Abstract: A surgical instrument mountable on a surgical robot includes an end tool, a wire assembly, a connection part, and a driving part. The end tool includes one or more jaws and has at least one degree of rotational freedom. A first portion of the wire assembly is connected to the end tool. The wire assembly passes through an inside of the connection part. The end tool is coupled to a first side of the connection part, and the driving part is coupled to a second side of the connection part. The driving part includes a driving pulley assembly, a transition pulley assembly, and an auxiliary pulley assembly. The driving pulley assembly is rotatable and connected to a second portion of the wire assembly. The transition pulley assembly guides the wire assembly from the driving pulley assembly into the connection part. The auxiliary pulley assembly is adjacent to the transition pulley assembly and changes a path of the wire assembly between the transition and driving pulley assemblies.

Abstract: A trocar, a trocar holder, and a trocar detection system for a surgical robot including the trocar and the trocar holder are provided. The trocar detection system for a surgical robot including an arm unit includes a trocar holder positioned at one end portion of the arm unit and including a trocar detection unit having a plurality of switches configured to be activated by an external pressure or contact, and a trocar including a mounting part, which is a region configured to be mounted on the trocar holder, wherein the mounting part includes an identification portion having a protruding shape so as to be in physical contact with at least one of the plurality of switches when the trocar is mounted on the trocar holder.

Abstract: Provided is a method of operating a surgical robot arm equipped with a surgical instrument, the method including acquiring ideal state change information of the surgical instrument corresponding to motion information of the surgical robot arm under a condition in which tension of a driving wire included in the surgical instrument is in a first state, acquiring actual state change information of the surgical instrument corresponding to the motion information under a condition in which the tension of the driving wire is not in the first state, calculating compensation motion information based on the ideal state change information and the actual state change information, and controlling the surgical instrument to operate based on the motion information comprising the compensation motion information.

Abstract: Provided is a method for providing feedback to a user input interface device of a surgical robot system. The method includes: acquiring interaction information indicating whether an interaction occurs between a surgical robot and at least one object, by using at least one sensor positioned on a robot arm of the surgical robot; generating a vibration signal containing amplitude information and frequency information of vibration, based on the interaction information; and generating the vibration through at least one vibrator (actuator) positioned in the user input interface device based on the vibration signal, wherein the user input interface device is spaced apart from the surgical robot.

Abstract: Provided is a surgical robot to be used in laparoscopic surgery or other various surgeries, including a main body, a first arm unit arranged on one side of the main body and having a first surgical instrument attached thereto, and a second arm unit arranged on another side of the main body and having a second surgical instrument attached thereto.

Abstract: This application relates to a robot arm structure and a manipulator of a surgical robot including the robot arm structure. The robot arm structure includes a first robot arm unit and a second robot arm unit. The first robot arm unit includes a plurality of first link arms, a first joint unit mounted on one of the first link arms and rotating the one of the first link arms about a first axis and a second joint unit installed on at least one of the plurality of first link arms to adjust a length of the at least one link arm. The second robot arm unit includes a second link arm connected to one of the first link arms and a third joint unit using a lengthwise direction of the second link arm as a first rotary shaft and rotating the second link arm.

Abstract: This application relates to a robot arm structure and a manipulator of a surgical robot including the robot arm structure. The robot anti structure includes a first robot arm unit and a second robot arm unit. The first robot arm unit includes a plurality of first link arms, a first joint unit mounted on one of the first link arms and rotating the one of the first link arms about a first axis and a second joint unit installed on at least one of the plurality of first link arms to adjust a length of the at least one link arm. The second robot arm unit includes a second link arm connected to one of the first link arms and a third joint unit using a lengthwise direction of the second link arm as a first rotary shaft and rotating the second link arm.