Abstract: A surgical instrument (10), comprising: a surgical execution component (100), a linkage part (200), and a manipulation component (300), the distal end of the linkage part (200) being connected to the surgical execution component (100) and the proximal end of the linkage part (200) being connected to the manipulation component (300). The surgical instrument (10) uses the linkage part (200) having two rotational degrees of freedom, such that when the manipulation component (300) drives, by means of the linkage part (200), the surgical execution component (100) to rotate at a fifth rotational degree of freedom (R5) and/or a sixth rotational degree of freedom (R6), the swing directions of the surgical execution component (100) and the manipulation component (300) at a first rotational degree of freedom (R1) and a second rotational degree of freedom (R2) are consistent.

Abstract: A surgical robot system includes a slave unit and a computing unit. The slave unit includes a robotic arm, a surgical instrument, a cannula and a sensing element. The robotic arm drives the surgical instrument to rotate about a remote center of motion (RCM). The cannula is detachably coupled to a terminal of the robotic arm and defines an axis passing through the RCM. The surgical instrument is detachably connected with the terminal of the robotic arm and extends distally through the cannula, and the sensing element is disposed on the cannula and senses an axial deformation of the cannula. The computing unit determines a radial force acting on the terminal of the surgical instrument, from a force on the cannula sensed by the sensing element, according to the principle of torque balance.

Abstract: A transmission assembly, a driving assembly, a sterile assembly, a surgical instrument and system, and a surgical robot. By providing guide surfaces on driving discs constituting the transmission assembly, engagement components can be accurately positioned and engaged by means of the guide surfaces, to achieve the rapid and accurate engagement of the surgical instrument system, avoid the occurrence of coupling failures, and improve the safety and effectiveness of the surgical robot.

Abstract: A surgical robot and a surgical instrument are disclosed. The surgical instrument includes a wire transmission and an end section. The wire transmission includes a base and n transmission modules each including at least one end drive shaft, two traction elements and two guide pulleys. Each of the guide pulleys comprises a groove for receiving therein a respective one of the traction elements. The groove has a plane of rotation, an entry point of tangency and an exit point of tangency. An angle between the traction element defined by the end drive shaft and the entry point of tangency and the plane of rotation is in the range of 0-0.2°. Projections of all the traction elements at the respective exit points of tangency on the proximal end portion are circumferentially arranged in the same order as the circumferential arrangement of the respective through holes.

Abstract: A snakelike surgical instrument, comprising a handheld structure (2); an manipulating structure (1) comprising an outer frame (13) hingedly connected to the handheld structure (2) so that the manipulating structure (1) has a rotational degree of freedom (R1?) around a first axis and an inner frame (14) hingedly connected to the outer frame (13) so that the manipulating structure (1) has a rotational degree of freedom (R2?) around a second axis, the first axis and the second axis forming an angle; an end unit (4) connected to the handheld structure (2) by means of a connecting component (3) and comprising a tool supporting base (41) and a snakelike structure (40) connected to the tool supporting base (41), the snakelike structure (40) having degrees of freedom of motion (R1, R2) in the same direction as the manipulating structure (1); and a transmission unit (5) comprising a flexible transmission structure connected to the inner frame (14) and the snakelike structure (40).

Abstract: An electronic endoscope and an electronic endoscope system, wherein the electronic endoscope comprises a tube body (100), at least two lenses (200) having a non-zero-degree viewing angle, an image sensing component (300), and a transmission module. The tube body (100) comprises a light receiving channel penetrating therein for sequentially accommodating the lenses (200), the image sensing component (300), and the transmission module. Optical axes of the lenses (200) are parallel to an extension axis of the light receiving channel. The image sensing component (300) receives images transmitted by the lenses (200) and converts the same into electrical signals. The transmission module drives the lenses (200) having a non-zero-degree viewing angle to rotate about the optical axes in the same direction. When the field-of-view region of the electronic endoscope changes, the field-of-view direction does not change.

Abstract: A snakelike surgical instrument, comprising a handheld structure (2); an manipulating structure (1) comprising an outer frame (13) hingedly connected to the handheld structure (2) so that the manipulating structure (1) has a rotational degree of freedom (R1?) around a first axis and an inner frame (14) hingedly connected to the outer frame (13) so that the manipulating structure (1) has a rotational degree of freedom (R2?) around a second axis, the first axis and the second axis forming an angle; an end unit (4) connected to the handheld structure (2) by means of a connecting component (3) and comprising a tool supporting base (41) and a snakelike structure (40) connected to the tool supporting base (41), the snakelike structure (40) having degrees of freedom of motion (R1, R2) in the same direction as the manipulating structure (1); and a transmission unit (5) comprising a flexible transmission structure connected to the inner frame (14) and the snakelike structure (40).

Abstract: A surgical robot system includes a slave unit and a computing unit. The slave unit includes a robotic arm, a surgical instrument, a cannula and a sensing element. The robotic arm drives the surgical instrument to rotate about a remote center of motion (RCM). The cannula is detachably coupled to a terminal of the robotic arm and defines an axis passing through the RCM. The surgical instrument is detachably connected with the terminal of the robotic arm and extends distally through the cannula, and the sensing element is disposed on the cannula and senses an axial deformation of the cannula. The computing unit determines a radial force acting on the terminal of the surgical instrument, from a force on the cannula sensed by the sensing element, according to the principle of torque balance.

Abstract: A surgical instrument (10), comprising: a surgical execution component (100), a linkage part (200), and a manipulation component (300), the distal end of the linkage part (200) being connected to the surgical execution component (100) and the proximal end of the linkage part (200) being connected to the manipulation component (300). The surgical instrument (10) uses the linkage part (200) having two rotational degrees of freedom, such that when the manipulation component (300) drives, by means of the linkage part (200), the surgical execution component (100) to rotate at a fifth rotational degree of freedom (R5) and/or a sixth rotational degree of freedom (R6), the swing directions of the surgical execution component (100) and the manipulation component (300) at a first rotational degree of freedom (R1) and a second rotational degree of freedom (R2) are consistent.