Abstract: A surgical robot, a method for guiding a surgical arm to move, and a computer readable storage medium thereof. The method includes: acquiring an original position of the operation end effector; determining a target position where the operation end effector is expected to reach; generating a guiding path extended from the original position to the target position according to a vision field of the image end effector; adjusting the operation end effector to move along the guiding path from the original position to the target position. The surgical robot can ensure a safety and a reliability of a surgery.

Abstract: A surgical robot, and a graphical control device and graphic display method therefor. The surgical robot includes: an input portion; a display (22); an operating arm (31) having a feature point sequence consisting of feature points arranged orderly, the feature points representing joints; and a controller. The controller is coupled to the input portion, the display (22) and sensors, and configured to: obtain the feature point sequence of the operating arm (31) and a corresponding kinematic model thereof (S11); obtain joint variables sensed by the sensors (S12), and obtain a virtual camera selected by the input portion (S13); determine a projection point of each feature point in the feature point sequence on a projection plane of the virtual camera according to the kinematic model and the joint variables (S14); orderly fit and connect each projection point to generate a projected image of the operating arm (31)(S15); and display the projected image on the display (22)(S16).

Abstract: A surgical robot, and a control method and control apparatus therefor. The control method comprises: acquiring a position limits of a controlled-end device; determining whether the current position of the controlled-end device reaches the position limits; when the current position of the controlled-end device reaches the position limits, controlling the controlled-end device to maintain the current position, and controlling the posture of the controlled-end device to change according to a posture instruction inputted by a motion input device; otherwise, controlling the position and posture of the controlled-end device to change according to a position instruction and the posture instruction that are inputted by the motion input device. The safety and reliability of surgery can be ensured, and there is no need to re-align the postures of the motion input device and the controlled-end device, thereby ensuring surgical continuity.

Abstract: A surgical robot includes a camera arm, a surgical arm, an input part, and a control device coupled to the camera arm, the surgical arm, and the input part. The control device is configured to: acquire an operation image of surgical area acquired by the camera arm; if the operation image contains a sub-image of the surgical arm, recognize a feature part of the surgical arm from the sub-image as a first feature part; acquire a control command inputted by the input part, obtain a kinematic model of the surgical arm according to the control instruction; obtain a second feature part matching the first feature part from the kinematic model; obtain actual motion information of the first feature part and target motion information of the second feature part; compare the actual motion information with the target motion information to determine whether the surgical robot has a motion error.

Abstract: A surgical robot, a graphical control device and a graphical display method thereof, the surgical robot including: a display; at least two manipulators; and a controller configured to: when a first manipulator is detected to be in an operational mode, obtain state information of the joint assembly sensed by the sensors of the first manipulator; obtain a kinematic model of the first manipulator; acquire configuration parameters of a virtual camera; combine the configuration parameters of the virtual camera, the kinematic model of the first manipulator and the state information thereof so as to generate an image model of the first manipulator from a viewing point of the virtual camera; and display the image model of the first manipulator in a first display window of the display. The surgical robot facilitates doctors observing the posture state of the manipulators that are used during a surgical process.

Abstract: Disclosed are a surgical instrument, a slave operating equipment and a surgical robot. The surgical instrument includes a drive device which includes a plurality of guide mechanisms for guiding a plurality of cables. The cables are in a divergent state before being guided, and converge to form a cable bundle after being guided by the plurality of guide mechanisms, and finally extend to wrist and end effector of the surgical instrument from an edge of the drive device. In this way, the purity of cables have more routing space by means of the routing modes of the divergent state and the cable bundle state, and the cables will not be interfered with each other.

Abstract: An operating arm (100) includes a driving cartridge (1), a link (2), an end instrument (3), and a first group driving wire (4) and a second group driving wire (5) penetrating the link (2). The end instrument (3) includes a connecting assembly (6) connected to the link (2) and an end effector (7) connected to the connecting assembly (6). The driving cartridge (1) includes a base (10) connected to the link (2), a first rotatable shaft (111) arranged on the base (10), and a second rotatable shaft (112) arranged on and rotating coaxially with the first rotatable shaft (111). The first group driving wire (4) starts from the first rotatable shaft (111) and terminates at a first position of the connecting assembly (6). The second group driving wire (5) starts from the second rotatable shaft (112) and terminates at a second position of the connecting assembly (6).

Abstract: A control method and device of a surgical robot and an end instrument (34) are provided. The control device is configured for acquiring first target position and/or pose information of a remote end of a mechanical arm (21) at a first coordinate system and current position and/or pose information of each controlled end instrument (34) (S1); converting the current position and/or pose information of each controlled end instrument (34) at the first coordinate system to second target position and/or pose information of the controlled end instrument at a second coordinate system (S2); controlling joint assemblies (210-214) of the mechanical arm (21) to linkedly move according to the first target position and/or pose information, and controlling the joint assemblies of the operation arms (31) to linkedly move according to the second target position and/or pose information to allow the controlled end instrument (34) to maintain current position and/or pose (S3).

Abstract: A surgical robot and a control method and device for a robot arm (21) thereof. The surgical robot includes the robot arm (21) and the control device, the control device is configured for acquiring an external force applied on a power mechanism (22); acquiring an input operating command for task degrees of freedom of the power mechanism (22); combining the task degrees of freedom to analyze the external force to obtain target position and/or pose information of the power mechanism (22) at a base coordinate system, according to the target position and/or pose information, controlling a movement of joints of the robot arm to allow the power mechanism (22) to move within corresponding degrees of freedom. The operating command includes a completely matched first operating command, and a partially matched second operating command. The power mechanism (22) of the surgical robot can be precisely freely dragged or constraint control dragged.

Abstract: The present application discloses a surgical instrument. The surgical instrument includes an end effector, a connecting assembly, and a tip driving unit. The connecting assembly includes a plurality of connecting units connected in sequence, and the end effector is connected to the connecting assembly. The tip driving unit includes a flexible rod and a driving wire, the driving wire extends out of the flexible rod and is connected to the end effector. The flexible rod extends through the connecting assembly, and at least one end of the flexible rod is a free end. Due to the flexible rod, friction of the driving wire in a moving state can be reduced, thereby a life of the driving wire can be prolonged, and an accurate movement of the driving wire can be maintained.

Abstract: The application discloses an endoscope and an operating arm. The endoscope includes two camera units and a driving portion. The camera units are configured to obtain images. Optical axes of the two camera units can intersect. The driving portion is connected to the two camera units for driving at least one camera unit to move, thereby changing an angle between the optical axes of the two camera units. The endoscope is capable of being adjusted as needed, and the application range is wide.

Abstract: The application discloses a connecting mechanism, a power mechanism, an operating am, and a slave operating device. The connecting mechanism includes a main body and a connecting unit. The main body includes a first mounting wall and a second mounting wall for abutting against the operating arm and the power mechanism respectively. The connecting unit is disposed on the main body. The connecting unit includes a first connecting coupler and a second connecting coupler. The first and second connecting couplers are configured to abut against a power connecting coupler and a driven connecting coupler respectively, thereby enabling the power mechanism to drive the operating arm via the connecting unit. At least one of the first connecting coupler and the power connecting coupler is movable along a first abutting direction, and at least one of the second connecting coupler and the driven connecting coupler is movable along a second abutting direction.

Abstract: The application discloses a power mechanism and a slave operating device. The power mechanism, for connecting to an operating arm, includes a body and a power mechanism. A side surface of the body defines a mounting groove. The mounting groove passes through a bottom surface of the body. A distal end of the operating arm is located out of the mounting groove. The power portion is disposed on the body for connecting to the operating arm and providing power for the operating arm. The above power mechanism enables the operating arm to be simpler and more rapid to install.