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1. 发明公开

EP3508160A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM BASED ON CONTINUOUS BODY STRUCTURE 有权转让
公开(公告)号：EP3508160A1
公开(公告)日：2019-07-10
申请号：EP17845461.7
申请日：2017-08-30
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , DAI, Zhengchen , ZHANG, Shu'an , ZHAO, Jiangran , YANG, Zhixiong , CHEN, Yuyang , WEI, Wei
IPC分类号： A61B34/30 , A61B17/00
摘要： Disclosed is a flexible surgical instrument system based on a continuous body structure, the flexible surgical instrument system comprising a flexible surgical instrument (10) and a driving unit (20). The flexible surgical instrument (10) comprises a flexible continuous body structure composed of a distal structural body (101), a proximal structural body (102) and a middle connecting body (103). The distal structural body (101) comprises a distal structural segment (104, 105), the distal structural segment (104, 105) comprising a distal spacing disk (106, 109), a distal fixing disk (107, 110) and structural backbones (108, 111). The proximal structural body (102) comprises a proximal structural segment (112, 113), the proximal structural segment (112, 113) comprising a proximal spacing disk (114, 117), a proximal fixing disk (115, 118) and structural backbones (116, 119). The middle connecting body (103) comprises channel fixing plates (120) and a structural backbone guide channel (121). The driving unit (20) comprises a motor part (206), a motion conversion part (207) and a plurality of linear motion mechanisms (201). The motor part (206) comprises a first fixing plate (208) and a first motor (209). The motion conversion part (207) comprises a plurality of transmission chains (210), each of the transmission chains (210) converts a rotary output of the first motor (209) into a linear motion of two output rods (221, 222) and the linear motion is transferred to an input end of the linear motion mechanism (201) through a sterile barrier (223), an output end of the linear motion mechanism (201) is connected to one end of one driving backbone (202), and the driving backbone (202) passes through the proximal spacing disk (114, 117) and the other end is connected to the proximal fixing disk (115, 118).

2. 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.

3. 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).

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