Abstract: The present application relates to the field of instruments, and provides a guidable and growable instrument and a surgical robot system. The guidable and growable instrument includes: a growable tube comprising an inner layer, an outer layer, and a fluid cavity between the inner layer and the outer layer, the fluid cavity being configured to accommodate a fluid. The growable tube includes a turnable region at a distal end, the inner layer and the outer layer are connected and turnable in the turnable region, a guide is arranged in a channel surrounded by the inner layer of the growable tube, and the distal end of the guide is bendable to drive the growable tube to turn. The guidable and growable instrument can better adapt to a gradually narrowed bent and complex orifice so as to reduce or avoid touch and friction with the orifice.

Abstract: Disclosed is a flexible surgical instrument system, comprising: a distal structural body comprising at least one distal structural segment, the at least one distal structural segment comprising a distal fixing disk and distal structural backbones; a proximal structural body comprising at least one proximal structural segment, the at least one proximal structural segment comprising a proximal fixing disk, proximal structural backbones, and driving backbones, the distal structural backbones being securely connected in one-to-one correspondence to or the same as corresponding proximal structural backbones, and a driving unit comprising a linear motion mechanism operable to convert a first rotary motion into linear motions to cooperatively push or pull a pair of driving backbones of the driving backbones to turn the at least one proximal structural segment.

Abstract: The present disclosure provides a flexible surgical instrument system, comprising: a flexible surgical instrument comprising: a distal structural body comprising at least one distal structural segment comprising a distal fixing disk and structural backbones; a proximal structural body comprising at least one proximal structural segment comprising a proximal fixing disk, structural backbones, and driving backbones, the structural backbones of the distal structural segment being securely connected to or the same as corresponding structural backbones of the proximal structural segment; and a driving unit comprising a plurality of linear motion mechanisms operable to cooperatively push-pull the driving backbones to turn the proximal structural segment, each linear motion mechanism comprising an input end to receive a first linear motion; and a sterile barrier disposed at a proximal side of the plurality of linear motion mechanisms and operable to transfer the first linear motions to the input ends, respectively.

Abstract: A multi-degree-of-freedom flexible surgical instrument that includes a flexible continuous body structure (10) and a driving unit (20) is disclosed. The flexible continuous body structure (10) includes a distal structural body (11), a proximal structural body (16) and a middle connecting body (15). The distal structural body (11) includes a first distal structural segment (12) and a second distal structural segment (13). The proximal structural body (16) includes a proximal structural segment. Second segment structural backbones (163) located on the proximal structural segment are securely connected in one-to-one correspondence to or are the same as second segment structural backbones (133) located on the second distal structural segment (13). The middle connecting body (15) includes channel fixing plates (152), channel fixing blocks (153), first structural backbone guide channels (151) and second structural backbone guide channels (154).

Abstract: 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.

Abstract: Apparatuses and methods for preventing accidental-shutdown in a robot-assisted surgical device are disclosed. An exemplary control apparatus includes an on/off key configured to trigger a start action or a shutdown action, an on/off control module configured to detect the shutdown action of the on/off key and obtain a shutdown intention through man-machine interaction, and an on/off hardware circuit configured to detect the start action and send a signal to a power supply. The on/off hardware circuit is configured to detect the shutdown action of the on/off key and a shutdown control signal sent by the on/off control module and send a signal to cut off the power supply. The control apparatus can reduce the probability of accidental shutdown caused by system software and hardware failure or man-made mis-operation and improve the operating reliability of the robot-assisted surgical device without significantly increasing cost.

Abstract: A control method for a robot system is provided. The robot system includes a plurality of motion arms, and the plurality of motion arms include a first motion arm and a second motion arm. The control method includes: determining a motion mode of ends of the first motion arm and the second motion arm of the robot system, where the motion mode includes synchronous motion of the ends of the first motion arm and the second motion arm; determining motion paths of the first motion arm and the second motion arm based on the motion mode and a relative end pose relationship between the first motion arm and the second motion arm; and controlling, based on the corresponding motion paths, the first motion arm and the second motion arm to move.

Abstract: A master-slave motion control method, a robot system, a device, and a storage medium are provided. The master-slave motion control method includes: determining a current pose of a master manipulator, the current pose including a current position and a current posture; determining a target pose of a slave tool based on the current pose of the master manipulator and a pose relationship between the master manipulator and the slave tool; and generating a control signal for the slave tool based on the target pose of the slave tool. Teleoperation of the slave tool by the master manipulator can be implemented, and the control precision of the teleoperation of the slave tool by the master manipulator can be improved.

Abstract: A control method for controlling a robot system is provided. The robot system includes a plurality of motion arms. The plurality of motion arms include a reference motion arm and at least one following motion arm. The control method includes: controlling, based on an input command, the reference motion arm to move to a reference position and a reference orientation; determining a positioning position and a positioning orientation of the at least one following motion arm based on the reference position and the reference orientation of the reference motion arm and a relative pose relationship between the plurality of motion arms; and controlling the at least one following motion arm to move to the positioning position and the positioning orientation.

Abstract: 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.