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1. 发明授权

US11116592B2 Flexible surgical instrument system based on continuous body structure 有权
公开(公告)号：US11116592B2
公开(公告)日：2021-09-14
申请号：US16329730
申请日：2017-08-30
申请人： BEIJING SURGERII TECHNOLOGY CO., LTD.
发明人： Kai Xu , Zhengchen Dai , Shu'an Zhang , Jiangran Zhao , Zhixiong Yang , Yuyang Chen , Wei Wei
IPC分类号： A61B34/30 , A61B17/00 , A61B1/005 , A61B1/00
摘要： Disclosed is a flexible surgical instrument system comprising a flexible surgical instrument and a driving unit. The flexible surgical instrument comprises a flexible continuous body structure composed of a distal structural body, a proximal structural body. The driving unit comprises a motor part, a motion conversion part and a plurality of linear motion mechanisms. The motor part comprises a motor fixing plate and a first motor. The motion conversion part comprises a plurality of first transmission chains, each of the first transmission chains converts rotary output of the first motor into a linear motion of two first output rods and the linear motion each of the two first output rods is transferred to an input end of each of the linear motion mechanisms through a sterile barrier, an output end of each of the linear motion mechanisms is connected to one end of one driving backbone.

2. 发明授权

US10710236B2 Flexible continuum structure capable of realizing posture feedback 有权
公开(公告)号：US10710236B2
公开(公告)日：2020-07-14
申请号：US16289040
申请日：2019-02-28
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： Kai Xu , Jiangran Zhao , Zhengchen Dai , Huan Liu , Zhixiong Yang
IPC分类号： B25J1/02 , A61B34/30 , B25J19/02 , A61B1/005 , A61B17/00
摘要： A flexible continuum structure capable of realizing a posture feedback is provided. The flexible continuum structure can comprise a flexible continuum structure body and a posture feedback mechanism. The flexible continuum structure body can comprise a distal structural body, a proximal structural body and a middle connecting body. The distal structural body can comprise distal spacing disks, a distal fixation disk and distal structural backbones. The proximal structural body can comprise proximal spacing disks, a proximal fixation disk and proximal structural backbones. The middle connecting body can comprise a proximal guide channel fixing plate, a distal guide channel fixing plate and a structural backbone guide channel. One end of the structural backbone is connected to the proximal fixation disk, and the other end passes through the proximal spacing disks, the structural backbone guide channel and the distal spacing disks and is then securely connected to the distal fixation disk.

3. 发明授权

US11191599B2 Flexible surgical tool system and a method for controlling the same with motion constraints 有权
公开(公告)号：US11191599B2
公开(公告)日：2021-12-07
申请号：US16289482
申请日：2019-02-28
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： Kai Xu , Jiangran Zhao , Zhengchen Dai , Zhixiong Yang , Zhijun Zhu , Bo Liang
IPC分类号： A61B34/00 , A61B17/00 , A61B17/29 , A61B34/30 , A61B34/35 , A61B90/50
摘要： A flexible surgical tool system comprising a multi-degree-of-freedom mechanical arm, the flexible surgical tool, the remote control device and a controlling computer is provided. A method for controlling the same with motion constraints is also provided. The method can comprise: obtaining a target posture of the surgical actuator, a current posture of the surgical actuator and bending angle values of the sections of the flexible surgical tool. A desired velocity of the surgical actuator and a motion limitation condition can be obtained. Joint velocity of the multi-degree-of-freedom mechanical arm and bending velocity of the sections of the flexible surgical tool can be obtained. A target joint position value of the multi-degree-of-freedom mechanical arm, a target bending angular value of the sections of the flexible surgical tool, and transmitting them to a corresponding controller to drive each section can be obtained. The above operations can be repeated.

4. 发明授权

US11191425B2 Flexible surgical instrument system 有权
公开(公告)号：US11191425B2
公开(公告)日：2021-12-07
申请号：US16329750
申请日：2017-08-31
申请人： BEIJING SURGERII TECHNOLOGY CO., LTD.
发明人： Kai Xu , Shu'an Zhang , Huichao Zhang , Tianlai Dong , Zhengchen Dai , Jiangran Zhao , Zhaoyu Zhang , Huan Liu
IPC分类号： A61B17/00 , A61B34/30 , A61B1/005 , A61B1/00 , A61B1/008 , A61B34/00
摘要： 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.

5. 发明申请

US20190254648A1 FLEXIBLE SURGICAL INSTRUMENT SYSTEM 审中-公开
公开(公告)号：US20190254648A1
公开(公告)日：2019-08-22
申请号：US16288184
申请日：2019-02-28
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： Kai Xu , Tianlai Dong , Zhengchen Dai , Shu'an Zhang , Jiangran Zhao , Huan Liu
IPC分类号： A61B17/00 , A61B34/30
摘要： 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.

6. 发明授权

US11357584B2 Method for detecting faults in operating states of surgical robots 有权
公开(公告)号：US11357584B2
公开(公告)日：2022-06-14
申请号：US16288161
申请日：2019-02-28
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： Kai Xu , Bin Zhao , Zhengchen Dai , Jiangran Zhao , Huan Liu , Wukun Mei , Huichao Zhang , Wei Wei , Bo Liang
IPC分类号： A61B34/35 , A61B34/37 , G01R31/00 , A61B34/20 , B25J3/00 , B25J19/00 , H04L65/00 , H04W84/20 , A61B34/00
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.

7. 发明授权

US11266388B2 Flexible surgical instrument with structural bones in a crossed arrangement 有权
公开(公告)号：US11266388B2
公开(公告)日：2022-03-08
申请号：US16329740
申请日：2017-08-31
申请人： BEIJING SURGERII TECHNOLOGY CO., LTD.
发明人： Kai Xu , Zhengchen Dai , TianLai Dong , Jiangran Zhao , Huan Liu , Bo Liang , Zhixiong Yang , Zhijun Zhu
IPC分类号： A61B17/00 , A61B34/30 , A61B17/29 , B25J1/02 , B25J19/02
摘要： 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) (163, 123) extends through the structural backbone cross guiding passage(s) (153), the second segment structural backbone(s) extends through the structural backbone guiding passage(s).

8. 发明授权

US11173002B2 Flexible surgical instrument system 有权
公开(公告)号：US11173002B2
公开(公告)日：2021-11-16
申请号：US16329758
申请日：2017-08-31
申请人： BEIJING SURGERII TECHNOLOGY CO., LTD.
发明人： Kai Xu , Zhengchen Dai , Shu'an Zhang , Jiangran Zhao , Zhixiong Yang , Huan Liu , Zhaoyu Zhang , Wei Wei
IPC分类号： A61B34/30 , A61B34/00 , A61B17/00
摘要： Disclosed is a flexible surgical instrument system, comprising a flexible surgical instrument and a driving unit, wherein the flexible surgical instrument comprises a distal structural body, a proximal structural body and a middle connecting body; the distal structural body comprises a distal structural segment, the distal structural segment comprising a distal spacing disk, a distal fixing disk and structural backbones; the proximal structural body comprises a proximal structural segment, the proximal structural segment comprising a proximal spacing disk, a proximal fixing disk and structural backbones; the middle connecting body comprises channel fixing and structural backbone guide channels; the driving unit comprises a motor part, a motion conversion part and linear motion mechanisms; the motor part comprises a first fixing plate and a first motor; the motion conversion part comprises transmission chains, the transmission chain converts a rotational output of the first motor into a linear motion of output rods, the linear motion is transferred to an input end of the linear motion mechanism through a sterile barrier, an output end of the linear motion mechanism is connected to one end of a driving backbone, the driving backbone passes through the proximal spacing disks, and the other end of the driving backbone is connected to the proximal fixing disk.

9. 发明申请

US20190192246A1 METHOD FOR DETECTING FAULTS IN OPERATING STATES OF SURGICAL ROBOTS 审中-公开
公开(公告)号：US20190192246A1
公开(公告)日：2019-06-27
申请号：US16288161
申请日：2019-02-28
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： Kai Xu , Bin Zhao , Zhengchen Dai , Jiangran Zhao , Huan Liu , Wukun Mei , Huichao Zhang , Wei Wei , Bo Liang
IPC分类号： A61B34/37 , H04W84/20 , H04L29/02
CPC分类号： A61B34/37 , A61B34/20 , A61B34/70 , B25J3/00 , B25J19/00 , G01R31/00 , H04L29/02 , H04W84/20
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.

10. 发明申请

US20190192239A1 FLEXIBLE SURGICAL TOOL SYSTEM AND A METHOD FOR CONTROLLING THE SAME WITH MOTION CONSTRAINTS 审中-公开
公开(公告)号：US20190192239A1
公开(公告)日：2019-06-27
申请号：US16289482
申请日：2019-02-28
申请人： Beijing Surgerii Technology Co., Ltd.
发明人： Kai Xu , Jiangran Zhao , Zhengchen Dai , Zhixiong Yang , Zhijun Zhu , Bo Liang
IPC分类号： A61B34/30 , A61B34/00 , A61B90/50 , A61B17/29 , A61B17/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B17/29 , A61B34/25 , A61B34/35 , A61B90/50 , A61B2017/00305 , A61B2017/2905 , A61B2034/305
摘要： A flexible surgical tool system comprising a multi-degree-of-freedom mechanical arm, the flexible surgical tool, the remote control device and a controlling computer is provided. A method for controlling the same with motion constraints is also provided. The method can comprise: obtaining a target posture of the surgical actuator, a current posture of the surgical actuator and bending angle values of the sections of the flexible surgical tool. A desired velocity of the surgical actuator and a motion limitation condition can be obtained. Joint velocity of the multi-degree-of-freedom mechanical arm and bending velocity of the sections of the flexible surgical tool can be obtained. A target joint position value of the multi-degree-of-freedom mechanical arm, a target bending angular value of the sections of the flexible surgical tool, and transmitting them to a corresponding controller to drive each section can be obtained. The above operations can be repeated.

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