Abstract: A pulley and a structure having the pulley connected with a driven unit are provided. The pulley includes a wheel portion and a lug portion. The wheel portion includes two circular end surfaces opposing each other and a side surface connecting the two end surfaces. The side surface includes a main arc face and a branch arc face. The branch arc face has a head end connected to the main arc face and a tail end configured to connect a strap. The branch arc face has a width in an axial direction of the wheel portion smaller than a width of the main arc face. The lug portion is fixed to the wheel portion, disposed at a position adjacent to the branch arc face along the width of the main arc face and extends to protrude beyond the branch arc face in a radial direction of the wheel portion.

Abstract: Provided are a medical instrument, a surgical robot and a control system for the surgical robot. The medical instrument is used for the surgical robot and includes a housing and an activation device. The activation device is disposed in the housing and can be triggered. In response to the activation device being operated, the activation device is triggered to generate an induction signal. The activation device transmits the induction signal to an energy generator to enable the energy generator to generate energy and be activated.

Abstract: A strap connector, a robotic arm and a robot are provided. The strap connector includes a core, a strap and a pulley. The core includes a belly portion and a neck portion fixed to the belly portion. The neck portion has a width tapering in a direction away from the belly portion. The pulley defines a core chamber in which the core is received, the core chamber is accessible through an opening. The strap is connected to the core and extending out of the core chamber through the opening. The core chamber has two inner side walls opposing each other and extending from the opening. The neck portion is disposed closer to the opening than the belly portion. The two inner walls of the core chamber clamp the neck portion and the strap when the strap is tensioned.

Abstract: The present disclosure discloses a control mechanism of a surgical instrument and a surgical robot. The control mechanism of the surgical instrument is connected to an effector of the surgical instrument and is configured to control a clamp assembly of the effector to open or close. The control mechanism of the surgical instrument includes a base, an operation assembly connected to the effector, a first transmission assembly arranged on the base, and a lever having a first end, a second end and a lever body. The first transmission assembly is rotatable under drive of a drive mechanism. The first end of the lever is connected to the first transmission assembly and is movable vertically with rotation of the first transmission assembly. The second end is connected to the operation assembly. The lever body is pivotably connected to the base to form a fulcrum.

Abstract: The present disclosure discloses a cannula adapter and a surgical robot. The cannula adapter includes an adapter body, a first guide member, a clamping jaw, an operating actuation mechanism, and a follower mechanism. The first guide member is fixedly disposed in the adapter body. The clamping jaw is disposed in the adapter body and limited by the first guide member, and is configured to translate between a first position and a second position in a guiding direction of the first guide member. The follower mechanism is configured to be driven by the operating actuation mechanism to move. The follower mechanism and at least one clamping jaw are cooperatively movable, the at least one clamping jaw is in the first position when the follower mechanism is in a third position, and the at least one clamping jaw is in the second position when the follower mechanism is in a fourth position.

Abstract: The master-end operating device includes a device body, operating mechanisms, a movable member and an elastic member. The operating mechanisms are pivotably connected to the device body, and each is provided with a respective driving part. The movable member is at least partially disposed within the device body and configured to be movable in an axial direction of the device body, where the movable member is provided with follower parts, each of which interferes with the respective driving part to enable the movable member to be movable in the axial direction. The respective follower part has a first constraint surface, which includes at least one bent portion recessed toward a central plane of the device body. The elastic member is configured to provide an elastic force to drive the movable member to move toward a top end of the master-end operating device.

Abstract: A link, a robotic arm and a surgical robot are provided. The link is configured in a rod shape and defines an inner cavity extending in a length direction of the link, and wherein at least a part of the inner cavity is seamlessly enclosed in a circumference perpendicular to the length direction of the link. The robotic arm includes at least one link. The surgical robot includes at least one robotic arm.

Abstract: An endoscope manipulator for performing robot-assisted endoscope manipulation comprises a movable robot base with a hollow trunk and a vertical lifting joint; a passive joint set with one end mounted to an upper end of the vertical lifting joint, for manually setting an initial pose of the endoscope; an active joint set mounted to another end of the passive joint set, for adjusting pose control of the endoscope intra-operatively; and a compliant endoscope holder mountable to an end-effector of the active joint set, which passively changes to a compliant state upon an external force exceeding a threshold being applied to an endoscopic lens held by the compliant endoscope holder.

Abstract: A pulley and a structure having the pulley connected with a driven unit are provided. The pulley includes a wheel portion and a lug portion. The wheel portion includes two circular end surfaces opposing each other and a side surface connecting the two end surfaces. The side surface includes a main arc face and a branch arc face. The branch arc face has a head end connected to the main arc face and a tail end configured to connect a strap. The branch arc face has a width in an axial direction of the wheel portion smaller than a width of the main arc face. The lug portion is fixed to the wheel portion, disposed at a position adjacent to the branch arc face along the width of the main arc face and extends to protrude beyond the branch arc face in a radial direction of the wheel portion.

Abstract: A strap connector, a robotic arm and a robot are provided. The strap connector includes a core, a strap and a pulley. The core includes a belly portion and a neck portion fixed to the belly portion. The neck portion has a width tapering in a direction away from the belly portion. The pulley defines a core chamber in which the core is received, the core chamber is accessible through an opening. The strap is connected to the core and extending out of the core chamber through the opening. The core chamber has two inner side walls opposing each other and extending from the opening. The neck portion is disposed closer to the opening than the belly portion. The two inner walls of the core chamber clamp the neck portion and the strap when the strap is tensioned.

Abstract: Various aspects of a systems and method for reconstructing a surface of a three-dimensional (3D) target are disclosed herein. The method may comprise projecting a sequence of patterns to the surface of the target; capturing a first stereo endoscopic image and a second stereo endoscopic image from the patterns reflected from the surface; performing a coarse matching for the captured first and second stereo endoscopic images to acquire a set of matching candidates; and performing a precise matching for the acquired set of matching candidates to acquire reconstruction pixels for reconstructing the surface.

Abstract: Various aspects of a systems and method for reconstructing a surface of a three-dimensional (3D) target are disclosed herein. The method may comprise projecting a sequence of patterns to the surface of the target; capturing a first stereo endoscopic image and a second stereo endoscopic image from the patterns reflected from the surface; performing a coarse matching for the captured first and second stereo endoscopic images to acquire a set of matching candidates; and performing a precise matching for the acquired set of matching candidates to acquire reconstruction pixels for reconstructing the surface.

Abstract: An endoscope manipulator for performing robot-assisted endoscope manipulation comprises a movable robot base with a hollow trunk and a vertical lifting joint; a passive joint set with one end mounted to an upper end of the vertical lifting joint, for manually setting an initial pose of the endoscope; an active joint set mounted to another end of the passive joint set, for adjusting pose control of the endoscope intra-operatively; and a compliant endoscope holder mountable to an end-effector of the active joint set, which passively changes to a compliant state upon an external force exceeding a threshold being applied to an endoscopic lens held by the compliant endoscope holder.

Abstract: A compliant safe joint and manufacturing method thereof. The compliant safe joint includes an input axis circumferentially connected to a motor shaft of a DC motor; a movable bridge circumferentially mounted on the input axis and slidable along a axial direction of the input axis; multiple bearings, each of the multiple bearings having an inner ring fixed to the movable bridge and having an outer ring; a stationary bridge rotatably mounted on the movable bridge and having a helicoid surface, the outer ring of each bearing being movable along the helicoid surface; and a flexible component connected to the movable bridge. The stationary bridge rotates about the input axis when a torque which exceeds a predetermined threshold is applied to the stationary bridge by the motor shaft, such that the bearings move with respect to the helicoid surface to cause the flexible component to be compressed and extended through the movable bridge.

Abstract: A compliant safe joint and manufacturing method thereof. The compliant safe joint includes an input axis circumferentially connected to a motor shaft of a DC motor; a movable bridge circumferentially mounted on the input axis and slidable along a axial direction of the input axis; multiple bearings, each of the multiple bearings having an inner ring fixed to the movable bridge and having an outer ring; a stationary bridge rotatably mounted on the movable bridge and having a helicoid surface, the outer ring of each bearing being movable along the helicoid surface; and a flexible component connected to the movable bridge. The stationary bridge rotates about the input axis when a torque which exceeds a predetermined threshold is applied to the stationary bridge by the motor shaft, such that the bearings move with respect to the helicoid surface to cause the flexible component to be compressed and extended through the movable bridge.