Abstract: 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.

Abstract: Disclosed is a flexible surgical instrument system, comprising a flexible surgical instrument. The flexible surgical instrument comprises a flexible continuous body structure composed of a distal structural body, a proximal structural body and a middle connecting body. The distal structural body comprises a distal structural segment (12, 13), the distal structural segment comprising a distal spacing disk, a 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 plates and a structural backbone guide channel.