2845results about "External osteosynthesis" patented technology

The invention discloses an endoscope with a built-in grabbing mechanism, and relates to the technical field of medical instruments. According to the technical scheme, the device comprises a clamp assembly, a driving outer pipe and a driving inner wire; the grabbing mechanism further comprises a grabbing mechanism shell, a first moving seat and a second moving seat, wherein the first moving seat and the second moving seat are arranged in the grabbing mechanism shell. The near end of the driving outer tube is connected with the first moving seat, and the near end of the driving inner wire is connected with the second moving seat; when the second moving seat is fixed relative to the grabbing mechanism shell, the first moving seat moves towards the far end direction relative to the grabbing mechanism shell so as to control the clamp assembly to execute the clamping action. According to the invention, the clamping action is carried out while forward extension is carried out, so that high-precision operation is facilitated, and tissues can be accurately clamped; and moreover, the grabbing mechanism is integrated in the endoscope handle, so that accurate single-hand control is facilitated, meanwhile, the clamping action is controlled in a button mode, the human engineering is met, and operation is convenient.

A patient specific instrument is disclosed for correcting a condition present in a patient. The patient specific instrument includes a body that includes an inferior side having a bone engagement surface shaped to match a first surface of a first bone and a second surface of a second bone of a joint. The instrument also includes a superior side having a first guide feature and a second guide feature that together, with the bone engagement surface overlying the first surface and the second surface, are positioned to guide resection of the first bone and the second bone during a surgical osteotomy for correcting the condition. The body is configured to seat transverse to the joint with the bone engagement surface engaging the first surface of the first bone and the second surface of the second bone.

A metatarsus adductus technique may involve cutting an end of one or both of a second metatarsal and an intermediate cuneiform to create a wedge-shaped opening between the end of the second metatarsal and the intermediate cuneiform. The method may further involve cutting an end of one or both of a third metatarsal and a lateral cuneiform to also create a wedge-shaped opening between the end of the third metatarsal and the lateral cuneiform. The second metatarsal and the third metatarsal can then be moved in a transverse plane to close a metatarsus adductus angle. Movement of the second and third metatarsal may close the wedge-shaped openings forming during bone cutting. With the second and third metatarsals appropriately realigned, the clinician can fixate the moved position of the second metatarsal and the third metatarsal.

The invention discloses a flexible mechanical arm driving system for minimally invasive interventional surgery, a flexible mechanical arm comprises a hollow first sleeve assembly which is coaxially configured, the first sleeve assembly comprises an inner tube and an outer tube, the inner tube and the outer tube are thin-walled tubes, the inner tube is arranged in the outer tube in a penetrating manner, and the inner tube and the outer tube are fixedly connected at the far end part; the inner tube and the outer tube are each provided with a straight tube section at the near end and a deformation section at the far end, and the deformation sections can be bent and deformed when the inner tube is pushed / pulled. The driving system comprises an instrument assembly and a driving module assembly; a driving driven module is arranged in the instrument assembly, and the flexible mechanical arm is connected with the driving driven module; a driving driving module and a PCB control board are arranged in the driving module assembly, the driving driving module is in transmission connection with the driving driven module, and the driving module assembly is used for driving the flexible mechanical arm to do linear, rotating and bending movement. The driving device is used for driving the coaxial antagonism tubular flexible mechanical arm to achieve bending, rotating and linear motion, full-automatic control can be achieved, and the control accuracy and safety are high.

A system, includes a first screw mechanism including: a first block; a first screw threaded through the first block and including a first skin-interfacing portion; and an intramedullary (IM) member extending from and attached to the first block and including an end portion configured to be inserted into an intramedullary canal of a first bone fragment, wherein a first lateral force is generated between the first skin-interfacing portion against a second bone fragment, adjacent to the first bone fragment, and a holding force provided by the end portion when the first screw is rotated and the end portion is located in the intramedullary canal.

The invention relates to the technical field of neurosurgical intelligent operations, and discloses a neuroendoscopic surgery intelligent puncture positioning system based on image navigation, and the system comprises a preoperative modeling module which constructs a preoperative tissue model and a corresponding elastic tensor field based on a three-dimensional medical image of a patient; the image fusion module is used for receiving the data of the preoperative modeling module, collecting intraoperative endoscopic images, predicting the tensor disturbance of tissues through a deep learning model, and feeding back the updated tensor disturbance to the tensor updating module; and the tensor updating module is in two-way communication with the image fusion module and is used for superposing tensor disturbance obtained by processing the intraoperative image with the preoperative tensor. Through fusion of an image navigation technology and preoperative modeling, a three-dimensional positioning frame based on neuroendoscopy operation requirements is constructed, intelligent planning and real-time correction of a puncture path are realized, important brain regions and vascular structures are effectively avoided, intra-operative risks are reduced, and positioning precision and safety are improved.

The invention discloses a blocking sheathing canal device for bleeding in a robot bronchoscope operation and a bronchoscope system, and belongs to the technical field of medical instruments. The blocking sheathing canal device comprises a guide pipeline, a blocking balloon, a medium channel and a pressure device; a pipe cavity is formed in the guide pipeline, and the robot bronchoscope enters a focus position through the pipe cavity; the blocking balloon is arranged at the far end of the guiding pipeline, can expand and deform in the radial direction of the guiding pipeline in the pressure state and is used for blocking the bronchus or / and the lumen; the medium channel is arranged on the guide pipeline, the pressure device is communicated with the near end of the medium channel, and a pressure medium is injected into the plugging balloon through the medium channel; under the bleeding condition, the balloon can be rapidly inflated through the pressure device at the near end of the guide pipeline, so that the balloon is expanded and deformed to completely block the gap between the guide pipeline and the bronchus, the emergency bleeding in the robot bronchoscope operation is blocked, and the safety of the robot bronchoscope operation is improved; and popularization and application of the robot bronchoscope operation are promoted.

A geared-motor assembly for use in a spatial frame is disclosed. Each of the geared-motor assemblies being selectively attachable and detachable from a manually adjustable strut in a spatial frame. In use, with the geared-motor assemblies detached, the struts can be manually adjusted (e.g., rotated) to, for example, facilitate initial construction of the spatial frame in the operating room, to allow patients to manually adjust the struts if desired, etc. Thereafter, with the geared-motor assemblies coupled to the struts, motorized and / or automated adjustment of the struts according to a treatment plan can be achieved. In use, each of the geared-motor assemblies is configured as a stand-alone device including all of the needed intelligence (e.g., microprocessor, printed-circuit board, etc.) and power supply to control and power the geared-motor assembly so that no external wires or centralized controller is required.

An adjustable external fixator and fixator kit for angle correction on a bone comprising a head element, arm, shaft element, and adjustable distraction element. Sizing inserts of different discrete sizes are provided and are installable between ends of the head element and ends of the arm. When installed, the fixator can fit patients of any size. The sizing inserts can be blocks or rails secured by threaded fasteners. The fixator and kit may also comprise a wrench releasably secured to the shaft element can be used to adjust a length of the distraction element. The fixator and kit may also comprise an angle measurement tool to measure angle of distraction.

The invention discloses a thoracoscope minimally invasive cardiac surgery navigation system based on multi-modal image fusion, and the system comprises the steps: constructing a 5D heart digital twin containing an anatomical structure, a soft tissue boundary, metabolic activity and electrophysiological information through fusing preoperative CT, MRI, PET and intraoperative ultrasonic images; real-time dynamic registration is realized by using an electrocardio gating driven biomechanical model; superposing the multi-color coding navigation information to the visual field of the thoracoscope through a wavelength selection type spectroscope; a dynamic risk scoring model is constructed based on the distance, the speed and the tissue vulnerability, and three-level grading intervention is triggered; a miniature force feedback actuator is integrated to realize closed-loop control; and pre-operation virtual drilling and post-operation federal learning optimization are supported. The system remarkably improves the surgical precision and safety, and is suitable for high-difficulty heart minimally invasive surgeries such as mitral valve repair and atrial fibrillation ablation.

The invention discloses a constipation patient defaecation device and mobile terminal integrated system based on endoscope visualization and air bag assistance, and relates to the technical field of medical instruments, the constipation patient defaecation device comprises a display terminal, a connecting line, an operating handle and a comprehensive pipe, and the two ends of the operating handle are connected with the connecting line and the comprehensive pipe respectively. According to the non-invasive, high-safety and portable constipation patient defecation device, through the integrated design of endoscope real-time visual positioning, air bag auxiliary mechanical defecation and mobile terminal data interaction, the invasive operation pain is reduced, the defecation time is shortened, the complication risk is reduced, and the constipation patient defecation efficiency is improved. The pressure sensor monitors the internal pressure of the air bag in real time and feeds back the internal pressure to the dynamic pressure upper limit module and the mobile terminal in real time, and double protection of a hardware pressure release valve and software pressure limiting is triggered when the pressure exceeds the limit. The problems of high intestinal injury risk, low treatment efficiency, limited application scene and the like caused by operation blindness, function singleness or high invasiveness in the prior art are solved.

The present application relates to a kind of snare cutting knives for endoscope, including proximal handle, tube body assembly, cutting assembly and limiting component;Proximal handle is equipped with limiting sliding slot;The proximal end of tube body assembly is connected with proximal handle, and the distal end of tube body assembly is equipped with insulating protection tube;Cutting assembly includes cutting ring and cutting head, and cutting head is set to the distal end of cutting ring;Limiting component includes sliding part and limiting control wire, sliding part is slidably arranged in limiting sliding slot, and the proximal end of limiting control wire is fixedly connected with sliding part, and sliding part is used to drive limiting control wire axial movement;When limiting control wire moves to the distal end of insulating protection tube, cutting head and insulating protection tube abut each other and are fixed;When limiting control wire exits insulating protection tube, cutting head can continue to move relative to insulating protection tube.

The invention relates to an adjustable electric intracavity cutting stitching instrument, and relates to the technical field of stitching instruments. The device comprises a handle, a rotating head, a suturing rod and a suturing head, the suturing rod is connected with the handle, the suturing rod is sleeved with an outer pipe, the handle is used for driving the outer pipe to move in the length direction of the suturing rod, and the rotating head is rotationally connected to the handle, fixed to the outer pipe and used for driving the outer pipe to drive the suturing rod to rotate. The sewing head is rotatably connected to the end, away from the handle, of the sewing rod through a rotating assembly, a driving assembly is arranged on the sewing rod, connected with the rotating assembly and used for driving the rotating assembly to rotate, a handle and a rotating motor are arranged on the rotating head, the rotating motor is connected with the driving assembly through an electromagnetic clutch, and the handle is rotatably connected to the rotating head. And the base is fixed with the driving assembly. According to the invention, manual or automatic adjustment can be carried out according to conditions so as to realize the effect of accurate control or rapid control.

The invention relates to the technical field of medical instruments, and discloses a pulling forceps type continuous-shooting hemostatic clip capable of turning, rotating and repeatedly opening and closing, the pulling forceps type continuous-shooting hemostatic clip comprises a hemostatic clip assembly and an inner guide assembly which are sequentially connected in an outer tube assembly, the hemostatic clip assembly comprises two hemostatic clips, a hemostatic clip transmission block and a hemostatic clip sleeve, and the front end of each hemostatic clip is provided with a buckling part; the rear ends of the two hemostatic clips are hinged to the front end of a hemostatic clip transmission block, a clamping part is arranged on the rear portion of the hemostatic clip transmission block, the hemostatic clip transmission block penetrates through the hemostatic clip sleeve, and the clamping part is connected with the buckling part of the adjacent hemostatic clip on the rear side in a clamped mode. An opening and closing mechanism for opening or closing the two hemostatic clips is arranged between the two hemostatic clips and the hemostatic clip sleeve; a protruding part is arranged on the outer side of the hemostatic clip sleeve, and a reducing part matched with the protruding part is arranged at the front end of the outer tube assembly. According to the hemostatic clip, tedious operation steps of a doctor can be reduced, operation time is saved, resource waste is reduced, operation efficiency is improved, and operation cost is reduced.

The utility model discloses a magnetic traction operation field exposure system magnet adjusting structure and a traction device, and relates to the technical field of medical instruments.The magnetic traction operation field exposure system magnet adjusting structure is applied to the traction device of an endoscope and comprises a driving source and an outer magnet connected with the driving end of the driving source, and the driving source drives the outer magnet to move; the magnet is used for getting close to or away from the inner magnet to adjust the magnetic force between the inner magnet and the outer magnet. According to the magnet adjusting structure and the traction device of the magnetic traction operation field exposure system, the magnitude of magnetic force can be controlled, and traction and release in the operation process can be accurately and conveniently controlled.

The invention belongs to the technical field of medical treatment, and discloses a laryngeal membrane implantation system combined with a central vein puncture device, which comprises a self-retaining laryngoscope, a hollow puncture needle, a catheter sleeved on the puncture needle, a skin expander, a metal guide wire, a central vein catheter, a non-absorbable suture and a laryngeal membrane. The puncture needle penetrates into the laryngeal cavity, and the catheter is retained. And guiding by using a metal guide wire, expanding the skin by using a skin expander, and smoothly placing into the central venous catheter. The central venous catheter is pulled out of the self-retaining laryngoscope, and the non-absorbable suture is reversely arranged along the tip of the catheter, so that the suture smoothly penetrates out of the larynx from the inside of the larynx to the outside of the larynx, the laryngeal membrane is firmly fixed on the larynx, and further adhesion of vocal cords is avoided. Components required by the invention are simple and easy to obtain. Compared with a traditional method, the method is simple and easy to operate, saves operation time and is easy to popularize nationwide.

The present disclosure relates to a tool for adjusting an external fixation strut having an adjustment mechanism for length adjustment and a second connection portion, the tool comprising: a first connection portion adapted to perform data communication with the external fixation strut via the second connection portion; and a controller including command instructions. Based on the command instructions, the controller is configured to: download prescription data from the external unit, the prescription data relating to the determined condition of the patient and including instructions for performing adjustments to an external fixation strut of the patient; entering a waiting state in which the controller waits for coupling with an external fixation strut of the patient to communicate data therewith via the first connection portion; after the tool is coupled with the external fixing supporting column, the coupling state of the tool and the external fixing supporting column is distinguished; based on the coupling, communicating with an external stationary strut via a first connection portion; and, once the coupling is completed and the data with the external stationary strut has been exchanged, waiting for the date and / or time to apply the prescribed adjustment based on the prescription data. Related external fixation struts and related medical assemblies are also disclosed.

The utility model provides a slave hand device and a surgical robot, and relates to the technical field of medical equipment. The slave hand device comprises a base, a guide assembly, a telescopic assembly and a limiting assembly. The guide assembly is connected with the base, and the telescopic assembly is connected with the guide assembly, so that the telescopic assembly and the guide assembly can be fixedly installed. One end of the telescopic assembly can be connected with the surgical instrument piece, the telescopic assembly moves relative to the guide assembly in the telescopic direction, the surgical instrument piece can also move in the telescopic direction, and therefore the surgical instrument piece can be conveniently adjusted to the designated position. The limiting assembly can limit the telescopic assembly in the telescopic direction of the telescopic assembly, and excessive stretching of the telescopic assembly in the telescopic direction can be avoided. After the guiding assembly, the telescopic assembly and the limiting assembly are assembled in advance, the guiding assembly and the limiting assembly are installed on the base, then the telescopic assembly, the guiding assembly and the limiting assembly are installed in a matched mode, and therefore the modularization degree and the integration degree of the slave manipulator device are higher.

The invention provides a laparoscopic surgery fetching bag with a fascia expansion function, and relates to the technical field of laparoscopic surgery instruments.The laparoscopic surgery fetching bag comprises a main pipe arranged on the outer side of the fetching bag in a sleeving mode, at least two guide shells, a connecting rod and a traction rod, and the at least two guide shells are located on the two opposite sides of the main pipe respectively; the lower end of the main pipe is rotationally connected with the guide shell, the interior of the guide shell is rotationally connected with one end of the connecting rod, and the other end of the connecting rod is connected with the traction rod. The traction rod is installed on the outer side of the main pipe and slides in the central axis direction of the main pipe. When the traction rod slides towards the side away from the guide shell along the main pipe, the connecting rod drives the guide shell to unfold, the expansion range of a muscle layer incision can be accurately controlled, the problem that a traditional fetching bag is difficult to penetrate through the incision due to expansion is solved, meanwhile, when the fetching bag is closed, the storage cavity formed by the guide shell can tightly wrap the fetching bag body, and the fetching bag is convenient to use. And the guide shell can be directly taken out, so that the friction damage of the fetching bag to the muscle layer is reduced.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The invention provides an endoscope anastomat stroke compensation method which can be applied to the technical field of medical instruments. A deflection system of the endoscope anastomat comprises a first stroke sensor, a percussion system of the endoscope anastomat comprises a second stroke sensor, and the method comprises the steps that the first stroke sensor is used for detecting the bending angle of a flexible knife handle in a bending joint in the cutting process; based on the bending angle, the change of the length of the flexible knife handle in the bending joint is calculated, and the forward moving amount of the cutting knife is obtained; a second stroke sensor is used for detecting the current stroke of a driving device at the rear end of the anastomat; and based on the cutting knife forward movement amount and the preset stroke of the anastomat rear-end driving device, the current stroke of the anastomat rear-end driving device is adjusted so as to compensate the stroke of the endoscope anastomat. By arranging the stroke sensor, measuring the forward moving amount of the cutting knife and the current stroke of the driving device at the rear end of the anastomat, and compensating the stroke of the endoscope anastomat, the anastomosis length of the anastomat at various bending angles is stable and consistent, the anastomosis frequency is reduced, and the use cost is reduced.

The utility model discloses a flexible surgical instrument and an instrument driving device thereof, a motor barrel of the instrument driving device is provided with a clamping hook assembly, and the clamping hook assembly comprises a first motor, a linkage disc, two clamping pins and two connecting rods, the bayonet lock is configured to be capable of moving between a clamping state and a clamping releasing state relative to the first clamping groove on the side of the flexible instrument device; the output end of the first motor is in transmission connection with the linkage disc so as to drive the linkage disc to rotate; one ends of the two connecting rods are rotationally connected with the linkage disc, and the other ends of the two connecting rods are rotationally connected with the two clamping pins respectively; and the central positions of the two connecting rods, which are rotationally connected with the linkage disc, are symmetrically arranged relative to the rotating center of the linkage disc. Under the driving of the first motor, the two clamping pins are synchronously driven to move based on the crank sliding block mechanism, and clamping connection of the clamping pins is achieved. And when the flexible instrument device needs to be disassembled, the first motor can drive the bayonet lock to rotate to a clamping releasing state, and good operability is achieved.

According to the anastomosis nail releasing device and the suturing device, a driving assembly, a needle pushing plate and a containing cavity used for containing anastomosis nails in the anastomosis nail releasing device are sequentially stacked, that is, the needle pushing plate serves as a boundary, so that structures between the driving assembly and the containing cavity do not interfere with each other, on one hand, no other structures exist in the containing cavity, and on the other hand, no other structures exist in the containing cavity; therefore, the containing cavity can contain larger anastomosis nails, the larger anastomosis nails can penetrate through thick human tissue, even if the containing cavity can contain anastomosis nails of various sizes, the application range of the product is widened, and the product can be applied to more operation scenes. On the other hand, no other structure is arranged in the cavity for installing the driving assembly, so that enough space is provided for installing the driving assembly with a complex structure or a large size, the driving assembly has strong driving force, and the anastomosis nail driven by the driving assembly can more effectively penetrate through the human tissue; therefore, effectiveness and reliability of product sewing are guaranteed.

The utility model provides a slave hand device and a surgical robot, and relates to the technical field of medical equipment. The slave hand device comprises a containing arm, a telescopic arm and a button assembly. And the telescopic arm is connected with the accommodating arm, so that the telescopic arm and the accommodating arm are fixedly mounted. One end of the telescopic arm can be connected with the puncture cylinder, the telescopic arm extends or retracts relative to the containing arm, the distance between the puncture cylinder connected to the telescopic arm and the containing arm can be adjusted, and therefore the puncture cylinder can be conveniently adjusted to the designated position. The supporting part in the telescopic arm is arranged in the shell, so that the supporting part can be supported on the inner wall of the shell, and the whole telescopic arm has better structural strength. The button assembly is arranged on the supporting part, so that the supporting part can support and mount the button assembly, and the supporting part has better structural strength, so that the structural stability is better when the button assembly is arranged on the supporting part.

The utility model relates to a trephine for a minimally invasive spine surgery, belongs to the technical field of medical instruments, and solves the technical problem that a manual trephine and an electric trephine for the minimally invasive spine surgery cannot be universally used. The trephine comprises a saw handle, a saw rod and saw teeth, the saw rod is rotatably mounted on the saw handle; the saw handle comprises a box body, an electric assembly, a manual assembly and a gear shifting assembly; the gear shifting assembly comprises a first ring body, a second ring body and a bearing. The first ring body is rotatably connected with the box body, the second ring body is slidably connected with the box body, the second ring body can drive the saw rod to move in the axial direction by rotating the first ring body, and the saw rod is matched with the manual assembly or the electric assembly so as to enter a manual gear or an electric gear. The trephine disclosed by the utility model can be used for carrying out manual ring cutting and electric ring cutting, and switching between an electric gear and a manual gear can be carried out without dismounting, so that the operation steps of a doctor are simplified, and the efficiency of a foramen vertebroplasty operation under a foramen vertebroscope is improved.

The negative pressure suction sheath comprises a sheath tube, a negative pressure connector and an expander, the negative pressure connector comprises a main channel cavity and a negative pressure suction channel cavity located on one side of the main channel cavity, the near end of the sheath tube is connected with the far end of the main channel cavity, and the expander is inserted from the near end of the main channel cavity and extends out of the far end of the sheath tube. The main channel cavity is detachably connected with the main channel cavity; a side channel opening is formed in one side of the main channel cavity, and the negative pressure suction channel cavity communicates with the side channel opening. The cavity wall of the main channel cavity is further provided with a pressure adjusting opening, the pressure adjusting opening corresponds to the side channel opening or is located at the end, away from the sheathing canal, of the side channel opening, the negative pressure in the sheathing canal can be adjusted by adjusting the opening size of the pressure adjusting opening, and therefore an operator does not need to leave to adjust the negative pressure device to adjust the suction force in the sheathing canal. The negative pressure in the sheathing canal can be adjusted only by adjusting the size of the pressure adjusting opening in the handheld negative pressure connector.

The utility model relates to the technical field of medical instruments, in particular to a pair of anti-slip rotatable bent three-blade forceps with a suction function for laparoscopic surgery, which comprises a forceps seat, blades, an opening mechanism, a forceps tube, a rotating mechanism, an inner tube, a rotating wheel, a pull rod, a pull wire, a handle and a suction tube, the blade is connected with the clamp seat through an opening mechanism, a rotating opening is formed in the head end of the clamp pipe, the clamp seat is installed on the rotating opening, the inner pipe is located in a pipe cavity of the clamp pipe, a rotating hole is formed in the tail end of the clamp pipe, the inner pipe penetrates through the rotating hole, the head end of the inner pipe is connected with the clamp seat through a rotating mechanism, and the rotating axis of the clamp seat is perpendicular to the rotating axis of the inner pipe. The utility model has the advantages that the front end of the blade is provided with the arc-shaped hook claw, so that deep pelvic tissues can be firmly grasped, and slipping can be effectively avoided; the rotating wheel is operated to adjust the angle of the clamp seat at the rotating opening through the inner pipe and the rotating mechanism, so that the traction effect of the blades is improved; a special suction channel is arranged in the forceps tube and used for sucking smoke, blood and interstitial fluid generated in the operation process.

The embodiments of the present specification provide a clip device. The clip device comprises a sheath, a clip arm and a receiving tube, the receiving tube is releasably connected with the sheath, the clip arm comprises at least two clamping parts, the proximal ends of the at least two clamping parts are movably arranged in the receiving tube, the clip arm is opened when the clip arm moves distally relative to the receiving tube, the clip arm is closed when the clip arm moves proximally relative to the receiving tube, and the receiving tube is further used for locking the clip arm.

The present invention discloses an end effector assembly, an initial position retaining member and a surgical instrument adapted for a surgical instrument, and belongs to the field of medical instruments. The end effector assembly of the surgical instrument comprises: a proximal main body portion, defining a longitudinal axis; a distal effector portion for manipulating tissue, pivotally connected to the proximal main body portion via a joint assembly, the joint assembly being provided with a pivot shaft; the proximal main body portion comprises a bending transmission member, the joint assembly being provided with a bending drive shaft, the bending transmission member acting on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal effector portion bends relative to the longitudinal axis of the proximal main body portion; when the end effector assembly is in a position to be loaded, the distal effector portion forms an angle other than 0° relative to the longitudinal axis. The distal effector portion of the surgical instrument of the present invention can achieve large-angle bending.

The invention relates to the technical field of medical apparatus and instruments, in particular to a pressure sensing ureter guiding sheath which comprises a flexible sheath tube body provided with a near-end operation section and a far-end intervention section. The annular pressure sensing array is formed by equidistantly arranging a plurality of piezoresistive sensors along the circumferential direction of the far-end intervention section, and is used for monitoring the ureter wall contact pressure in real time; the signal processing module is integrated on the near-end operation section and is used for carrying out dynamic noise filtering and baseline calibration on the pressure signals from the annular pressure sensing array; and the display screen is connected to the signal processing module and is used for displaying the pressure distribution of the annular pressure sensing array in real time. The scheme is used for solving the problem of mechanical trauma caused by inappropriate size selection, pathological or physiological stenosis and the like in the sheathing canal implantation process in the prior art, and real-time monitoring and dynamic adjustment of the ureter wall contact pressure are realized, so that the surgical risk is reduced, and the surgical success rate is improved.