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公开(公告)号：EP4223248A1
公开(公告)日：2023-08-09
申请号：EP20956055.6
申请日：2020-12-04
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： WANG, Jianchen , WU, Zhongbing
Abstract: A surgical instrument (120), slave operating equipment (100) applied in the surgical instrument (120), and a surgical robot having the slave operating equipment (100). The surgical instrument (120) includes an end effector (150), a drive device (170), and a cable. The drive device (170) is configured to drive the end effector (150) to move by means of the cable. The cable includes a first pair of cables and a second pair of cables which are used for driving the end effector (150) to execute yaw movement, and a third pair of cables used for driving the end effector (150) to execute pitch movement. The third pair of cables have a coupling relation with the first pair of cables and the second pair of cables on the end effector (150) due to orthogonality of the pitch movement and the yaw movement. The drive device (170) has a mechanical decoupling mechanism used for releasing the coupling relation. The mechanical mechanism is used to release the coupling relation. The coupling relation between both can be accurately released, so that the operation of the surgical robot is more stable.
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公开(公告)号：EP4218652A1
公开(公告)日：2023-08-02
申请号：EP20956605.8
申请日：2020-12-03
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： GAO, Yuanqian , WANG, Jianchen
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 (3 1)(S15); and display the projected image on the display (22)(S16). The surgical robot helps a doctor in observing a motion state of the operating arm (31) in all orientations.
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23.发明公开
公开(公告)号：EP4205688A1
公开(公告)日：2023-07-05
申请号：EP20956604.1
申请日：2020-12-03
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： GAO, Yuanqian , WANG, Jianchen , WANG, Pai
Abstract: A surgical robot, a graphical control device thereof and a graphical display method therefor, the surgical robot comprising: a display; two or more manipulators (130), the manipulators (130, 130a, 130b, 130c, 130d) having multiple joint assemblies, and each joint assembly being configured with a sensor for sensing the state of the joint assembly; and a controller, which is coupled to the display and the sensors, and is configured to: when detected that a first manipulator (130b, 130c, 130d) in a working mode is present (S1), acquire state information of the joint assembly sensed by the sensor of the first manipulator (130b, 130c, 130d) (S2); acquire a kinematic model of the first manipulator (130b, 130c, 130d) (S3); acquire a configuration parameter of a virtual camera (S4); combine the configuration parameter of the virtual camera, the kinematic model of the first manipulator (130b, 130c, 130d) and the state information thereof so as to generate an image model of the first manipulator (130b, 130c, 130d) below a viewpoint of the virtual camera (S5); and display the image model of the first manipulator (130b, 130c, 130d) in a first display window of the display (S6). The surgical robot facilitates doctors observing the posture state of the manipulators (130, 130a, 130b, 130c, 130d) that are used during a surgical process.
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公开(公告)号：EP4431051A1
公开(公告)日：2024-09-18
申请号：EP22891853.8
申请日：2022-11-01
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： LIU, Fang
Abstract: A master-hand wrist (23), a master operating apparatus (20) and a surgical robot. The master-hand wrist (23) comprises: a handle (234); a first rod (231) rotatably connected to the handle (234) about a first rotation axis (J1) via a first rotation joint (235); a second rod (232) rotatably connected to the first rod (231) about a second rotation axis (J2) via a second rotation joint (236); and a third rod (233) rotatably connected to the second rod (232) about a third rotation axis (J3) via a third rotation joint (237), wherein the third rotation joint (237) is provided with a torque compensation mechanism about the third rotation axis (J3) to compensate for torque generated by the handle (234), the first rod (231) and the second rod (232) about the third rotation axis(J3). The master-hand wrist (23), the master operating apparatus (20), and the surgical robot provided by the present disclosure utilize torque compensation to achieve the effect of driving the rotation joint with less driving force, which effectively reduces the inertia effect of the distal end and increases force transparency.
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公开(公告)号：EP4424263A1
公开(公告)日：2024-09-04
申请号：EP22885784.3
申请日：2022-10-20
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： LIU, Fang
IPC: A61B34/37
CPC classification number: A61B34/37
Abstract: A mechanical arm (1), a main operating platform (100), and a surgical robot. The mechanical arm (1) comprises a base connecting rod (2); a parallelogram mechanism (3) rotatably connected to the base connecting rod (2), an axis of rotation of the parallelogram mechanism (3) around the base connecting rod (2) coinciding with a first rotational axis (35) between a first connecting rod (31) and a second connecting rod (32) in the parallelogram mechanism (3); and a gravity compensation mechanism (4), comprising a rotating mechanism and an elastic mechanism, the rotating mechanism being coupled to at least one of the first connecting rod (31) and the second connecting rod (32), as well as the base connecting rod (2), and the elastic mechanism being coupled to the base connecting rod (2) and the rotating mechanism, so as to generate a compensation torque to balance gravity torque of the parallelogram mechanism (3) in at least one degree of freedom corresponding to the parallelogram mechanism (3). On the basis of not increasing inertia of the mechanical arm (1), good gravity balance can be achieved on the degree of freedom subject to gravity compensation, having an excellent operation experience.
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Patent Agency Ranking
公开(公告)号：EP4265217A1
公开(公告)日：2023-10-25
申请号：EP21904938.4
申请日：2021-05-10
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： WANG, Jianchen , GAO, Yuanqian
Abstract: The present disclosure discloses a surgical instrument (400), a slave operating equipment (200) using the surgical instrument (400) and a surgical robot having the slave operating equipment (200). The surgical instrument (400) includes a drive device (410) which includes a plurality of guide mechanisms (471, 472, 473) for guiding a plurality of cables (412, 422, 432, 442, 452). The cables (412, 422, 432, 442, 452) are in a divergent state before being guided, and converge to form a cable bundle after being guided by the plurality of guide mechanisms (471, 472, 473) in the drive device (410), and finally extend to wrist (430) and end effector (440) of the surgical instrument (400) from an edge of the drive device (410). In this way, the purity of cables (412, 422, 432, 442, 452) have more routing space 410 by means of the routing modes of the divergent state and the cable bundle state, and the cables (412, 422, 432, 442, 452) will not be interfered with each other.
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公开(公告)号：EP4101413A1
公开(公告)日：2022-12-14
申请号：EP20917855.7
申请日：2020-11-28
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： HUANG, Jian , GAO, Yuanqian , WANG, Jianchen
Abstract: The application discloses an operating arm (100) and a surgical robot. The 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). The first position is farther away from the link (2), and the second position is nearer to the link (2). The end instrument (3) is driven by the first and the group driving wire (4) and the second group of driving wire (5) to move in a direction corresponding to a degree of freedom, and the flexibility of the operating arm (100) in a minimally invasive surgical operation process is improved.
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公开(公告)号：EP4487808A1
公开(公告)日：2025-01-08
申请号：EP23762789.8
申请日：2023-02-22
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： LIU, Fang , LIN, Mincai , SUN, Qiang , WANG, Jianchen
IPC: A61B34/30
Abstract: Apower apparatus (100) for a surgical robot, a surgical robot and a joint method, and a detecting method. The power apparatus (100) comprises: a rotating component (10), an axial biasing component (20) for providing an elastic bias for the rotating component (10), a first detection component (30), a second detection component (60), and a controller (40). Before a driving input interface (50) is mounted, the controller (40) rotates the rotating component (10) until a target portion (T) is detected by the second detection component (60), and when the detected portion of the rotating component (10) is located on the side facing away from the surgical instrument (200) relative to a preset position (A0), the controller (40) rotates, according to a detection result of the first detection component (30), the rotating component (10) in a preset manner to enable the rotating component (10) to move along an axial direction thereof to the preset position (A0). By using the first detection component (30) to detect the position of the rotating component (10) for outputting torque in the axial direction, after the surgical instrument (200) is mounted, the driving coupling state of the power apparatus (100) can be accurately determined according to the detection result of the first detection component (30). Thus, the expected actions can be accurately executed according to the instruction of the doctor, and the surgical risk caused by an unexpected swing of the instrument joint is avoided.
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公开(公告)号：EP4374805A1
公开(公告)日：2024-05-29
申请号：EP22844896.5
申请日：2022-04-15
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： LIU, Fang
IPC: A61B17/34
CPC classification number: A61B17/34
Abstract: Provided in the present application are a sealing device and a puncture device. The sealing device includes: a first body; a second body, the second body being connected to the first body, and the second body and the first body forming an instrument channel for an instrument to pass therethrough; and a sealing component, the sealing portion being arranged in the instrument channel and allowing the instrument to pass there through, so as to form at least one sealing part in the instrument channel in a state in which the instrument is inserted and/or not inserted into the instrument channel. By means of the implementation, the sealing device can form at least one sealing part in the instrument channel in the state in which the instrument is inserted or not inserted into the instrument channel, such that the sealing performance of the puncture device can be significantly improved.
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公开(公告)号：EP4331523A1
公开(公告)日：2024-03-06
申请号：EP22794620.9
申请日：2022-04-15
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： LIU, Fang
IPC: A61B34/37
Abstract: An input device (22), a main operating device, and a surgical robot. The input device (22) includes a support part (121), a handle (111), and a cordless electrical connector (230). The handle (111) is rotational connected to the support part (121). The cordless electrical connector (230) includes a first connection portion (231) and a second connection portion (232). The first connection portion (231) is fixedly installed on the support part (121). The second connection portion (232) is fixedly installed on the handle (111). A surface of the first connection portion (231) abuts against a surface of the second connection portion (232) so that the two connection portions are electrically connected, such that when the handle (111) rotates continuously, electronic devices in the handle (111) and electronic devices in the support part (121) are always kept electrically connected by means of the cordless electrical connector (230).
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