130results about How to "Improve surgical precision" patented technology

The invention discloses a multi-mode-based self-adaptive control method and system for energy surgical equipment, and relates to the technical field of medical instrument control. The invention discloses a multi-mode-based self-adaptive control system for energy surgical equipment. The multi-mode-based self-adaptive control system comprises a waveform mode generation module, a real-time tissue parameter acquisition module, an acting tissue prediction module, a data analysis and decision module, a self-adaptive control output module and a safety monitoring and abnormal response module. By monitoring the contact area of the equipment electrode and the tissue in real time, the waveform mode and the output power are dynamically adjusted, and the uniformity and the high efficiency of energy transfer are ensured; on the basis of a tissue prediction model of individual characteristics of a patient, prior analysis is carried out by utilizing data acquired in real time, and response lag caused by drastic change of tissue states is avoided by predicting the tissue states at the next moment and adjusting waveform modes and parameters in advance, so that the prospective regulation and control capability of energy surgical equipment is remarkably improved.

The invention relates to the medical instrument technology, and discloses an ultrasonic intervention automatic puncture surgical robot and a control method, and the ultrasonic intervention automatic puncture surgical robot comprises a needle feeding mechanism, a rotating mechanism, a probe clamping mechanism, a depth control mechanism and a force sensor mechanism; wherein the probe feeding mechanism is connected with the depth control mechanism through the rotating mechanism, the depth control mechanism is connected with the back surface of a main body substrate of the probe clamping mechanism, the front surface of the main body substrate is provided with a clamping piece of an ultrasonic probe, and the main body substrate is also fixedly provided with the force sensor mechanism; the rotating mechanism is used for adjusting the needle inserting angle of the needle inserting mechanism; the depth control mechanism is used for controlling the needle feeding mechanism to move in the vertical direction; a puncture needle which advances and retreats in a linear motion manner is arranged in the needle feeding mechanism, and the puncture needle is arranged on the coronal plane of the ultrasonic probe; the force sensor mechanism is used for measuring the force applied to the human tissue by the puncture needle. The invention aims to realize automation, precision and safety of the puncture operation and reduce the workload of doctors.

The invention relates to an intelligent neural navigation system for neurosurgery and a use method thereof.The intelligent neural navigation system comprises an image collecting and processing unit, an intelligent planning unit, a positioning and tracking unit, a visual interaction unit and a data management and updating unit. The optimal operation scheme is selected through operation simulation operation, so that a doctor is helped to master the condition of a patient more clearly, personalized adjustment can be carried out in real time, the operation scheme better fits the actual condition of the patient and the operation habit of the doctor, and the success rate and the quality of an operation are improved. Meanwhile, an optical positioning sensor and an electromagnetic positioning sensor are integrated, accurate position information of the surgical instrument and the area, needing to be treated, of the patient is obtained in real time, operation of the surgical instrument is accurately guided, then it is ensured that the surgical instrument is accurately matched with the preoperative planned path, and mistaken damage to surrounding normal tissue in the surgical process is reduced; and the accuracy and the safety of the operation are improved.

The invention belongs to the technical field of medical instruments, and provides a surgical robot which comprises an outer sleeve. The snake bone pipe is separably arranged in the outer sleeve in a penetrating manner; the tail end instrument is arranged at the far end of the snake bone tube, and the tail end instrument can penetrate through the outer sleeve along with the snake bone tube to enter a target cavity; the multiple traction ropes are located in the snake-bone pipe, and one end of each traction rope is at least located at the far-end position of the snake-bone pipe; the limiting parts are sequentially arranged in the snake bone pipe in a penetrating mode, each limiting part is provided with a plurality of penetrating holes, and the penetrating holes are used for the traction ropes to penetrate through so that the traction ropes can be limited in the limiting parts. The multiple limiting pieces are arranged in the snake-bone pipe, the penetrating holes are formed in the limiting pieces, so that the multiple traction ropes passing through the snake-bone pipe can penetrate through the limiting pieces, and the multiple traction ropes can be arranged in a separated mode through the limiting pieces; therefore, the situation that the multiple traction ropes are stacked and intertwined when the snake bone pipe is in a bent state is avoided.

The invention belongs to the field of mixed reality, and particularly relates to an infant airway display system with an electronic scale and an early warning function. The special visual laryngoscope for the infant is used for acquiring a real-time endoscopic image of the airway of the infant; the mixed reality three-dimensional model generation unit is used for constructing a mixed reality three-dimensional model containing a complete anatomical structure based on the infant chest CT data; an augmented reality model generation unit marks airway key data obtained by measuring key points of an important anatomical structure in an airway into the three-dimensional airway model, and generates an augmented reality model; the data processing unit is used for performing fusion processing on the airway key data and the real-time endoscopic image, generating key point position prompt information and dangerous operation early warning information, and sending the information to the AR glasses; and the AR glasses are used for displaying the fused data and superposing the key point position prompt and dangerous operation early warning information. The scheme can be used for auxiliary diagnosis and surgical planning.

The invention provides a steam ablation system which comprises a steam executing mechanism, an image planning module and a motion control module. The steam needle assembly can conduct linear motion in the axial direction, rotary motion in a cross section perpendicular to the axial direction, stretching motion of a needle head from an outlet of the steam needle to a treatment site in the direction approximately transverse to the axial direction, and ejection motion of steam from a steam outlet needle hole of the steam needle. The image planning module is used for determining planning parameters, the planning parameters comprise a preset number of needle withdrawing point positions and preset parameters of each needle withdrawing point position, and the preset parameters of each needle withdrawing point position comprise a preset needle withdrawing position, a preset needle withdrawing angle, a preset needle withdrawing length and a preset steam action range; and the motion control module is used for converting the planning parameters of the image planning module into execution parameters and driving and controlling the steam needle assembly to act according to the execution parameters, so that the operation precision and efficiency are improved.

The invention discloses an intelligent auxiliary system for microsurgery in the field of medical auxiliary systems, which is characterized in that a sensor and an image recognition device are integrated to monitor the action posture of medical personnel, and the medical imaging technology and the sensor technology are utilized to monitor the information of the surgical site of a patient; based on a machine learning algorithm and a big data analysis technology, learning action posture data of the medical staff in a historical operation process, and establishing an operation action posture model of the medical staff; according to monitored medical staff action posture information and patient operation site information, combined with the established model, the operation action posture needed by medical staff is predicted, real-time response is achieved, and the supporting device and the operation instrument are automatically adjusted through the controller. The system has the advantages of improving operation precision and efficiency, relieving burden of medical staff, enhancing operation safety, improving operation collaboration, promoting medical technology innovation and development and the like, and intelligent auxiliary operation can be conveniently carried out during microsurgery.

The invention discloses a wire locking device control device and a conveying system, and relates to the technical field of valve repair, and the wire locking device control device comprises a first shell, a second shell, a wire locking device, a wire locking device and a wire locking device, the wire locking device spring tube extends into the first shell from the outside and extends into the multi-cavity tube; the control assembly is arranged on the side portion of the first shell, the wire locking device spring tube penetrates through the control assembly, the control assembly comprises a first adjusting structure, a locking piece and a second adjusting structure, the locking piece is used for enabling the first adjusting structure to be fixedly connected with the wire locking device spring tube, and when the first adjusting structure is fixedly connected with the wire locking device spring tube, the second adjusting structure is fixedly connected with the wire locking device spring tube. The first adjusting structure is used for controlling the wire locking device spring tube to rotate step by step; the second adjusting structure is fixedly connected with the wire locking device spring tube, and the second adjusting structure is used for controlling the axial movement and circumferential rotation of the wire locking device spring tube. Thus, through multiple driving modes, a doctor is assisted to more accurately control the wire locking device to lock the anchor nail, and a better treatment effect is achieved.

The invention discloses a plasma tissue dissociation knife, and relates to the technical field of medical instruments. In order to solve the problems that when an existing endoscopic surgery relates to a plurality of instruments, the instruments need to be frequently switched for surgical operation, and the surgical efficiency is reduced, the following technical scheme is provided: the endoscopic surgical instrument comprises a tool bit, a tool bar, a handle and a cable which are connected in sequence; the cutter head comprises a blade telescopic assembly arranged on the head portion, an endoscope guide tube and a cutter head telescopic control mechanism are arranged in the handle, and the cutter head telescopic control mechanism drives a blade in the blade telescopic assembly to stretch out and draw back through a transmission piece. The positive cable extends to the tool bit to be connected with the blade telescopic assembly, the negative steel pipe is connected with the negative cable, and double-frequency emitter cutting is formed at the blade; the suction channel arranged in the cutter bar is used for flushing the surgical field and sucking turbid liquid in the operation. Compared with a traditional cold instrument, cutting efficiency, bleeding amount control, clear surgical field, cutter bar size optimization, cutting flexibility, sealing performance, operation convenience and the like are remarkably improved.

The invention discloses a heart intervention catheter robot tracking control method and system based on data driving. The method comprises the steps of data acquisition, system identification, controller design, visual feedback, closed-loop control and the like. Constructing a linear dynamic model of the catheter system through the collected sample data by utilizing a Koopman operator theory; a Chebyshev polynomial is adopted as an observation function, and a nonlinear system is linearized; designing a catheter robot tracking controller based on a linear quadratic regulator; using a key point detection algorithm based on deep learning to detect key point positions, including valve edges and blood vessel branches, of the operation target from the medical image, and taking the key point positions as visual feedback; a feedback control loop is designed, key point positions of visual feedback are input into a controller, the state of the catheter robot is adjusted in real time, and accurate tracking of an operation target is achieved. According to the method, accurate and automatic control over nonlinear dynamics of the catheter can be achieved without building an analytical model of the catheter.

The embodiment of the utility model discloses an ultrasonic scalpel rod, an ultrasonic scalpel handle and an ultrasonic surgical instrument, the ultrasonic scalpel rod transmits ultrasonic waves from the bottom end to the top end, and the top end of the ultrasonic scalpel rod corresponds to the maximum amplitude point of the ultrasonic waves; the length of the ultrasonic scalpel rod is a preset integral multiple of the half-wavelength of ultrasonic waves, and the preset integral multiple is larger than or equal to 5 times and smaller than or equal to 11 times; the area of the cross section of the energy output end of the ultrasonic scalpel rod is gradually reduced from the bottom to the top end. According to the embodiment of the invention, the overall mechanical strength of the cutter bar can be higher, the risk of breakage is reduced, ultrasonic waves can be output with maximum energy, and the surgical effect is improved.

The invention discloses an auxiliary positioning device for minimally invasive spine surgery, and particularly relates to the technical field of medical instruments, the auxiliary positioning device comprises a B positioning needle, a positioning rod, a depth limiting sleeve, a positioner fixing frame, a positioner adjusting frame, a positioning needle guide rod, an A positioning needle, a guide wire and a hollow positioning rod. According to the invention, all the components cooperate with each other, so that the field-of-view area intersection point of the surgical instrument and the endoscope can be quickly and accurately found. All the components are tightly connected, functions are integrated, meanwhile, the advantages of precise positioning, stable supporting and reliable protection are achieved, the number of times of fluoroscopy is reduced, X-ray harm to doctors and patients is reduced, the precision of minimally invasive spine surgery is effectively improved, tissue damage of the patients is reduced, surgical risks are reduced, surgical efficiency is improved, and meanwhile postoperative recovery of the patients is facilitated.

The invention relates to the field of medical instruments, in particular to an auxiliary device and method for determining a femoral prosthesis rotation force line in total knee arthroplasty, the auxiliary device comprises an auxiliary device body, and the auxiliary device body comprises a femoral far-end extorsion angle adjusting device and a buckling gap angle measuring device; a positioning needle mounting hole a and a positioning needle mounting hole c are formed in one end of the distal femur external rotation angle adjusting device, and a positioning needle mounting hole b and a positioning needle mounting hole d are formed in the other corresponding end of the distal femur external rotation angle adjusting device; the buckling gap angle measuring device comprises a buckling gap measuring head, and a handle is further installed on the buckling gap measuring head in a matched mode. Doctors are assisted to improve operation precision and operation efficiency, and errors and patient wounds are reduced; meanwhile, the invention further provides an auxiliary method which adopts a method of combining a measurement osteotomy technology and a gap balance technology to assist in determining a femoral prosthesis rotation force line. Good rotating force of the femoral prosthesis is guaranteed, good soft tissue balance is obtained, the treatment effect is good, and practicability is high.

The invention provides a dental bur, an implant handpiece and a dental drilling device. The dental bur comprises a sleeve, and the axial first end of the sleeve is configured to be in driving connection with a driving part of the implant handpiece so as to be driven by the driving part to rotate; the first axial end of the cutting rod is located in the sleeve, the cutting rod is telescopically arranged relative to the sleeve in the axial direction, and the cutting rod is configured to have a synchronous rotation state with the sleeve; and the cutting part is connected to the second axial end of the cutting rod, and the cutting part is close to or far away from the second axial end of the sleeve along with the telescopic movement of the cutting rod relative to the sleeve.

The utility model discloses a flap dissociation knife with a replaceable blade, which relates to the field of medical instruments and comprises a knife rest, a knife head is arranged at the front end of the knife rest, the blade is mounted on the knife head in a clamping groove manner, and the rear end of the knife rest is connected with a handle. The surface of the knife rest is provided with first anti-skidding grains. The knife head and the blade are connected in a clamping groove mode, the blade can be replaced at any time according to operation requirements and different patients, the service life of the flap dissociation knife is prolonged, and operation efficiency is improved. The blade, the knife head and the knife rest are distributed in an arc shape after being assembled, so that the surgical operation is smoother; the surface of the knife rest is provided with first anti-skid grains which are convenient for near-holding use, the surface of the handle is provided with second anti-skid grains which are convenient for holding the far end of the handle for surgical operation, and both far-holding and near-holding are anti-skid; cutter entering scales are marked on the surface of the knife rest, the distance of the free knife entering the subcutaneous part can be known in time during operation, and operation precision is improved.

The invention belongs to the technical field of brain surgery, and relates to an endoscopic surgery auxiliary manipulator which comprises an endoscope and an auxiliary manipulator assembly arranged on the endoscope, and the auxiliary manipulator assembly comprises a chuck, a detachable hinge assembly and an assembly hinge which are connected in sequence. The inner diameter of the detachable hinge assembly and the inner diameter of the assembly hinge are both larger than the outer diameter of the endoscope. The detachable hinge assembly comprises a plurality of detachable hinges connected with one another, and part of the detachable hinges and the assembly hinge together wrap the endoscope and move on the endoscope to drive the chuck to move; and a rotator is arranged on the hinge of the assembly body and can control the clamping and loosening actions of the chuck. When a doctor performs a brain surgery, the endoscopic surgery auxiliary manipulator extends into a round hole in the brain of a patient, the situation in the brain is observed through an endoscope, and meanwhile the rotator is rotated to control displacement and action of the chuck. Compared with the prior art, the accuracy of the brain operation is improved, and the operation risk is reduced.

The present invention discloses a bone grinding file component, a control method and an application capable of adaptively optimizing cutting temperature; the present invention relates to the technical field of surgical instruments for artificial joint replacement; the invention comprises a housing and a transmission component built therein and driven to rotate based on an external rotating member, wherein the transmission component converts a rotational action into a feeding action and drives a bone file for grinding bones to perform swing feeding; an input variable Input is input into a single-output PID neural network SPIDNN; a current population is subjected to operations such as crossover and mutation based on a degree value DV through a differential evolution algorithm to generate a new population; torsional vibration force is generated in the form of reverse same frequency during the feeding and retraction of the bone file, and the magnitude of the cutting force is effectively reduced through the superposition effect of vibration, thereby achieving the cooling of the cutting temperature; the artificial intelligence technology (single-output PID neural network SPIDNN) adopted realizes a mechanism for adaptively adjusting the frequency, which can ensure that the optimal cutting state is always maintained during the cutting process.

This invention relates to a titanium alloy artificial joint with a high-toughness, ultra-wear-resistant ceramic coating and its preparation method. The titanium alloy artificial joint includes a titanium alloy artificial joint substrate fabricated by 3D printing. The joint surface of the titanium alloy artificial joint substrate is coated with an alumina-based ceramic coating. The alumina-based ceramic coating is obtained by plasma spraying of a mixed powder of alumina, zirconium oxide, and rare earth oxides, and then polished to a surface roughness Ra of no more than 0.05 μm. The bone-bonding surface of the titanium alloy artificial joint is formed into a porous structure layer by 3D printing. Compared with the prior art, the titanium alloy artificial joint of this invention has excellent wear resistance and toughness, and can be personalized based on precise imaging data of the patient's bones.

The invention discloses a tumor ablation image fusion modeling method based on deep learning, and relates to the technical field of intelligent medicine, and the method comprises the steps: obtaining a plurality of preoperative tumor images of a tumor patient before an ablation treatment puncture operation is carried out on a tumor; performing image fusion on the first ultrasonic tumor image, the first CT tumor image and the first MRI tumor image to obtain a preoperative fusion tumor image; the method comprises the following steps of: acquiring a plurality of intraoperative tumor images of a tumor patient in the process of performing ablation therapy puncture operation on the tumor; obtaining an intraoperative fusion tumor image for the second ultrasonic tumor image, the second CT tumor image and the second MR I tumor image; and according to the extracted spatial mode data and deep learning training data, constructing a deep learning model, and carrying out training optimization on the constructed deep learning model to obtain a tumor ablation image fusion model. According to the invention, the treatment effect of the ablation treatment puncture operation can be accurately evaluated based on the tumor ablation image.

The present invention relates to the field of surgical robot technology, and more specifically, to a master hand control system for a small surgical robot. It includes an infrastructure unit, a motion control unit, a video display unit, a communication connection unit, and a power management unit; the infrastructure unit is used to manage the basic equipment for building the system; the motion control unit is used to control the master hand to control the slave hand movement; the video display unit is used to display the surgical field video; the communication connection unit is used to support the signal connection and data transmission of the system; the power management unit is used to intelligently manage the energy source. The design of the present invention can realize the coordinated movement of the eye and hand under minimally invasive surgery, and improve the quality of the robot's fine operation; it can provide doctors with three-dimensional high-definition images of the patient's abdominal cavity, improve the accuracy of the operation, and improve the safety performance of the surgical robot; 5G technology is used to provide a network environment for remote surgery, so that remote surgery can benefit more areas with limited medical conditions.

This invention discloses an anti-fog and heat-insulating puncture device for thoracoscopic surgery, belonging to the field of medical device technology. Its key technical features include: an outer sheath, with a puncture assembly on its inner wall, the puncture assembly including a puncture needle core that slides through the inner wall of the outer sheath, a needle core handle fixedly connected to the upper end of the puncture needle core, a needle tip fixedly connected to the lower end of the puncture needle core, an outer sheath seat fixedly connected to the upper outer wall of the outer sheath, a fixing handle fixedly connected to the outer wall of the outer sheath seat, and a sealing assembly on the outer wall of the outer sheath seat. This invention achieves heat insulation through a double-layer structure formed by the outer and inner sheaths; gas circulation is formed through the cooperation of the air inlet and outlet holes, effectively expelling fog from the inner wall of the inner sheath and ensuring a clear surgical field; the sealing valve and sealing sleeve achieve internal sealing of the outer sheath to prevent gas leakage; the sealing ring is precisely positioned by positioning pins and positioning holes, and the sealing cap is stably installed by locking blocks and protruding pins, providing double sealing to prevent gas leakage and impurity entry, reducing the risk of infection.

The utility model discloses a mandibular movement data acquisition marking plate, the mandibular movement data acquisition marking plate comprises a fitting plate, a connecting frame and a positioning marking plate which are connected in sequence, the positioning marking plate is provided with a positioning mark, the surface of the fitting plate is provided with an anti-falling structure, the fitting plate is connected with oral teeth through the anti-falling structure, and the connecting frame is connected with the connecting frame. And the connecting frame and the positioning identification plate are arranged on the outer side of the oral cavity. The connecting frame is provided with a special-shaped structure and positioning pieces, the number of the positioning pieces is larger than or equal to four, and the centers of the four positioning pieces are not coplanar. The technical problems that when an oral cavity mandibular movement analyzer is used for data collection, due to the fact that accessories for information collection are complex in structure, large in size and not firm in fixation, mandibular movement analysis data errors are large, and a patient feels uncomfortable when the oral cavity mandibular movement analyzer is used for data collection are solved. The device has the advantages of being small in size, light and comfortable to wear and high in information acquisition accuracy, and is easy to process and use.

The invention discloses a plasma scalpel in the technical field of medical instruments. The plasma scalpel comprises a handle and a scalpel body. The cutter body comprises a metal tube, and the middle section and the front end of the metal tube are each rotationally provided with an adjusting shifting piece through an adjusting rotating shaft; the middle part of the handle is rotatably connected with a rotary drum, and a middle adjusting dial wheel and an end adjusting dial wheel are rotatably mounted in the rotary drum in an up-down staggered manner; a reversing wheel is arranged in the handle; the side wall of the handle is fixedly connected with a stabilizing piece, and the side face of the stabilizing piece is provided with an end control key, a middle control key and a rotating key used for controlling the cutter body to rotate. The bending degree and direction of the metal tube are controlled, so that the metal tube can reach the wounded part more accurately; the bend at the end of the metal tube can be better aligned with an affected part, the bend in the middle can adapt to the structure of a human body, the scalpel head can rotate to any position without rotating the handle, the operation process is greatly simplified, the operation accuracy and operability are improved, and pain of a patient is relieved.

This invention provides an anti-displacement fixator for endoscopic surgery. Through designs including fixed-end directional constraint, multi-axis adjuster for flexible adjustment, positioning pin locking, and adaptable elastic fastening components, the fixed end restricts the endoscope's movement along its central axis via a sleeve. Combined with an elastic strip and fastening nut, temporary intraoperative fixation is achieved to prevent unintended displacement. The positioning pin and arc-shaped block on the ball sleeve can fix single-axis movement during intraoperative observation and pausing, offering convenient operation and reliable locking. The snap-on installation facilitates disassembly, and the elastic sleeve diameter is adjustable to accommodate different types (colonoscopes / gastroscopes) and diameters of endoscopes. This effectively solves problems such as unstable operation, limited adjustment, and poor compatibility in existing endoscopic surgeries, improving surgical precision and safety. This application can reduce surgical manpower, allowing a single surgeon to perform precise operations without needing to use their right hand for support, freeing up their right hand for easier scalpel control, and eliminating the need for another surgeon to hold the endoscope, thus saving the manpower of one surgeon.

The invention discloses a real-time positioning system for implanting a catheter in a potential guiding sheath. The real-time positioning system comprises a positioning electrode plate, a potential guiding instrument and a guide wire body which are electrically connected. The positioning electrode plate comprises an adhesive tape adhered to the body of a patient and a plurality of electrode plates arranged on the adhesive tape; the potential guiding instrument comprises a shell, positive and negative electrodes, a current change display and a voltage and current regulator are arranged on the shell, and a current signal receiver and a signal amplifier are arranged in the shell; the guide wire body comprises an insulating sleeve and a metal guide wire arranged in the insulating sleeve, the front end and the rear end of the insulating sleeve are closed, and a plurality of through holes are formed in the side wall; the head end of the metal guide wire is exposed, and the other part is wrapped by the insulating layer. The positioning electrode plate and the wire guide body are respectively connected with positive and negative electrodes to form a closed loop. The problems that in the implantation operation process of an intrathecal infusion system, the position of the catheter needs to be adjusted in a perspective mode repeatedly, real-time monitoring cannot be achieved, and the developing quality is not high are solved, the operation precision and efficiency are improved, and the X-ray exposure amount of a patient is reduced.

A position adjustment mechanism and a surgical robot, wherein the position adjustment mechanism comprises a fixed base, which is relatively statically mounted on the operating arm of the surgical robot and has a fixed operating surface, wherein the fixed operating surface has a driving circumference with the center of the fixed base as the center; a driving portion, comprising at least three groups of driving components, wherein the driving components include at least two driving branches connected in parallel, wherein the first ends of the driving branches are movably mounted on the driving circumference, and the first ends of the driving branches of at least three groups of driving components are alternately arranged; a dynamic base, wherein the first side of the dynamic base has a passive circumference with the center of the dynamic base as the center, the second end of the driving branch is mounted on the passive circumference, the second side of the dynamic base is connected to the surgical terminal, and the dynamic base has a dynamic operating surface; a plurality of power sources are mounted on the fixed base, wherein the power sources drive the corresponding driving branches to extend or contract synchronously to keep the lengths of a group of driving branches the same, and the driving portion drives the dynamic base to move relative to the fixed base while keeping the fixed operating surface and the dynamic operating surface parallel.

The present invention discloses a flexible needle puncture device, comprising: a flexible needle assembly, which includes a flexible guide tube, a flexible hollow needle and a flexible push rod; a flexible needle puncture mechanism, which includes a first drive mechanism and a second drive mechanism; and a flexible needle bending mechanism, which includes a third drive mechanism and a bending guide rod with a guide groove. The flexible needle puncture device provided by the present invention can not only drive the flexible needle to realize the insertion and retraction functions, but also control the bending trajectory of the flexible needle and the insertion direction of the needle head, so that the flexible needle puncture device of the present invention can realize the puncture operation in a narrow space (such as MRI or CT closed-cell space), so that the imaging scan and the flexible needle insertion can be carried out synchronously, without the need to repeatedly move the patient into or out of the closed-cell cavity of MRI or CT during the operation, thereby reducing the operation time and improving the operation accuracy; the present invention can reduce the friction resistance between the flexible hollow needle and the flexible guide tube during insertion.

The utility model relates to the technical field of medical auxiliary instruments, in particular to a transarmpit endoscopic thyroid surgery instrument supporting device which comprises a supporting component, a plurality of movable components with instrument openings and a locking structure, and the supporting component is fixed to a sickbed through a connecting support. The multiple movable components are movably connected to the supporting component through connecting structures so that the relative positions of the multiple movable components can be adjusted. The locking structure is arranged between the movable components and the supporting component and selectively locks the movable components to the supporting component so as to fix the relative positions of the movable components. The movable components are movably installed on the supporting component through the connecting structures, the relative positions of the components are allowed to be adjusted according to the positions of all incisions of a patient, it is ensured that instrument openings are accurately aligned with wounds, personalized support is provided for different body types and operation requirements, and the operation precision and efficiency are improved.

The utility model discloses a disposable sterile universal box spanner which comprises a handle, a connecting rod fixedly connected with the handle, a connecting block fixedly connected to the connecting rod and a spanner head movably connected with the connecting block. The positioning assembly is used for positioning the wrench head and comprises a positioning handle and a sleeve fixedly connected to the positioning handle. According to the utility model, the universal structural design is adopted, the structure is simple, the handle part can be adjusted at multiple angles, the use is convenient, and the device is suitable for various operation scenes.

A vibrating type interventional therapy instrument is characterized in that a balloon catheter is arranged in a vascular calcification lesion, the balloon catheter is opened to be in close contact with the vascular wall of the vascular calcification lesion, and the insertion front end of the balloon catheter is provided with an interventional guide wire with a plurality of bead-shaped microspheres or is directly inserted into the interventional guide wire; a plurality of bead-shaped microsphere parts arranged on the interventional guide wire or the front end of the interventional guide wire reach the vascular calcification lesion; the rear end of the interventional guide wire is in driving connection with the ultrasonic vibration mechanism, the ultrasonic vibration mechanism generates telescopic vibration and torsional vibration to jointly act on the rear end of the interventional guide wire, and the front end of the interventional guide wire is subjected to axial telescopic and torsional operation through directional vibration with specified frequency and power, so that longitudinal vibration and torsional vibration are generated; therefore, calcified tissues at the focus are thoroughly damaged, the inner diameter of blood vessels at the focus is further enlarged, the operation difficulty of a doctor is reduced, and the success rate of an operation is improved.