5169results about "Trocar" patented technology

The invention relates to the technical field of medical robot systems, and discloses a nerve plexus intelligent positioning anesthesia puncture robot system based on multi-modal fusion, which performs time-space synchronization on ultrasonic image flow and contact force data. The frequency domain analysis module extracts a main peak frequency by using optical flow field frequency domain transformation, and generates a probability mask for marking pulsatile tissues. The viscoelasticity verification module calculates phase lag parameters of visual deformation and contact force, identifies tissue rheological properties and calculates a dynamic damping coefficient. The deformation compensation module calculates a mechanical residual error based on a reference mechanical model, and inversely calculates the mechanical residual error into space deformation displacement of the tissue. The feedback control module combines the probability mask and the deformation displacement to generate a motion instruction. According to the invention, through multi-modal data fusion, precise identification of tiny blood vessels, dynamic identification of tissue attributes and real-time compensation of soft tissue conceding deformation are realized.

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 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.

Disclosed herein are apparatuses, systems, kits, and methods for treating skin, such as skin tightening or for treating diseases, disorders, and conditions that would benefit from tissue area or volume reduction, skin restoration, skin tightening, skin lifting, and / or skin repositioning and / or for generally improving skin function or appearance (e.g., the removal of unwanted skin features or irregularities such as sebaceous glands, sweat glands, hair follicles, necrosis, and fibrosis). Such apparatuses, systems, kits, and methods comprise an apparatus having a handheld main body and a detachably attachable tip comprising one or more needles.

A cannula system and method for tissue repair includes a cannula defining a central lumen and a divider removably coupled to the cannula. The divider has a divider shaft to separate the central lumen into at least two discrete working channels.

An intraosseous access system includes an intraosseous driver having socket configured to receive a shaft of an obturator assembly. An O-ring disposed within a groove of the shaft inhibits removal of the shaft from the socket. The O-ring can be compressed within the groove to define a frictional force between the socket and the shaft. The socket can include recesses and the O-ring may expand into the recesses to inhibit removal of the shaft from the socket. The driver can include a latch mechanism configured to selectively prevent removal of the shaft and allow removal of the shaft. An adapter can be positioned between the driver and obturator assembly where the adapter includes the latch mechanism. The latch mechanism include an actuator to selectively transition the latch mechanism between a retaining state and a releasing state.

The present embodiments relate generally to systems and methods for measuring an analyte in a host. More particularly, the present embodiments provide sensor applicators and methods of use to insert the sensor into an individual's skin. Applicators are disclosed for inserting the sensor. Such applicators may be reusable applicators configured to implant multiple different sensors.

The invention relates to the technical field of flexible needle puncture path planning and dynamic obstacle avoidance, in particular to a flexible needle dynamic obstacle avoidance path planning method based on improved BINN and optimized MOPSO, and the method comprises the steps: obtaining a to-be-punctured part, initializing a puncture environment, and updating environment parameters in the puncture environment; determining whether a fixed obstacle exists in the current puncture path of the flexible needle or not based on the environmental parameters, and if yes, adopting optimization MOPSO to avoid the fixed obstacle, and determining a global optimal path; judging whether a moving obstacle exists in the global optimal path or not, if yes, improving the BINN, avoiding the moving obstacle, and outputting a final puncture path; through combination of a multi-target particle swarm optimization algorithm and an improved biologically inspired neural network algorithm, namely combination of MOPSO for preoperative global path planning and BINN for intra-operative local planning, the advantages of comprehensiveness of preoperative planning and real-time performance of intra-operative planning are brought into full play, and efficient and accurate percutaneous puncture with dynamic obstacle avoidance capability is realized.

The invention discloses a breast surgery puncture positioning system, which relates to the technical field of image positioning, and is characterized in that a preoperative medical image and an intraoperative ultrasonic image of a patient are acquired to generate a three-dimensional model, an optimal puncture path is planned by receiving a needle insertion point of a user, and the spatial pose of a puncture needle is tracked; the optimal puncture path and the position and posture of the puncture needle are displayed on the real-time ultrasonic image in an overlapped mode, real-time deviation is calculated, the puncture needle is guided and adjusted to the target focus, and real-time compensation is carried out based on the respiratory signal and / or the displacement of the reference datum. Through the multi-modal image fusion and real-time dynamic tracking technology, the puncture precision and hit rate are remarkably improved, meanwhile, the system intelligently plans a safe path and provides an AR navigation interface, the operation difficulty and dependence on doctor experience are greatly reduced, physiological displacement interference is overcome through respiratory gating and a motion compensation mechanism, and the system has the advantages of being high in accuracy and high in reliability. Accuracy and reliability in the whole operation process are guaranteed, and finally standardized and safe mammary gland puncture diagnosis and treatment operation is achieved.

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 invention provides a puncture guiding device and method for an intelligent diagnosis and treatment system and the intelligent diagnosis and treatment system, and belongs to the technical field of intelligent medical treatment, and the puncture guiding device comprises a focus and puncture parameter determining module which is used for determining a focus area and puncture parameters of a target part; the path planning module is used for planning a motion path of the puncture driving component based on the focus area and the puncture parameters and outputting the motion path; the receiving module is used for receiving the real-time monitoring information in the puncture process of the puncture needle on the target part; the displacement determination module is used for determining the displacement of the focus area based on the real-time monitoring information; and the dynamic adjusting module is used for dynamically adjusting the motion path of the puncture driving part based on the displacement and outputting the adjusted motion path. The movement path of the puncture driving component is dynamically adjusted by monitoring the displacement of the focus area and the state of the puncture driving component in real time, so that the puncture process can adapt to the dynamic change of the target part.

The utility model relates to the technical field of surgical robots, and discloses a trocar mounting mechanism and a surgical robot. The trocar installation mechanism comprises an installation assembly, an adapter shell and an operation assembly. The mounting assembly is provided with a mounting end; a detection piece is arranged in the adapter shell, and clamping pieces capable of clamping the mounting end are arranged on the two sides of the mounting end respectively; the operation assembly comprises a handle, a connecting piece and pushing pieces, the handle and the pushing pieces are connected to the connecting piece, the pushing pieces are arranged on the two sides of the detection piece respectively, the two pushing pieces and the connecting piece define an avoiding space for containing the detection piece, and the connecting piece is movably connected with the adapter shell; and the two pushing pieces can be far away from the corresponding clamping pieces or push the corresponding clamping pieces to be far away from the mounting end. The structural arrangement of the pushing piece and the connecting piece can avoid the detection piece, the structure of the trocar mounting mechanism is simplified, production and processing are facilitated, the number of fingers occupied by an operator in the trocar dismounting and mounting process is reduced, and the operation process is simplified.

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.

A system for performing minimally invasive procedures in a body lumen of a patient including a flexible catheter having a first lumen configured and dimensioned to receive an endoscope therethrough and a second lumen configured and dimensioned to receive a first flexible tube therethrough. The first flexible tube is movable through the second lumen and has a distal portion including a first curve extending in a first direction with respect to the longitudinal axis and a second curve extending in a second different direction with respect to the longitudinal axis. A retractor system is positioned at a distal portion of the catheter and is movable from a non-expanded insertion position to an expanded position forming an expanded cage to form a larger working space. The distal portion of the first flexible tube is movable within the expanded cage.

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.

The invention discloses a puncture assisting device for an anesthesia puncture bag, and belongs to the field of puncture assisting. Comprising lifting clamping mechanisms, and the number of the lifting clamping mechanisms is two. A guide mechanism is arranged between the two lifting clamping mechanisms; a puncture mechanism is arranged on the front surface of the guide mechanism; a puncture needle body is arranged on the inner side of the puncture mechanism; the puncturing mechanism comprises a protective cylinder, a through lifting groove is formed in the left side of the protective cylinder, and the inner side of the lifting groove is rotationally connected with a lead screw through a rotating shaft; in the aspect of clamping and fixing, the lifting clamping mechanism can flexibly select a vertical clamping mode or a transverse clamping mode according to different bed body edge structures, the stable and firm clamping effect is achieved in the clamping process through a positioning rod, an adjusting bolt and other components, a firm foundation support is provided for the whole puncture operation, and the puncture safety is improved. And the puncture adjusting distance is not shortened in order to change the clamping mode.

The invention discloses a neurosurgical operation navigation method which comprises the following steps: performing three-dimensional reconstruction according to brain image data of a patient to obtain an initial brain three-dimensional model, and planning a target operation path; obtaining a two-dimensional ultrasonic image collected by an ultrasonic tool and position information of the ultrasonic tool, and performing reconstruction to generate a three-dimensional ultrasonic image; correcting the initial brain three-dimensional model according to the three-dimensional ultrasonic image to obtain a corrected brain three-dimensional model; in the puncture operation process, real-time advancing position information and a real-time intracerebral image of the endoscope positioning guide wire tool are obtained in real time, and a navigation image is generated in combination with the corrected brain three-dimensional model; and displaying a navigation image, and indicating a position relationship between the real-time advancing position and the target surgical path, so as to navigate the surgical operation process. According to the technical scheme provided by the invention, the puncture operation process of the neurosurgery can be navigated more accurately and perfectly, and meanwhile, the influence of brain drift on the navigation accuracy can be avoided.

Devices, systems, and methods for causing retrograde oxygenated blood flow in at least a portion of the venous system of the myocardium are disclosed. Devices and methods include a method for causing retrograde oxygenated blood flow in at least a portion of the venous system of the myocardium, the method comprising: implanting a variable occluder in a coronary sinus region proximate a left atrium, wherein the variable occluder is configured to gradually increase a level of blood flow restriction over a period of days to enable a venous system of the myocardium to compensate for increased pressure caused by the gradual increase in the level of blood flow restriction; and following venous system compensation, shunting oxygenated blood flow into the coronary sinus to cause retrograde flow of oxygenated blood in at least a portion of the venous system of the myocardium to thereby enable revascularization of the myocardium.

Disclosed embodiments include apparatuses, systems, and methods for preventing buckling of an elongated instrument as it is advanced through a channel. In an illustrative embodiment, an apparatus includes an anti-buckling device including at least one movable support bracket. The bracket includes a generally planar member having an inner orifice and an outer edge configured to movably engage an inner surface of a channel. The planar member is configured to provide lateral support to an elongated instrument chosen from one of a needle and a probe responsive to the elongated instrument being motivated through the channel by an actuator. The at least one bracket also includes a positioning member that extends from the planar member. The positioning member is configured to prevent the planar member from twisting within the channel. The positioning member is configured to move relative to a distal end of the actuator so as not to impede movement of the actuator.

A disclosure relates to methods and apparatus for processing an elongated body for a medical instrument. In one arrangement, targeted processing is applied to each of one or more local portions of the elongated body to cause a change in a room temperature magnetic property of material in each local portion, thereby causing the one or more local portions to have different room temperature magnetic properties than other portions of the elongated body.

An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising: a first clamp component configured to transition between an open position and a closed position; a second clamp component spaced from the first clamp component, the first and second clamp components defining a region configured to receive a portion of the cannula and configured to retain the portion of the cannula in the region when the first clamp component is in the closed position; and a locking component configured to lock the first clamp component in the open position and allow the first clamp component to automatically transition to the closed position based on a position of the portion of the cannula within the region.

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 present disclosure relates generally to the field of medical devices and establishing fluid communication between body lumens. In particular, the present disclosure relates to devices and methods for placing the muscularis layers of first and second body lumens in contact to establish a long term or permanent open flow or access passage therebetween.

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.

A method of providing a channel in nervous tissue filled with an aqueous gel for implantation of a microelectrode or other medical device lacking sufficient physical stability for direct implantation by insertion, comprises providing an apparatus comprising an oblong rigid pin covered by a dry gel forming agent; locating a target in the tissue; defining a straight insertion path a desired tissue insertion point and the target; aligning the pin with its end foremost with the insertion path; inserting the pin into the tissue to a position near or at the target; allowing sufficient time to pass for a gel to be formed around the pin, withdrawing the pin. Also disclosed is a corresponding channel; a method of implantation of a microelectrode or microprobe into nervous tissue via the channel; a corresponding method of implantation of living cells; a corresponding apparatus for forming the channel.

The invention discloses an intravascular adjustable ultrasonic real-time navigation TIPS puncture instrument, and relates to the technical field of medical devices, the intravascular adjustable ultrasonic real-time navigation TIPS puncture instrument comprises a catheter sheath, a core-through needle catheter, a hollow core-through needle and a solid core-through needle; the core-through needle catheter penetrates through the interior of the catheter sheath; an operating handle is arranged at one end of the through core needle catheter, a traction mechanism is installed on the operating handle, and a pull wire is arranged in the catheter sheath. Real-time ultrasonic images are obtained through the ultrasonic probe, so that an operator can clearly see a needle point path, and key organs such as hepatic artery, bile duct and gall bladder are effectively avoided. The bending-adjustable puncture needle provides the capability of real-time correction in an operation, can easily cope with complex anatomical variation, can keep certain rigidity through the hardness adjusting chain after bending adjustment, improves the penetrating power of the puncture needle, prevents unpredictable mechanical deformation during liver cirrhosis liver puncture, enhances the controllability after bending adjustment, and improves the safety of liver cirrhosis. And accurate execution of the preset angle is ensured.

The invention discloses an improved RRT path planning method for robot-assisted puncture based on SAC guided sampling, and the method comprises the steps: carrying out the reconstruction of a human chest and abdomen actual physiological structure three-dimensional model based on a CT image, and obtaining the human chest and abdomen actual physiological structure three-dimensional model as an obstacle for subsequent path planning; establishing a reinforcement learning environment based on the obstacle, including setting a state space, an action space and a reward function; in a reinforcement learning environment, based on obstacles, adopting an SAC algorithm to carry out SAC guide sampling model training of flexible needle path planning; adjusting and optimizing target parameters of the SAC guide sampling model based on obstacles; and sampling in the improved RRT path planning based on a mixed sampling strategy by using the parameter-optimized SAC guide sampling model to obtain a feasible path. Through a mixed sampling strategy, balance is obtained between the global search capability of uniform sampling and the local optimization capability of non-uniform guide sampling, so that the adaptability and planning efficiency of the algorithm in a complex scene are improved.

The embodiment of the invention provides a detachable detection device and a needle assistor, the detection device is used for detecting blood glucose, the detection device comprises a detection assembly, a sensor assembly and a needling assembly, the detection assembly comprises a flat shell, the outer wall of the bottom of the flat shell is sunken inwards to form a containing cavity, the sensor assembly comprises a base and a probe, the base is provided with a second via hole, and the probe is arranged in the containing cavity. The base is detachably clamped in the containing cavity, part of the probe is located in the base, part of the probe extends out of the hole wall of the second through hole and extends towards the side away from the detection assembly, and when the base is located in the containing cavity, the probe is electrically connected with the detection circuit board. According to the embodiment of the invention, the detection assembly and the sensor assembly are mutually detachable and can be clamped, so that only the sensor assembly is sterilized instead of the detection assembly in the sterilization process, and the influence on the detection circuit board in the detection assembly in the electromagnetic wave or irradiation sterilization process can be avoided; the product yield of the detection device is improved.

The invention discloses a robot-assisted execution system and method based on a pre-planned puncture scheme, and belongs to the technical field of medical robots. The method comprises the following steps: acquiring medical image data including a target area and a forbidden area; for the target area, a discrete candidate trajectory set is generated in a preset candidate trajectory generation cone, and each candidate trajectory is a space path connecting one point in the generation cone and the target area; performing a rigid geometric constraint check on the discrete candidate trajectory set to screen out candidate trajectories having geometric interference with the forbidden area to obtain a preliminarily purified candidate trajectory subset; executing a flexible quality index evaluation on each candidate trajectory in the candidate trajectory subset, and obtaining a comprehensive quality index for each trajectory; selecting a preferred execution track from the subset according to the comprehensive quality index; and the robot execution system is controlled, and puncture operation is completed according to the optimal execution track. The safety and clinical interpretability of a puncture path are improved.

A system for delivering a lead an implantable diagnostic / treatment device includes a needle defining a needle lumen and including a biased portion. The biased portion is configured to bias at least a distal end portion of the needle toward a posterior sternal wall when disposed in a body of a patient. The system includes a stylet removably coupled to the needle that is configured to selectively straighten the biased portion of the needle for insertion into the body of the patient. The system includes a guidewire configured to extend through the needle lumen and into the substernal space. The system includes a sheath configured to be advanced over the guidewire to dispose a distal end of the sheath in the substernal space. The sheath defines a sheath lumen allowing the lead to be advanced therethrough to deliver the lead to a substernal space in the body of the patient.