1400results about "Laproscopes" patented technology

Disclosed are a method, system, and device for removing smoke from laparoscope images based on a conditional diffusion model. The method includes: segmenting a video of a laparoscopic surgery according to the number of frames to form a data set; performing smoke rendering on the obtained laparoscope smokeless images, and synthesizing paired smoky images to obtain a synthetic data set containing the smokeless images and the smoky images; inputting the smokeless images into the conditional diffusion model for forward noise addition, and continuously adding noise until the smokeless images are completely noised; inputting the smoky images into a smoke sensing module to obtain smoke concentration and position information, then training a neural network, and continuously performing reverse denoising on the completely noised images using the trained neural network until clear smokeless images are outputted; and optimizing a smoke removal model through a multi-loss function fusion strategy.

Co-manipulation robotic systems are described herein that may be used for assisting with surgical procedures, including laparoscopic surgery. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Provided herein are imaging systems for a patient including an imaging probe and an imaging assembly. The imaging probe includes an elongate shaft with a rotatable optical core positioned within a lumen of the elongate shaft. The imaging probe further includes an optical assembly to direct light to tissue to be imaged and to collect reflected light from the tissue to be imaged. The system further includes an imaging assembly optically coupled to the imaging probe. The system further includes a processing unit with a processor and a memory coupled to the processor, and the memory stores instructions for the processor to perform an algorithm. The system records image data based on the reflected light collected by the optical assembly, such that the image data comprises data collected from a segment of a blood vessel during a pullback procedure. The algorithm can analyze the image data.

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.

A catheter steering system wherein the user interface device is a flexible shaft that can be manipulated by hand. The motion imparted on the flexible steering device is reflected in the motion of the catheter tip through an arrangement of pull wires or other mechanisms. Through this arrangement a more intuitive control of the catheter tip is obtained. In an example, a catheter control device includes a catheter port configured to receive the proximal end of a catheter that includes one or more pull wires for attachment to a swashplate, a swashplate, a steering shaft configured to bend in response to a force being applied to the steering shaft; and a mechanism configured to translate the bend of the steering shaft to movement of the swashplate to correspondingly move the distal tip of a catheter coupled to the swashplate.

An electronic device displays a widget dashboard user interface in a three-dimensional environment, displays a representation of a physical tool to as guidance for indicating a location of the physical tool relative to a location associated with video feed, displays suggestions for changing a pose of a camera to a predetermined pose based on image data detected while the camera previously had the predetermined pose, displays a live camera feed and image data and scrubs through the image data in accordance with changes to a pose of the camera relative to a physical object, displays live stereoscopic camera feed with special effects, detects and responds to inputs for virtually annotating portions of objects, and / or displays models of objects and detects and responds to input for rotating and / or viewing the model from different depth positions within the model.

The invention discloses a gastrointestinal surgery laparoscopic surgery anti-fog device, relates to the technical field of laparoscopic instruments, and provides the following scheme that the gastrointestinal surgery laparoscopic surgery anti-fog device comprises a laparoscope, the front end of the laparoscope is fixedly connected with a lens connecting assembly, and the front end of the lens connecting assembly is connected with a lens anti-fog assembly; a lens negative pressure anti-pasting assembly is arranged on the left side wall of the laparoscope. The temperature control system is arranged in the laparoscope instrument, the temperature sensing device is arranged at the head end, preheating is conducted according to the body temperature of a patient, the temperature difference between the laparoscope and the body temperature of the patient is reduced, and fogging is avoided; the laparoscope instrument is designed in a split mode, all the sections are connected through the clamping structures, on one hand, the laparoscope can be in butt joint with different laparoscope lenses, and on the other hand, the detachable laparoscope is convenient to clean.

The invention provides a cerebrospinal fluid peritoneal shunt peritoneal section endoscope assist device, and relates to the technical field of medical instruments, the endoscope assist device comprises a cerebrospinal fluid peritoneal shunt tube, the endoscope assist device comprises a puncture sheath shell, the periphery of the cerebrospinal fluid peritoneal shunt tube is wrapped with the puncture sheath shell, and a strip-shaped clamping groove is formed in the periphery of the puncture sheath shell; the strip-shaped insertion plate is connected with the strip-shaped clamping groove in a sliding mode, and the strip-shaped insertion plate is connected with the puncture sheath shell through a locking piece; an endoscope channel is arranged on the inner wall of the strip-shaped insertion plate and is used for mounting an endoscope; the puncture sheath shell is inserted into the abdominal cavity, a guiding effect is achieved when the cerebrospinal fluid peritoneal shunt tube enters the abdominal cavity, and due to the design that the puncture sheath shell and the strip-shaped inserting plate can be opened and closed, the puncture sheath shell can be conveniently separated from the cerebrospinal fluid peritoneal shunt tube through the strip-shaped clamping groove.

An imaging system for a patient comprises an imaging probe. The imaging probe comprises: an elongate shaft for insertion into the patient and comprising a proximal end, a distal portion, and a lumen extending between the proximal end and the distal portion; a rotatable optical core comprising a proximal end and a distal end, and at least a portion of the rotatable optical core is positioned within the lumen of the elongate shaft; an optical assembly positioned proximate the distal end of the rotatable optical core, the optical assembly configured to direct light to tissue and collect reflected light from the tissue; a damping fluid positioned between the elongate shaft and the rotatable optical core and configured to reduce non-uniform rotation of the optical assembly; and a fluid pressurization element configured to increase the pressure of the damping fluid to reduce the presence of bubbles proximate the optical assembly.

This disclosure describes an interactive augmented reality system for improving surgeon's view and context awareness during laparoscopic and video assisted surgeries. Instead of purely relying on computer vision algorithms for image registration between pre-operation (or intra-operation) images / models and later intra-operation scope images, the system can implement an interactive mechanism where surgeons may provide supervised information in initial calibration phase of the augmented reality function, thus achieving high accuracy in image registration. Besides the initialization phase before operation starts, interaction between surgeon and the system can also happens during the surgery. Specifically, patient tissue might move or deform during surgery, caused by for example cutting. The augmented reality system can re-calibrate during surgery when image registration accuracy deteriorates, by seeking additional supervised labeling from surgeons. The augmented reality system can improve surgeon's view during surgery, by utilizing surgeon's guidance sporadically to achieve high image registration accuracy.

The utility model relates to a 4K fluorescent endoscope optical system, which comprises an objective lens system, a relay lens system and an eyepiece system which are sequentially arranged along the light propagation direction, and is characterized in that the objective lens system is of a reverse long-distance structure; the system comprises a sapphire protection lens, a negative focal power lens, a prism or a steering prism, a positive focal power plano-convex cemented lens, a positive focal power triple cemented lens and a first positive focal power double cemented lens which are arranged along a light propagation direction, the relay lens system comprises n relay lens groups, and each relay lens group is of a double telecentric structure. And the eyepiece system is arranged in the light transmission direction and is formed by symmetrically arranging two doublet rod lenses, n is an odd number, the eyepiece system is of an object space telecentric structure, and the eyepiece system comprises a second positive-focal-power doublet lens, a positive-focal-power lens and a sapphire lens which are glued into a whole in the light transmission direction. The structure of an optical system can be simplified, production and processing cost can be reduced, and 4K ultra-high-definition fluorescent laparoscopic imaging can be realized at the same time.

Co-manipulation robotic systems are described herein that may be used for assisting with surgical procedures, including laparoscopic surgery. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Disclosed are a method, system, and device for removing smoke from laparoscope images based on a conditional diffusion model. The method includes: segmenting a video of a laparoscopic surgery according to the number of frames to form a data set; performing smoke rendering on the obtained laparoscope smokeless images, and synthesizing paired smoky images to obtain a synthetic data set containing the smokeless images and the smoky images; inputting the smokeless images into the conditional diffusion model for forward noise addition, and continuously adding noise until the smokeless images are completely noised; inputting the smoky images into a smoke sensing module to obtain smoke concentration and position information, then training a neural network, and continuously performing reverse denoising on the completely noised images using the trained neural network until clear smokeless images are outputted; and optimizing a smoke removal model through a multi-loss function fusion strategy.

An imaging system for a patient comprises an imaging probe. The imaging probe comprises: an elongate shaft for insertion into the patient and comprising a proximal end, a distal portion, and a lumen extending between the proximal end and the distal portion; a rotatable optical core comprising a proximal end and a distal end, and at least a portion of the rotatable optical core is positioned within the lumen of the elongate shaft; an optical assembly positioned proximate the distal end of the rotatable optical core, the optical assembly configured to direct light to tissue and collect reflected light from the tissue; a damping fluid positioned between the elongate shaft and the rotatable optical core and configured to reduce non-uniform rotation of the optical assembly; and a fluid pressurization element configured to increase the pressure of the damping fluid to reduce the presence of bubbles proximate the optical assembly.

The invention discloses a folding type clamping device, relates to the technical field of medical instruments, and is suitable for working channels of superfine endoscopes such as a breast duct endoscope. The clamping device comprises a clamping assembly, a transmission assembly, a limiting assembly and an operation assembly. The clamping assembly comprises a metal pipe body and an integrally-formed retractable net basket structure, the transmission assembly is a traction steel wire with the front end connected with the net basket structure, the limiting assembly limits the stroke of the traction steel wire through a bridge type metal pipe and a movable pin, and the operation assembly drives the traction steel wire to move. The mesh basket structure is in a closed state without external force and can be inserted into an endoscope channel; after the tissue leaves the channel, the operation assembly drives the traction steel wire to control the net basket to open and close to clamp the tissue in combination with visual observation. The device is made of medical stainless steel, is a disposable sterilized product and can be used after being disassembled. The device breaks through the sampling bottleneck of a superfine endoscope, sampling is stable and safe, early diagnosis of breast diseases is assisted, and the clinical value of the endoscope is improved.

The invention provides a balloon endoscopic system for intravascular direct vision examination, and relates to the technical field of medical instruments, the balloon endoscopic system comprises a catheter, a balloon capable of being filled and discharged, an endoscope lens, a light source assembly and an image transmission processing module, a cavity channel used for containing the endoscope lens and a conduction component of the light source assembly is formed in a catheter body of the catheter, and the catheter body of the catheter is internally provided with a cavity channel used for containing the endoscope lens and the conduction component of the light source assembly; the filling pipeline is used for supplying liquid to the inflatable and deflatable balloon; the inflatable and deflatable balloon is fixedly connected to the outer surface of the front end of the catheter, and the inflatable and deflatable balloon is used for bulging after being conveyed to a target position in a blood vessel. The inflatable and deflatable balloon can block blood flow and open the blood vessel wall after bulging and is matched with transparent filling liquid injected into the filling pipeline, residual blood can be further removed, a blood-free observation window is formed, interference of blood on imaging is avoided, and a foundation is laid for clearly observing the condition of the blood vessel wall. The inner wall of the balloon is coated with a nano anti-fog coating, so that the penetrability of a light source is ensured, and the fogging surface influence caused by blood residue or temperature difference can be avoided.

A centrally coordinated and synchronized robotic system for robotic sewing procedures, such as bilateral spinal robotic sewing procedures, includes multiple robotic arms and a controller that can manipulate the robotic arms to position tools, end effectors, cameras, or navigation elements, such as a suturing needle and a marker or label for use in a robotic sewing procedure. The markers or labels may be placed on different tissue portions, including for example skin and surgically exposed tissue, to help guide the robotic arms and deployment of the markers to perform bilateral robotic sewing.

The invention discloses a visual monitoring method assisted by an AI image recognition algorithm in a transparent working sleeve under a spine endoscope, and relates to the technical field of medical instruments, and the method comprises the following steps: collecting a torque waveform, a perfusion pressure signal and a cavity pressure signal under a unified event time base line, constructing a resonance frequency band spectrum, and obtaining a resonance frequency band spectrum; calculating a resonance pressure index and extracting a phase evolution trajectory for liquid level distortion reconstruction; and under the constraint of the resonance pressure index and the phase evolution trajectory, recovering the liquid level phase, reconstructing a lens phase field in front of the camera, calculating a view distortion gradient, and determining a liquid level dynamic distortion core area. According to the method, a resonance dynamic map is constructed through multi-source data fusion, a liquid level potential field is reconstructed, a visual field distortion area is locked, artifacts are eliminated in combination with image feature recognition, perfusion control is reversely driven based on a reliable visual field state, and a closed-loop regulation and control strategy with time reversal gating and self-adaptive updating capacity is formed. And stable and intelligent control of the visual field in the operation is realized.

The invention relates generally to endoscopes and endoscope systems, in particular also to disposable endoscopes and / or disposable endoscope systems.

The endoscope with the suction function comprises an endoscope assembly and an aspirator assembly, the endoscope assembly comprises a handle and a main body catheter, and a visualization assembly and a forceps channel assembly are arranged in the endoscope assembly; the aspirator assembly comprises an aspiration tube, a connecting arm and a connector communicated with the aspiration tube, the connecting arm comprises a first connecting part and a second connecting part, the first connecting part is connected to the near end of the aspiration tube and / or the periphery of the connector, the aspiration tube can be inserted into the forceps channel, and meanwhile the connecting arm is clamped on the outer surface of the near end of the handle; and the distance between the far end of the suction tube and the far end of the main body catheter can be adjusted and locked through the connecting arm. According to the endoscope with the suction function, the connecting arm is clamped on the outer surface of the near end of the handle, rapid connection and disassembly of the suction device assembly and the endoscope assembly can be achieved, the distance between the far end of the suction tube and the far end of the main catheter can be adjusted and locked through one-hand operation after connection, operation is convenient and fast, flexibility is high, and the structure is simple.

A system and method of recentering an imaging device and input control devices includes a medical device having one or more end effectors, an imaging device, one or more input control devices for remotely operating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input control devices. The control unit, in response to a recentering request, suspends remote operating control of the end effectors by the input control devices, determines a field of view recentering movement for the imaging device so that the end effectors are contained within a field of view space of the imaging device, determines one or more input control device recentering movements to provide a position and orientation harmony between each of the input control devices and a corresponding end effector of the end effectors, executes the field of view recentering movement and the input control device recentering movements, and resumes remote operating control of the end effectors by the input control devices.

A system for detecting motion between an implant and a bone that can optionally include: a bone locator means configured to be coupled to the bone, an implant attachment means configured to be coupled to the implant, and a data analysis means. The implant attachment means includes a detection means, and the implant attachment means defines one or more apertures or surfaces for receiving a force from a force inducing means.

The utility model discloses an endoscope holding device, and relates to the technical field of endoscope auxiliary tools. The device comprises a pipe body and a clamping piece, wherein a first hole and a second hole are formed in the middle of the pipe wall of the pipe body; the first hole is a through hole, and the second hole is a through hole or a blind hole formed in the inner side of the pipe wall of the pipe body. The first hole and the second hole are symmetrically arranged relative to the middle axis of the pipe body; the clamping piece is inserted into the first hole and the second hole; a third hole is formed in the middle of the clamping piece, the third hole is a through hole, and the third hole is communicated with the channel in the pipe body; an elastic piece is arranged between the clamping piece and the pipe wall of the pipe body, and the elastic piece controls the third hole and the channel in the pipe body to be coaxially or non-coaxially arranged.

The invention provides a uterine cavity resectoscope, and belongs to the technical field of resectoscopes. Comprising an endoscope, the outer wall of the endoscope is sleeved with an operator body, the outer wall of the operator body is slidably connected with an electrode connecting piece, the outer wall of the electrode connecting piece is rotatably connected with a pushing piece, the pushing piece is rotatably connected to the outer wall of the operator body, and the outer wall of the operator body is fixedly connected with a connecting block; the plugging assembly is used for assisting medical staff in inserting the outer sheath and the inner sheath into the uterine cavity of the patient, and the plugging assembly is connected with the electrode connecting piece, the connecting block, the outer sheath and the inner sheath. By arranging the plugging assembly, after the two semicircular pieces are closed to form the blunt end structure, the window holes in the ends, away from the connecting block, of the outer sheath and the inner sheath can be sealed, the situation that when medical staff control the outer sheath and the inner sheath to be inserted into the uterine cavity of the patient, the window holes in the ends of the outer sheath and the inner sheath injure the uterine cavity of the patient is avoided, and use of the medical staff is facilitated.

A visualization instrument holder device can be used during a medical procedure to easily and safely reposition and reorient a visualization instrument while maintaining a constant insertion depth. The device can include an instrument lock defining an opening, a distal tubular member coupled to the instrument lock, and a pivot coupled to the distal tubular member. The distal tubular member can include a channel extending therethrough, and the opening and the channel can be configured to receive the visualization instrument. The pivot can include a curved surface that allows the distal tubular member to pivot about and against the patient. The device can include a proximal tubular member movable relative to the distal tubular member, allowing adjustment of a total length of the device. The device can also include a fixing element for locking a position of the proximal tubular member relative to the distal tubular member.

The invention provides an endoscope retreating planning method and device, image processing equipment and an endoscope system.The endoscope retreating planning method comprises the steps that an endoscope entering detection result obtained by conducting anomaly detection on a cavity in the endoscope entering process is obtained, and an anomaly detection target comprises a focus; and planning the mirror retreating speed according to a mirror entering detection result.

An apparatus includes a proximal structure configured to be positioned extracorporeally relative to a patient, and a distal structure extending distally from the proximal structure and configured to be passed through a body wall and into a body cavity of the patient. The distal structure cooperates with the primary structure to define a primary axis and a working channel sized and configured to receive and guide a surgical scope shaft distally therethrough along the primary axis. The proximal structure has a greater maximum dimension in a direction transverse to the primary axis than the distal structure. The apparatus further includes an articulation feature at a distal end of the distal structure that is configured to articulate relative to the proximal structure to direct the surgical scope shaft along a secondary axis that is angled relative to the primary axis.

The invention discloses a laparoscopic surgery image enhancement and real-time auxiliary system, and relates to the technical field of medical image processing and intelligent auxiliary surgery. According to the laparoscopic surgery image enhancement and real-time auxiliary system, a laparoscopic image flow is obtained and cleaned through the video input and preprocessing module, image enhancement processing is carried out through a deep learning model, then spatial position features of a tissue structure and an instrument are extracted, and a structure recognition index and a spatial safety index are analyzed; according to the invention, through cooperative work of the image preprocessing module and the depth image enhancement model, brightness compensation, edge enhancement, denoising, smoke suppression and other operations are performed on the laparoscope image stream, the depth model is utilized to extract multi-scale image features and reconstruct details, and an enhanced video image stream is generated; therefore, the intraoperative abdominal cavity structure and instrument boundary is clearer, the positioning judgment precision of a doctor is remarkably improved, and the misjudgment risk caused by image blurring is reduced.

The invention discloses an endoscope pneumoperitoneum pressure system based on AI image evaluation and an intelligent adjusting method, and the method comprises the steps: 1, obtaining an original image of the abdominal cavity of a patient through CT equipment, carrying out the standardization processing of the original image, generating a standardized CT image data set, and constructing a three-dimensional dynamic model of the abdominal cavity of the patient based on an AI algorithm; in the second stage, quantitative analysis of subcutaneous fat thickness, visceral organ volume and operable space volume is carried out on the three-dimensional dynamic model by adopting an AI segmentation algorithm, and a personalized pneumoperitoneum pressure target value Ptarget and an adjustment threshold range are generated through a machine learning model in combination with basic illness state data of the patient; in the third stage, working data are collected in real time through a built-in sensor of the endoscope system, and the working data are input into the reinforcement learning model to dynamically calculate a pressure adjusting instruction delta P; through deep fusion of the AI technology and system closed-loop control, the intelligent level of the endoscope system is remarkably optimized, good hardware support is provided, and the function of optimizing the operation environment and effect is achieved.