1877results about "Obstetrical instruments" 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 device may include a flexible tube comprising: a distal end, a proximal tip, the proximal tip comprising a suction line extension being configured for placement in a uterine cavity of a uterus after childbirth, a tube center of the flexible tube; and at least one lumen around the tube center, the at least one lumen comprising a suction line, the suction line being in communication with a source of negative pressure and the suction line extension, the suction line extension being configured for applying the negative pressure to the uterine cavity using the source of the negative pressure thereby causing mechanical hemostasis of bleeding blood vessels of a uterine wall of the uterine cavity. Embodiments include an anchoring mechanism being proximate to the suction line extension along the flexible tube, the anchoring mechanism being configured for maintaining the suction line extension in a desired position within the uterine cavity.

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.

An anti-hemorrhaging device includes an elongate body, a flexible looped segment, a shield, and an inflatable seal. The elongate body is configured to attach to a vacuum source. The flexible looped segment is attached to the elongate body includes a plurality of holes on an inner circumference thereof. The flexible looped segment is configured to be placed in a uterus. Activation of the vacuum source is configured to pull vacuum through the plurality of holes so as to collapse the uterus upon insertion of the elongate body into the uterus. The shield is folded around an exterior circumference of the looped portion and has edges that extend radially inwards relative to the flexible looped distal section. The shield is configured to prevent tissue from occluding the plurality of holes when vacuum is applied. The inflatable seal is attached to the elongate body and is configured to seal the uterus.

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 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.

Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of first and second tools carried in a tool holder at a distal end of the robotic arm.

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 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 utility model discloses a hand-operated wrench assembly, a hand-operated knife return device and an electric anastomat, the hand-operated wrench assembly comprises a hand-operated wrench handle, a hand-operated wrench shaft sleeve and a hand-operated wrench rotating shaft, and the hand-operated knife return device comprises a hand-operated wrench assembly, a knife return gear shaft, a knife return 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, manual tool retracting is achieved, and the electric anastomat comprises a manual tool returning device. 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, 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, operation difficulty and failure risks are reduced, large torque is generated with small force, and the tool retracting transmission gear can be pulled out easily. And rapid manual tool retracting is achieved.

The invention discloses a shapeable surgical instrument with a locking device, relates to the technical field of medical instruments, and is particularly suitable for single-port endoscopic surgery. The device comprises an outer rod assembly, an inner rod assembly and a handle assembly, the outer rod can be shaped into any continuous space curve by hands and keep the shape, and the problems that a traditional straight rod instrument cannot reach a narrow operation area, and a pre-bending instrument cannot be shaped secondarily are solved. The inner rod is a flexible force transmission element, the far end is connected with the tong head assembly, and the near end is connected with the handle assembly through a detachable locking device. The locking device drives a radial movable block (a sphere or a cylinder) to clamp the inner rod through an axial movable block, so that quick disassembly and assembly are realized; and the tong head can be synchronously driven to rotate (through the rotating wheel) and open and close (through the rear handle) in cooperation with the handle assembly. According to the design, the instrument is divided into three independent parts, namely the handle, the outer rod and the inner rod, an inner hole of the outer rod is thoroughly exposed, the problem that postoperative cleaning and sterilization are not thorough is solved, and the infection risk is reduced.

The invention relates to an endoscope anastomat with a percussion protection mechanism, a main body is the endoscope anastomat, the far end of the endoscope anastomat is provided with a fixed part and a rotating part, and the rotating part is pivoted with the fixed part; a cutting knife group is also arranged in the endoscope anastomat; the rotating part is a nail propping seat and the fixed part is a nail bin seat, or the rotating part is a nail bin seat and the fixed part is a nail propping seat; a nail bin assembly detachably connected with the nail bin base is arranged on the nail bin base. A nail pushing block which slides forwards and backwards is arranged in the nail bin assembly; the nail pushing block is provided with a limiting part, and when the nail pushing block is located at the initial position, the limiting part extends out of the near end of the nail bin assembly. And a pushing piece is arranged between the rotating part and the fixed part, and the pushing piece always keeps pushing force for pushing towards the direction of the limiting part at the initial position. The nail bin protection device has the beneficial effects that a protection mechanism for an empty nail bin assembly or a protection mechanism for a used nail bin assembly is realized, and potential safety hazards caused by misoperation in actual operation of an operator are solved.

The invention relates to the technical field of medical instruments, discloses a surgical instrument, and particularly relates to a shapeable surgical instrument suitable for single-port endoscopic surgery, which comprises an inner rod assembly, an outer rod assembly and a handle assembly. The outer rod assembly is made of annealed metal (such as pure copper or copper alloy), can be shaped by hands and is kept in a bent form; the inner rod is a nickel-titanium alloy multifilament or a stranded rope, and low-resistance rotation in a bending state is achieved. The handle rotating wheel drives the inner rod to rotate and is matched with the axial push-pull of the rear handle, so that the 360-degree real-time angle adjustment and opening and closing actions of the working part (forceps piece / scissors) are controlled by a single hand, and the forceps piece / scissors do not need to be taken out of a body. The problems that a traditional straight rod instrument cannot reach a narrow area, a pre-bending instrument cannot be adjusted in an operation, and an existing shaping instrument needs in-vitro angle adjustment of two hands are solved, the operation efficiency is improved, and the cleaning and sterilizing time is shortened.

This invention discloses a medical soft tissue shaving razor assembly, including a shaving blade assembly, a reducer assembly, a housing, a suction device, and an interface portion. The shaving blade assembly comprises a hollow outer blade assembly and an inner blade assembly, with the inner blade assembly nested within the outer blade assembly. Both the outer and inner blade assemblies have an opening at one end for soft tissue suction. The reducer assembly is fixed within the housing and includes a reducer housing and a transmission gear set. The other end of the outer blade assembly is connected to the reducer housing, and the other end of the inner blade assembly is connected to the transmission gear set. The interface portion includes an inner interface and an outer interface. The inner interface is connected to the transmission gear set, and the outer interface is fixedly connected to the reducer housing. The suction device includes a negative pressure suction tube that communicates with the cavity of the inner blade assembly. This medical soft tissue shaving razor assembly, by separating the shaving blade assembly from the driver and altering the communication path of the negative pressure suction tube, effectively protects the motor from damage.

The invention discloses a minimally invasive surgical instrument, and belongs to the technical field of medical instruments, the minimally invasive surgical instrument comprises a tail end tool, an operating part, a power transmission part and a connecting part, the connecting part comprises a linear part connected with the tail end tool, a bending part connected with the operating part and a spherical pair mechanism used for connecting the linear part and the bending part; the inner side of the spherical pair mechanism is provided with an inner path for smooth transition of a jaw wire, the spherical pair mechanism is provided with a rotary limiting shaft and a locking assembly, the rotary limiting shaft is configured to enable the bent part to do pitching rotation action relative to the linear part, the locking assembly comprises a locking unit and a control unit, and the locking unit is configured to provide locking force for the spherical pair mechanism. The control unit is a locking wire for connecting the locking unit and the locking operation part, and the locking operation part is reversely interlocked with the spherical pair mechanism. By adjusting the angle between the linear part and the bent part, the wrist of a doctor is located at a comfortable moving position, so that the flexibility of the wrist in the operation process is improved, and the fatigue feeling of the doctor is reduced.

The invention provides an ultrasonic knife energy automatic control method and device, electronic equipment and a medium, and the method comprises the steps: obtaining a real-time frequency change rate in the working process of an ultrasonic knife, and when the real-time frequency change rate meets a preset abnormal frequency change rate range, starting the ultrasonic knife; the output energy of the ultrasonic knife in different abnormal working states is controlled based on a gain coefficient model, the gain coefficient model is established based on the abnormal frequency change rate and the gain adjustment coefficient of the ultrasonic knife in different abnormal working states, and the abnormal frequency change rate range is determined according to the abnormal frequency change rate. According to the method, the real-time frequency change rate of the ultrasonic knife is obtained, whether ultrasound is abnormal or not is determined based on the real-time frequency change rate range and the abnormal frequency change rate of the ultrasonic knife in the abnormal working state, and when the ultrasonic knife is abnormal, the energy output by the ultrasonic knife is adjusted according to the gain coefficient model. Balanced control of energy in the ultrasonic scalpel operation cutting process is achieved, the safety and reliability of ultrasonic scalpel equipment are improved, and the operation efficiency is improved.

A steerable arm for use in an endoscopic surgical procedure. The steerable arm is cut from a nitinol tube to provide flexibility and elasticity by a structure formed by cutting the tube. Typically, the cut tube includes a helical coil whose annuluses contact at one lateral side of the tube and the tube bends to separate the annuluses at the other lateral side. The material from which the tube is made is capable of maintaining memory for bending. This provides bias for restoring the tube to a bent state whenever the force causing the tube to bend is removed.

The utility model provides an endoscope clamping type arc-shaped needle puncture device, which is characterized in that a clamping control piece controls a matching space of a locking piece to be tightened, so that the locking piece is fixedly connected with an arc-shaped suture needle; the rotating control piece controls the connecting piece to rotate relative to the mounting frame from the initial position, and the connecting piece drives the arc-shaped suture needle to rotate relative to the shell so that the arc-shaped suture needle can penetrate through the mucosal tissue of the human body. After the connecting piece moves to the final position, reverse operation is carried out to enable the connecting piece to return to the initial position, and the operation is repeated for multiple times so that the arc-shaped suture needle can repeatedly rotate by 360 degrees to suture the mucosal tissue of the human body; due to the fact that the locking piece can be fixed to any position of the arc-shaped suture needle, the arc-shaped suture needle can be driven to rotate by any angle, the precision requirement for matching between the locking piece and the arc-shaped suture needle is lowered, and when the arc-shaped suture needle punctures a hard human mucosa tissue and is blocked or the rotating stroke is not enough, the arc-shaped suture needle can be driven to rotate by any angle. The locking piece can timely adjust the fixed position point so as to provide enough puncture force and rotation stroke for the arc-shaped suture needle.

The invention relates to the technical field of medical instruments, and particularly discloses an ankle arthroscope traction device convenient to install, comprising a traction frame used for traction and stretching of an ankle joint; the device further comprises a positioning supporting base. The positioning support base limits the position of the traction frame; the detection mechanism is installed in the positioning supporting base and detects the thickness degree of the middle of the shank of the patient before traction of the ankle joint of the patient; according to the detection mechanism, when the rotary detection roller rotates, the cam rotates synchronously, the eccentric contour of the cam pushes the displacement sensing plate to slide in the sliding rail in the positioning supporting base, and the first reset spring provides reset force. A protruding structure at the bottom of the displacement sensing plate accurately acts on the pressure sensing air bag, the pressure sensing air bag is connected with the elastic reset element through the connecting pipe air guide pipe, displacement is converted into deformation of the elastic reset element, then the displacement transmission rod is driven to move, and transmission of physical signals is completed.

A method of uterine hemostasis involves inserting a suction line of a postpartum hemorrhage mitigation device through a cesarian incision into the uterine cavity, guiding the suction line through the cervix and into the vagina, positioning an anchoring mechanism of the device adjacent the internal cervical OS of the uterine cavity, closing the cesarian incision to enclose the suction line within the uterine cavity, and connecting the suction line to a negative pressure source that introduces negative pressure to the uterine cavity via the suction line, thereby causing contraction of the uterus and evacuation of fluid from the uterus via the suction line extension. Upon completion of a treatment period, the negative pressure source is disconnected, and the suction line and anchoring mechanism are extracted from the uterus through the cervical canal and the vagina.

A distal tip of a surgical tool includes a tip body and an expandable member that extends around the tip body. The tip body defines an end portion that defines an attachment surface and an elongate member that is configured to be inserted within a tubular shaft of the surgical tool. The elongate member also defines a recessed channel that terminates at the end portion. The expandable member is secured to the attachment surface with a chemical bond and is adjustable between an expanded configuration in which at least a portion of the expandable member extends radially outward from the tip body and a collapsed configuration in which at least the portion of the expandable member is oriented substantially parallel to the tip body.

The traction type midwifery assist device comprises an outer head sleeve and an inner head sleeve, and the outer head sleeve comprises an outer sleeve and an elastic clamping jaw; the inner head sleeve comprises a sleeve body, a traction pull rod and a covered edge. On one hand, on the basis of collaborative design of the elastic clamping jaws and the sleeve body, initial wrapping can be formed along with automatic outward expansion and inward contraction of the fetal head during midwifery, the edge of the sleeve opening is driven to be overturned and tightened inwards by means of the opposite acting force of the traction pull rod and the outer sleeve, dynamic gradual wrapping of the fetal head is achieved, wrapping traction can be achieved after the outer head sleeve is detached outwards, and the operation is convenient. The risk of fetal head slippage is reduced, the traction stability is enhanced, scalp hematoma, tissue injury and maternal soft birth canal injury possibly caused by traditional negative pressure suction are effectively avoided, and the safety of a mother and an infant is improved; and on the other hand, the matching of the claw tips and the covered edges is ingeniously utilized, so that the interference of the covered edges on the size change of the sleeve opening is reduced, and a smaller covering opening can be provided during inward turning covering so as to increase the covering force formed by the sleeve body and the fetal head.

The utility model provides an artificial insemination tube assembly, which belongs to the technical field of insemination tubes and comprises a storage tube, a push rod and an annular air bag, the push rod and the annular air bag are arranged on the storage tube, a feeding tube is arranged on the side wall of one end of the storage tube, and a seminiferous duct is mounted at one end of the storage tube. According to the insemination device, the annular air bag arranged on the outer side of the seminiferous duct expands while insemination is conducted, it is guaranteed that the device is fixed, meanwhile, the situation that semen flows back after insemination is effectively prevented, and then the probability of pregnancy is improved, meanwhile, two one-way valves are installed on the two sides of the annular air bag, and after the annular air bag completely abuts against the inner wall of a uterine cavity, the two one-way valves are closed. When the device is taken out, the other one-way valve is forced to be opened and closed to supplement air into the annular air bag from the outside in the subsequent process of taking out the device, so that the push plug is convenient to move to the initial position, and the safety of the device is improved. The subsequent addition and use of the seminal fluid are convenient.

The invention provides a uterine cavity balloon supporting device and a preparation method, which are used for solving the problem that in the prior art, when a supporting head is used, cervical injury is easily caused. The catheter comprises a first catheter body, a second catheter body and a supporting head made of flexible materials. The supporting head is made of the flexible material, when the expansion medium is conveyed into the supporting head through the conveying channel formed between the inner side wall of the second catheter and the inner side wall of the first catheter, the supporting head can deform and expand to be in the uterine cavity shape, the supporting head can support the uterine cavity, and intrauterine adhesion is prevented. After use, the supporting head can be attached to the first catheter by drawing out the expansion medium in the supporting head, so that the supporting head can be taken out of the human body conveniently. Therefore, the situation that the uterine cavity is scalded due to the fact that liquid with different temperatures is input, and the supporting head is still in an expanded state after use, so that when the supporting head is taken out, the supporting head clamps the cervix uteri, the supporting head is inconvenient to take out and the cervix uteri is injured is avoided.

According to the method and device for the endoscope to automatically follow the instruments, the electronic equipment and the storage medium, the actual focusing center and the real-time video of the endoscope are firstly obtained, then the real-time video is processed, the current operation stage is recognized, the real-time position information and the weight of each instrument in the real-time video are obtained, and the real-time position information and the weight of each instrument in the real-time video are obtained; the weights of the instruments and the corresponding position information are subjected to weighted fusion, the semantic attention center of the endoscope is obtained, and finally the focus center of the endoscope is adjusted according to the actual focus center and the semantic attention center. According to the technical scheme, the weight and the semantic attention center of each instrument are calculated by fusing the multi-dimensional features of the basic data, and finally, the logic of the focusing center of the endoscope is dynamically adjusted, so that intelligent following in a multi-instrument collaborative scene is realized, the defects of single instrument tracking and lack of semantic adaptation in the prior art are overcome, and the tracking efficiency is improved. And the flexibility and the accuracy of the automatic following instrument of the endoscope are improved.

A surgical system includes an ultrasound device and a surgical instrument. The ultrasound device includes a shaft having a body defining a longitudinal axis and including a lumen extending coaxially therethrough, and an ultrasound sensor assembly configured to enable ultrasound imaging of a field of view. The ultrasound sensor assembly is disposed at a distal end portion of the body of the shaft, offset relative to the longitudinal axis, and oriented such that the field of view is offset relative to the longitudinal axis. The surgical instrument is configured for removable insertion through the lumen of the body of the shaft and to extend distally from the distal end portion of the body of the shaft.

The invention discloses a film water collection negative pressure system for an antibacterial operation. The film water collection negative pressure system comprises a water collection main body, a waterproof film and a negative pressure drainage tube. The shape of the water collecting main body is configured to surround a water collecting area on the outer side of a surgical incision on the body surface of a patient, and microporous structures facing the stoma of the human body are distributed on the water collecting main body; the water collecting main body and the water collecting area are covered with the waterproof thin film, the waterproof thin film is provided with a surgical operation opening corresponding to the stoma of the human body in position, and the waterproof thin film is further provided with a liquid passing hole facing the micropore structure; the head end of a tube body of the negative pressure drainage tube is connected with the micropore structure in an attached mode. And the tail end of the tube body of the negative pressure drainage tube is communicated and connected with a negative pressure source. Sterile normal saline for lavage incision can be prevented from flowing to an operating table, a bed sheet and the ground along the body of a patient, the sterile environment of an operation area is guaranteed, the risks of low body temperature, postoperative infection and the like in the operation of the patient are reduced, and the experience of the patient in the perioperative period is improved.

An easily detachable inner core assembly and surgical instrument using the same, comprising an inner rod assembly and an outer tube assembly, the outer tube assembly comprising a base and a hollow outer tube. The inner rod assembly comprises a first jaw, a second jaw, a first connecting rod, a second connecting rod, a main pin, a retainer ring and a driving rod. The first jaw comprises a first jaw tail, and the second jaw comprises a second jaw tail. The main pin comprises a pin head and a pin flange. The first jaw tail and the second jaw tail are stacked together, and the retainer ring is fixed with the main pin or the second jaw tail, thereby fixing the first and second jaw tails between the pin flange and the retainer ring to form a first rotating pair that can rotate around the main pin. The first jaw tail and the first connecting rod match to form a second rotating pair, and the second jaw tail and the second connecting rod match to form a third rotating pair. The first connecting rod and the driving rod match to form a fourth rotating pair, and the second connecting rod and the driving rod match to form a fifth rotating pair. The inner rod assembly is installed in the outer tube assembly, wherein the main pin shaft matches with the base to form a quick detachable structure.

The utility model provides an improved ureter sheath, which comprises an expanded sheath seat and a slender sheath tube, the size and shape of the sheath tube are suitable for entering a target area in a body through a body lumen, the sheath tube longitudinally extends from a near end to a far end, and the sheath tube defines a central channel longitudinally extending from the near end to the far end. The sheath base is coaxially connected to the near end of the sheath tube, a cavity communicated with the central channel is defined by the sheath base, the near end of the cavity is provided with an inlet allowing an instrument to enter, a sealing valve is arranged at the inlet, and the sealing valve comprises a passage penetrating through the sealing valve to allow the instrument to enter in a sealed mode; a connector communicated with the cavity is arranged on the sheath base, and the connector is suitable for being connected with external suction equipment so as to generate negative pressure in the central channel; a pressure regulating valve used for regulating the pressure in the cavity is arranged on the sheath seat, and the pressure regulating valve is arranged by avoiding a negative pressure suction path.

The invention belongs to the technical field of digital surgery, and particularly relates to a hysteroscope surgical robot control method and system based on multi-modal perception. The method comprises the steps of collecting multi-modal input signals such as visual, auditory, tactile, force sense and pose signals, uniformly performing time synchronization and perception track construction, and combining semantic behavior intention inference and tactile opportunity judgment to realize multi-dimensional consistency verification of operation instructions. And after the judgment result is valid, extracting control execution parameters, driving the mechanical arm to perform accurate operation, recording an execution process and updating a control threshold value to optimize feedback performance. The system comprises an input signal acquisition module, a six-dimensional force sensor module, a semantic inference module, a modal fusion module and the like, a closed-loop structure from sensing to control is constructed, and the operation precision, the interaction stability and the safety response capability of the hysteroscope robot in an operation are remarkably improved.