Abstract: A device and a method for controlling a size of a molten pool in a wire and arc additive manufacturing process are provided. The device includes additive manufacturing equipment, a connecting device, bilateral gas flow devices and a CCD camera. By adjusting the connecting device, the bilateral gas flow devices and a welding gun have proper relative positions. The CCD camera is clamped on a rear side of the welding gun and matched with a proper optical filter to detect size information of the molten pool. In the additive manufacturing process, the bilateral gas flow devices and the welding gun keep moving synchronously, welding wires are conveyed to a designed position of a deposited layer by a wire feeding device, and bilateral gas flows can directly and synchronously act on a melting region. A flow controller is adjusted in real time according to the size of the molten pool.

Abstract: A surgical robot mechanism with single-port and multi-port minimally invasive surgery functions includes: a bracket; and a manipulator connected to the bracket, and supported by the bracket, the manipulator includes: a support arm movable along the bracket; a function conversion frame fixed on the support arm and configured for the surgical robot mechanism to switch between a single-port minimally invasive surgery mode and a multi-port minimally invasive surgery mode; a plurality of posture adjustment arm assemblies connected to the function conversion frame, each posture adjustment arm assembly configured to adjust a position and posture of a surgical tool connected thereto for performing a surgical operation.

Abstract: A sponge-based variable-stiffness support structure for natural orifice surgical instrument is to support the surgical instrument and includes: a variable-stiffness sponge pipeline connected with the natural orifice surgical instrument and configured to support the natural orifice surgical instrument in a natural orifice; a hydrophobic breathable film attached to an outer wall of the variable-stiffness sponge pipeline, and configured to isolate the variable-stiffness sponge pipeline from body fluid in the natural orifice; and a gas delivery assembly connected with the variable-stiffness sponge pipeline, and configured to inject high-pressure air or water vapor into a variable-stiffness sponge pipe of the variable-stiffness sponge pipeline; wherein the variable-stiffness sponge pipeline has a stiffness inversely proportional to content of the water vapor.

Abstract: Disclosed is a natural orifice translumenal minimally invasive surgical apparatus comprising a control box assembly sequentially connected with a hose assembly, a serpentine structure and a tip assembly at a middle position at a distal end of the control box assembly. Axes of the hose assembly and the serpentine structure are coincident with an axis of the tip assembly. The control box assembly is configured to position and replace a minimally invasive surgical instrument, support the surgical tool when being operated, and perform a minimally invasive surgery. The hose assembly is configured to provide passageways for the minimally invasive surgical instrument and a transmission wire and to output motions and loads. The tip assembly is configured to support the minimally invasive surgical instrument when being operated and enable the surgical instrument to have an enlarged motion space range.

Abstract: Disclosed is a natural orifice translumenal minimally invasive surgical apparatus comprising a control box assembly sequentially connected with a hose assembly, a serpentine structure and a tip assembly at a middle position at a distal end of the control box assembly. Axes of the hose assembly and the serpentine structure are coincident with an axis of the tip assembly. The control box assembly is configured to position and replace a minimally invasive surgical instrument, support the surgical tool when being operated, and perform a minimally invasive surgery. The hose assembly is configured to provide passageways for the minimally invasive surgical instrument and a transmission wire and to output motions and loads. The tip assembly is configured to support the minimally invasive surgical instrument when being operated and enable the surgical instrument to have an enlarged motion space range.