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1. 发明公开

EP3517050A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM 有权转让
公开(公告)号：EP3517050A1
公开(公告)日：2019-07-31
申请号：EP17845505.1
申请日：2017-08-31
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , DAI, Zhengchen , ZHANG, Shu'an , ZHAO, Jiangran , LIU, Huan , LIANG, Bo , YANG, Zhixiong , LIU, Zenghui
IPC分类号： A61B17/00
摘要： Disclosed is a flexible surgical instrument system (10), comprising a flexible continuum structure consisting of a distal structure (11), a middle connecting body (15) and a proximal structure (16) linked in sequence, and further comprising a transmission driving unit (21) linked to the proximal structure (16). The transmission driving unit (21) comprises a plurality of transmission mechanisms (22) respectively driving corresponding proximal segments (17, 18). The transmission mechanisms (22) can convert a pair of rotary motion inputs with axes parallel to each other into a pair of rotary motion outputs with axes orthogonal to each other. One of the rotary motion outputs with the axis parallel to the axes of the rotary motion inputs is used for controlling the direction of a bending plane of the proximal segments (17, 18), and the other rotary motion output with the axis perpendicular to the axes of the rotary motion inputs is used for controlling the bending angle of the proximal segments (17, 18) in the bending plane, so as to drive the proximal segments (17, 18) in the proximal structure (16) to bend or turn in any arbitrary direction, and to further drive distal segments (12, 13) in the distal structure (11) linked thereto to bend or turn in the opposite direction.

2. 发明公开

EP3508159A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM WITH PREPOSITIONED DRIVE INPUT 有权转让
公开(公告)号：EP3508159A1
公开(公告)日：2019-07-10
申请号：EP17845460.9
申请日：2017-08-30
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , ZHANG, Shu'an , DAI, Zhengchen , ZHAO, Jiangran , LIU, Huan , CHEN, Yuyang , YANG, Zhixiong , ZHU, Zhijun
IPC分类号： A61B34/30 , A61B17/00
摘要： Disclosed is a flexible surgical instrument system with a prepositioned drive input, the flexible surgical instrument system comprising a flexible continuous body structure (10) and a driving unit (20). The flexible continuous body structure (10) comprises a distal structural body (101), a proximal structural body (102) and a middle connecting body (103). The distal structural body (101) comprises at least one distal structural segment (104, 105). The distal structural segment (104, 105) comprises distal spacing disks (106), a distal fixing disk (107) and structural backbones (108). The proximal structural body (102) comprises proximal structural segments (109, 110) having the same number as the number of distal structural segments (104, 105). The proximal structural segment (119, 110) comprises proximal spacing disks (111), a proximal fixing disk (112) and structural backbones (108). The middle connecting body (103) comprises two channel fixing plates (113), and a structural backbone guide channel (114) provided between the two channel fixing plates (113). The driving unit (20) comprises a driving unit fixing plate (201) provided in front of the middle connecting body (103). A plurality of linear motion mechanisms (202) for converting a rotary input from a motor into a linear motion output are provided between the driving unit fixing plate (201) and the channel fixing plate (113). Output ends of the linear motion mechanisms (202) are connected to one end of a driving backbone (203), the driving backbone (203) passes through the proximal spacing disks (111), and the other end of the driving backbone is securely connected to the proximal fixing disk (112).

3. 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).

4. 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.

5. 发明公开

EP3508152A1 STERILIZABLE FLEXIBLE SURGICAL INSTRUMENT SYSTEM 有权转让
公开(公告)号：EP3508152A1
公开(公告)日：2019-07-10
申请号：EP17845507.7
申请日：2017-08-31
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , DAI, Zhengchen , ZHANG, Shu'an , ZHAO, JIangran , YANG, Zhixiong , LIU, Huan , LIU, Zenghui
IPC分类号： A61B17/94
摘要： Disclosed is a sterilizable flexible surgical instrument system, comprising a flexible continuous body structure. The flexible continuous body structure comprises a distal structural body (11), a middle connecting body (15) and a proximal structural body (16). The distal structural body (11) comprises at least one distal structural segment (12, 13), the distal structural segments (12, 13) comprising a distal spacing disk (121, 131), a distal fixing disk (122, 132) and a structural backbone (123, 133). The proximal structural body (16) comprises the same number of proximal structural segments (17, 18) as distal structural segments (12, 13), the proximal structural segments (17, 18) comprising a proximal spacing disk (171, 181), a proximal fixing disk (172, 182) and a structural backbone (173, 183). The proximal structural segment (17, 18) is linked to the distal structural segment (12, 13) via a middle connecting body (15). A transmission unit (21) is further comprised. The transmission unit (21) comprises a transmission mechanism fixing plate (24) arranged in front of the middle connecting body (15). A gear transmission mechanism (22) for converting a rotary motion input into a linear motion output is arranged on the transmission mechanism fixing plate (24). An output end of the gear transmission mechanism (22) is securely connected to one end of a driving backbone (211) via a adaptor (23), and the other end of the driving backbone (211) passes through the proximal spacing disks (171, 181), and is then securely connected to the proximal fixing disks (172, 182).

6. 发明公开

EP4173587A1 SURGICAL ROBOT SYSTEM 审中-实审转让
公开(公告)号：EP4173587A1
公开(公告)日：2023-05-03
申请号：EP21832198.2
申请日：2021-03-24
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , XIONG, Ke , LI, Wulin , ZHANG, Shu'an
IPC分类号： A61B34/30
摘要： A surgical robot system (100), which relates to the field of medical instruments, comprising a platform (111) and at least one positioning arm (120, 120a, 120b). The at least one positioning arm (120, 120a, 120b) each comprises a first cross arm (121, 121a, 121b) and a first rotary joint (130, 140), the first rotary joint (130, 140) is arranged in the first cross arm (121, 121a, 121b) or the platform (111), a proximal end of the first cross arm (121, 121a, 121b) is rotatably connected to the platform (111) via the first rotary joint (130, 140), and the first cross arm (121, 121a, 121b) is operable to rotate about a longitudinal axis relative to the platform (111). By overlapping first cross arms (121, 121a, 121b) of a pair of positioning arms (120, 120a, 120b) and coaxially connecting the first cross arms to the platform (111), the longitudinal space occupation of the positioning arms (120, 120a, 120b) can be reduced, and the risk of interference and collision between the positioning arms (120, 120a, 120b) is reduced. Spatial extension of the positioning arms (120, 120a, 120b) in a transverse direction is implemented through rotatable connection between the multiple cross arms (121, 121a, 121b) of the positioning arms (120, 120a, 120b), the risk of collision or interference between the positioning arms (120, 120a, 120b) and a cart (110), another device or people, or between the positioning arms (120, 120a, 120b) is reduced, and the space utilization is improved.

7. 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).

8. 发明公开

EP3738540A1 MULTI-PURPOSE FLEXIBLE SURGICAL TOOL SYSTEM 有权转让
公开(公告)号：EP3738540A1
公开(公告)日：2020-11-18
申请号：EP19738935.6
申请日：2019-01-08
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , ZHAO, Jiangran , ZHANG, Shu'an , ZHU, Jing , REN, Yitang , NIU, Linhui , DONG, Tianlai , LU, Jingxi
IPC分类号： A61B34/30
摘要： The invention relates to a multi-purpose flexible surgical instrument system including a flexible surgical instrument (10), which includes a flexible continuum structure and a transmission driving unit (20). The flexible continuum structure includes a distal structure (11), a proximal structure (12) and a connecting body (13); the proximal structure (11) includes a first distal segment (14) and a second distal segment (15); the transmission driving unit (20) is coupled to the first distal segment (14) to drive the first distal segment (14) to perform a bending motion; the second distal segment (15) is coupled to the proximal structure (12) via the connecting body (13), and the transmission driving unit (20) is further coupled to the proximal structure (12) to drive the proximal structure (12) to perform a bending motion, thus indirectly drive the second distal segment (15) to perform a bending motion.

9. 发明公开

EP3508162A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM 有权转让
公开(公告)号：EP3508162A1
公开(公告)日：2019-07-10
申请号：EP17845463.3
申请日：2017-08-30
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： XU, Kai , DONG, Tianlai , DAI, Zhengchen , ZHANG, Shu'an , ZHAO, Jiangran , LIU, Huan
IPC分类号： A61B34/30
摘要： Disclosed is a flexible surgical instrument system, comprising a flexible surgical instrument (10) and a driving unit (20), wherein 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 segment (12, 13), the distal segment (12, 13) comprising a distal spacing disk (121, 131), a distal fixation disk (122, 132) and structural backbones (123, 133); the proximal structural body (16) comprises a proximal segment (17, 18), the proximal segment (17, 18) comprising a proximal spacing disk (171, 181), a proximal fixation 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); and the driving unit (20) comprises a driving unit fixing plate (21), a plurality of linear motion mechanisms (22) are provided between the driving unit fixing plate (21) and the channel fixing plate (152) near the proximal structural body (16), an output end of each of the linear motion mechanisms (22) is securely connected to a first driving backbone (211), one end of the first driving backbone (211) is securely connected to one end of a second driving backbone (212) via an adapter unit (23), and both the other end of the first driving backbone (211) and the other end of the second driving backbone (212) pass through the proximal spacing disk (171, 181) and are then securely connected to the proximal fixation disk (172, 182).

10. 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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