3966results 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.

The invention relates to the technical field of medical apparatus and instruments, and discloses a multi-degree-of-freedom flexible arthroscope bite forceps which comprise a handle shell, a rigid connecting pipe is fixedly connected to the front end of the handle shell, and a driving handle is hinged to the rear end of the handle shell; the bite forceps assembly comprises a flexible pipe and a bite forceps head, one end of the flexible pipe is connected with the rigid connecting pipe, the bite forceps head is detachably connected with the other end of the flexible pipe, and the driving handle is connected with the bite forceps head and is configured to enable the bite forceps head to be meshed when the driving handle is pinched; the control assembly comprises two control pieces, the two control pieces are arranged in the handle shell respectively, the top ends of the two control pieces stretch out of the handle shell to be fixedly connected with a rotary knob, and the two control pieces are connected with the bite forceps head respectively and are configured to drive the bite forceps head to conduct vertical / transverse angle adjustment when the rotary knob is manually screwed. Multi-degree-of-freedom rotation operation of the arthroscope bite forceps is achieved, the operation flexibility of surgeons is guaranteed, and the operation efficiency is improved.

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.

A unilateral external fixator (“UEF”) and method of controlling the UEF. Apparatus comprises a central body connected to a first base and a second base via joints. Two angular adjustment screw assemblies control position between the central body and the first base. Two additional angular adjustment screw assemblies control position between the central body and the second base. A first axial adjustment screw assembly in the first base adjusts axial position of a first bone attachment base. A second axial adjustment screw in the second base adjusts axial position of a second bone attachment base. Method comprises uploading a first set of x-rays to a computer program, characterizing geometry of a bone deformity with the program, recommending frame geometry for correcting the deformity, then after surgery uploading a second set of x-rays with fixator attached, characterizing geometry again, calculating fixator adjustments necessary to align bones, and providing proposed fixator positions.

Disclosed are bone screw drill targeting guides and methods for using such targeting guides that are useful in surgical procedures for correcting hallux valgus deformity.

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 provides a visual catheter with perfusion and suction functions, the catheter comprises a catheter body and a camera shooting assembly, the catheter body comprises an operation part and an intubation tube from the near end to the far end, the camera shooting assembly comprises a camera installed at the head end of the intubation tube, and the operation part is connected with the camera shooting assembly. The operation part comprises an operation part shell, and a perfusion joint, a suction joint and an instrument inlet which are arranged on the operation part shell; a main channel extending in the longitudinal direction, at least one liquid drainage channel and at least one instrument channel allowing instruments to pass through are arranged in the cannula, and the main channel, the liquid drainage channel and the instrument channel are arranged in a separated mode.

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 pedal control type urinary surgery ureteroscope perfusion pressure pulse adjusting device which is characterized in that the piston head in the middle of three groups of piston heads is inserted into a liquid injection cavity, and the piston heads on the two sides are inserted into a pressure cavity; the three sets of piston heads can inject liquid and high-pressure gas into the control valve cavity from the liquid injection cavity and the pressure cavity. A pedal control mechanism is innovatively introduced, a worker treads a pedal frame in a reciprocating mode, controls liquid to clean a lens and flushes broken stones in a matched mode, the rhythm of treading flushing can be better controlled through autonomous reciprocating treading of a doctor, the situation that an assistant needs to repeatedly use an injector and an extension tube for pushing injection in a traditional urinary surgery is avoided, and the working efficiency is improved. The problems that doctors need to be frequently matched with nurses, the examination concentration of the doctors is easily affected are solved, operation is more efficient, and the problem that the injectors are repeatedly replaced is solved.

The invention relates to the technical field of medical instruments, and provides a pneumoperitoneum machine pressure measurement abnormity control method which comprises the following steps: acquiring air inlet pressure, pressure measurement pressure and smoke exhaust pressure; calculating a difference value between the air inlet pressure and the pressure measuring pressure and a difference value between the pressure measuring pressure and the smoke exhaust pressure; when the difference value between the air inlet pressure and the pressure measuring pressure is larger than a first preset difference value and smaller than a second preset difference value, and the difference value between the pressure measuring pressure and the smoke discharging pressure is larger than a third preset difference value and smaller than a fourth preset difference value, the pressure measuring pressure is selected as display pressure; otherwise, starting a first pressure measurement abnormity detection program. By monitoring the difference value between the air inlet pressure and the measured pressure and the change of the difference value between the measured pressure and the smoke exhaust pressure, pressure monitoring abnormity caused by equipment faults in the operation process can be recognized, the equipment stability is improved, and the operation risk is reduced.

A clamping device (100) for connecting pins (201) and / or bar elements (202) of an external fixator (200) is proposed, which has a first clamp (10) and a second clamp (20), wherein a tension element (31) connecting the first clamp (10) to the second clamp (20) is provided in a through hole (30) in the first clamp (10) and the second clamp (20), wherein the tension element (31) is mounted in the second clamp (20) and has a thread (33) engaging in a mating thread of a tightening means (40), wherein the tension element (31) is provided for bracing the first clamp (10) and the second clamp (20) by screwing of the thread (33) into the mating thread, wherein the clamping device (100) has a spring means (50) for pretensioning the first clamp (10) and the second clamp (20), wherein the tightening means (40) is arranged between the spring means (50) and the tension element (31).

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.

Devices and methods for treating bone fractures involving a micromotional unit (6) that produces reciprocating displacement between two fracture fragments (1) to thereby apply controllable micromotion to a fracture site.

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 relates to the field of myoma stripping instruments, and discloses a hysteroscope uterine submucosa myoma stripper which comprises a handle, a controller and a power source, a catheter is arranged at one end of the handle, a smashing head is arranged at one end of the catheter, a movable covering mechanism is arranged on the outer side of the smashing head, and the movable covering mechanism is arranged on the outer side of the handle. The movable covering mechanism is used for clamping and fixing the myoma and then is matched with the crushing head to stably crush the myoma; the movable covering mechanism comprises a plurality of cover plates, one ends of the cover plates are movably connected to the guide pipe, and the cover plates are distributed in the circumferential direction; and the driving assembly is used for driving the plurality of cover plates to realize expansion or contraction actions. According to the myoma crushing device, the movable covering mechanism is arranged, so that the process of covering and wrapping the crushing head and clamping myoma for crushing can be realized according to needs, and compared with adverse consequences caused by overflow of myoma crushing by a direct method, the myoma crushing device is more reasonable in treatment of myoma tissues and higher in safety.

The manual knife returning device comprises a manual wrench assembly and a knife retracting assembly, the manual wrench assembly comprises a manual wrench handle, a manual wrench shaft sleeve and a manual wrench rotating shaft, and the knife retracting assembly comprises a knife retracting gear shaft, a knife retracting transmission gear, a motor gear and a rack. The tool retracting gear shaft and the tool retracting transmission gear can be driven to move upwards by rotating the manual wrench assembly, the tool retracting transmission gear is separated from the motor gear, the rack can be driven to retract through the tool retracting transmission gear by continuously rotating the manual wrench assembly, and manual tool retracting is achieved. By means of the mode, when the electric gear is rotated upwards through the lower half section of the wrench assembly, the middle section of the wrench is kept static, so that the tool retracting transmission gear can be easily pulled out, the wrench is further used as a torsion input tool after being pulled out, manual tool retracting is achieved, and the labor intensity of workers is reduced. And the risk that the knife cannot be retracted manually when the resistance is too large in the operation process is avoided.