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公开(公告)号：BR112021021418A8
公开(公告)日：2022-08-30
申请号：BR112021021418
申请日：2020-04-24
Inventor： JIANCHEN WANG , YUANQIAN GAO , GUIYIN XU , YOU LI , XUEFENG YAO
IPC: A61B34/37
Abstract: INSTRUMENTO CIRÚRGICO. O presente pedido divulga um instrumento cirúrgico. O instrumento cirúrgico inclui um efetor final, um conjunto de conexão e uma unidade de acionamento de ponta. O conjunto de conexão inclui uma pluralidade de unidades de conexão conectadas em sequência e o efetor final é conectado ao conjunto de conexão. A unidade de acionamento da ponta inclui uma haste flexível e um fio condutor, o fio condutor se estende para fora da haste flexível e é conectado ao efetor final. A haste flexível se estende através do conjunto de conexão e pelo menos uma extremidade da haste flexível é uma extremidade livre. Devido à haste flexível, o atrito do fio condutor em um estado móvel pode ser reduzido, assim, uma vida útil do fio condutor pode ser prolongada e um movimento preciso do fio condutor pode ser mantido.
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公开(公告)号：US20250009434A1
公开(公告)日：2025-01-09
申请号：US18709263
申请日：2022-11-02
Applicant: SHENZHEN EDGE MEDICAL CO., LTD.
Inventor： Guoqiang Ye
Abstract: A method for keeping a position of a remote center of manipulation of a surgical robot constant in a reference coordinate system is provided. The surgical robot includes: a processor, an adjustment arm, and a cyclone joint. The adjustment arm includes a plurality of joints. The method is executed by a processor and includes the following steps: receiving a user input for performing adjustment to the cyclone joint; controlling the cyclone joint to perform angle adjustment according to the user input; calculating target positions of at least three joints of the adjustment arm according to the angle adjustment performed by the cyclone joint; and controlling the at least three joints of the adjustment arm to perform position adjustment according to the target positions of the at least three joints so as to maintain the position of the RC point in the reference coordinate system constant.
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公开(公告)号：US12121217B2
公开(公告)日：2024-10-22
申请号：US17206801
申请日：2021-03-19
Applicant: Shenzhen Edge Medical CO., Ltd.
Inventor： Jianchen Wang , Yuanqian Gao , Zhimin Han , Linna Li
CPC classification number: A61B1/05 , A61B1/00149 , A61B1/00183 , A61B1/045 , A61B34/37 , A61B2034/301
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.
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公开(公告)号：US20230255707A1
公开(公告)日：2023-08-17
申请号：US18193985
申请日：2023-03-31
Applicant: Shenzhen Edge Medical Co., Ltd.
Inventor： Jianchen WANG , Yuanqian GAO
IPC: A61B34/37
CPC classification number: A61B34/37 , A61B2034/715
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.
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公开(公告)号：US20240268911A1
公开(公告)日：2024-08-15
申请号：US18567257
申请日：2022-04-02
Applicant: SHENZHEN EDGE MEDICAL CO., LTD.
Inventor： Shenhui WANG , Guoqiang YE
CPC classification number: A61B34/37 , A61B2034/2059 , A61B2090/031 , A61B2090/064 , A61B2090/508
Abstract: A surgical robot and a control method are provided. The surgical robot includes an arm, the arm includes a joint assembly and an actuating device for actuating the joint assembly, a processor is electrically connected to the actuating device, the processor is configured for: adjusting, in response to an external force received by the first arm, an output torque of the actuating device corresponding to a first joint assembly of the joint assembly of the first arm to balance a gravitational torque of a load of a distal end of the first joint assembly, and to restore a joint position of the first joint assembly or brake the first joint assembly.
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Patent Agency Ranking
公开(公告)号：US11986263B2
公开(公告)日：2024-05-21
申请号：US16979268
申请日：2019-03-11
Applicant: Shenzhen Edge Medical CO., Ltd.
Inventor： Jianchen Wang , Yuanqian Gao
CPC classification number: A61B34/37 , A61B17/00234 , A61B34/70 , A61B2560/04
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.
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公开(公告)号：US20230054829A1
公开(公告)日：2023-02-23
申请号：US17792189
申请日：2020-11-28
Applicant: Shenzhen Edge Medical CO.,Ltd.
Inventor： Jian Huang , YUANQIAN GAO , JIANCHEN WANG
IPC: A61B34/37
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).
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8.发明公开公开(公告)号：US20240066712A1
公开(公告)日：2024-02-29
申请号：US18270848
申请日：2022-01-04
Applicant: Shenzhen Edge Medical CO.,Ltd.
Inventor： YUANQIAN GAO , JIANCHEN WANG , Guoqiang YE
IPC: B25J9/16 , A61B17/34 , A61B34/30 , G06T7/593 , G06T7/70 , H04N13/204 , H04N23/695
CPC classification number: B25J9/1697 , A61B17/34 , A61B34/30 , G06T7/593 , G06T7/70 , H04N13/204 , H04N23/695 , G05B2219/39001 , G06T2207/10012 , G06T2207/30004
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.
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公开(公告)号：US20240065781A1
公开(公告)日：2024-02-29
申请号：US18030919
申请日：2020-12-03
Applicant: Shenzhen Edge Medical CO.,Ltd.
Inventor： YUANQIAN GAO , JIANCHEN WANG
IPC: A61B34/00 , A61B34/37 , G06T5/00 , G06T7/00 , G06T7/64 , G06T7/73 , G06T11/00 , G06T13/00 , G06V10/44 , G06V10/74 , G06V20/50 , H04N7/18
CPC classification number: A61B34/25 , A61B34/37 , G06T5/006 , G06T7/0012 , G06T7/64 , G06T7/75 , G06T11/00 , G06T13/00 , G06V10/44 , G06V10/74 , G06V20/50 , H04N7/183 , A61B2034/2059 , G06T2200/24 , G06T2207/30004 , G06T2210/41 , G06V2201/034
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). The surgical robot helps a doctor in observing a motion state of the operating arm (31) in all orientations.
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公开(公告)号：US20240050178A1
公开(公告)日：2024-02-15
申请号：US18267615
申请日：2021-05-10
Applicant: SHENZHEN EDGE MEDICAL CO., LTD.
Inventor： Yuanqian GAO , Jianchen WANG
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.
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