), a proximal structural body (16) and a middle connecting body (15). The distal structural body (11) comprises a distal structural segment (12, 13), the distal structural segment (12, 13) comprising a distal spacing disk (121, 131), a distal fixing disk (122, 132) and structural backbones (123, 133). The proximal structural body (16) comprises a proximal structural segment (17, 18), the proximal structural segment (17, 18) comprising a proximal spacing disk (171, 181), a proximal fixing disk (172, 182) and structural backbones (173, 183). The middle connecting body (15) comprises channel fixing plates (152) and a structural backbone guide channel (151). A driving unit fixing plate (21) is arranged behind the channel fixing plates (152), a plurality of cable transmission mechanisms (22) for converting a rotational motion input into a linear motion output are arranged between the driving unit fixing plate (21) and the channel fixing plate (152), an output end of each of the cable transmission mechanisms (22) is connected to one end of a driving backbone (211) via a linear motion mechanism, and the other end of the driving backbone (211) passes through the proximal spacing disk (171, 181) and is then securely connected to the proximal fixing disk (172, 182).

3. 发明公开

EP3508157A1 METHOD FOR DETECTING RUNNING STATE FAILURE OF SURGICAL ROBOT 有权转让
公开(公告)号：EP3508157A1
公开(公告)日：2019-07-10
申请号：EP17845500.2
申请日：2017-08-31
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , ZHAO, Bin , DAI, Zhengchen , ZHAO, Jiangran , LIU, Huan , MEI, Wukun , ZHANG, Huichao , WEI, Wei , LIANG, Bo
IPC分类号： A61B34/20 , B25J19/00 , G01R31/00 , B25J3/00
摘要： 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.

4. 发明公开

EP3508154A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM 有权转让
公开(公告)号：EP3508154A1
公开(公告)日：2019-07-10
申请号：EP17845520.0
申请日：2017-08-31
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , ZHANG, Shu'an , ZHANG, Huichao , DONG, Tianlai , DAI, Zhengchen , ZHAO, Jiangran , ZHANG, Zhaoyu , LIU, Huan
IPC分类号： A61B17/94
摘要： Disclosed is a flexible surgical instrument system, comprising a flexible surgical instrument (10). The flexible surgical instrument (10) comprises a flexible continuous body structure composed of a distal structural body (11), a proximal structural body (16) and a middle connecting body (15). The distal structural body (11) comprises a distal structural segment (12, 13), and the distal structural segment (12, 13) comprises distal spacing disks (121, 131), a distal fixing disk (122, 132) and structural backbones (123, 133). The proximal structural body (16) comprises a proximal structural segment (17, 18), and the proximal structural segment (17, 18) comprises proximal spacing disks (171, 181), a proximal fixing disk (172, 182) and structural backbones (173, 183). The middle connecting body (15) comprises channel fixing plates (152) and a structural backbone guide channel (151). The structural backbones (123, 133) of the distal structural segment (12, 13) are securely connected, in one-to-one correspondence, to or are the same as the structural backbones (173, 183) of the proximal structural segment (17, 18), one end of the structural backbone (173, 183) is securely connected to the proximal fixing disk (172, 182), and the other end of the structural backbone passes through the proximal spacing disks (171, 181), the structural backbone guide channel (151) and the distal spacing disks (121, 131) in sequence and is then securely connected to the distal fixing disk (122, 132).

5. 发明公开

EP3508153A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM 审中-实审转让
公开(公告)号：EP3508153A1
公开(公告)日：2019-07-10
申请号：EP17845515.0
申请日：2017-08-31
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , DONG, Tianlai , DAI, Zhengchen , ZHAO, Jiangran , ZHANG, Huichao , ZHANG, Shu'an
IPC分类号： A61B17/94
摘要： Disclosed is a flexible surgical instrument system (100), comprising a flexible surgical instrument (10) composed of a distal structural body (11), a proximal structural body (12), a driving transmission mechanism (13) and a middle connecting body (14), wherein a surgical end effector (111) is located at a distal end of the distal structural body (11), a proximal end of the distal structural body (11) is linked to the middle connecting body (14), and the driving transmission mechanism (13) is linked to the proximal structural body (12) via the middle connecting body (14); the distal structural body (11) comprises at least one distal structural segment (112, 113), wherein each distal structural segment (112, 113) comprises a distal fixing disk (115, 118) and structural backbones (116, 119); the proximal structural body (12) comprises at least one proximal structural segment (120, 121), wherein each proximal structural segment (120, 121) comprises a proximal fixing disk (122, 126), structural backbones (124, 128), and driving backbones (125, 129); and the driving transmission mechanism (13) comprises an introducing part, a driving part, and a reversing part.

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