409results about How to "Improve surgical safety" patented technology

The invention discloses an ultrasonic ranging and optical positioning coupled noninvasive real-time tracker and belongs to the technical field of medical instruments. The tracker comprises an optical positioning reference frame, an ultrasonic transducer dot matrix device, a data exchange interface and a bandage with an adjustable length, wherein the optical positioning reference frame is fixed onthe ultrasonic transducer dot matrix device through rigid connection; the ultrasonic transducer dot matrix device is fixed at a surgical site by the bandage with the adjustable length; the data exchange interface is led out from the ultrasonic transducer dot matrix device, and sends ultrasonic information acquired by the ultrasonic transducer dot matrix device to a host of a surgical navigation system in real time; the optical positioning reference frame transfers obtained optical positioning information to the host of the surgical navigation system in real time; and the noninvasive real-timetracking of bone tissues is realized by calculating coordinate transformation and position compensation by the host of the surgical navigation system. The tracker improves the accuracy and safety of surgeries, expands the using range of a surgical navigation technology in osteopathic operations, and improves the acceptability of the navigation system among medical staff and patients.

The invention discloses a cooperative control system for a catheter and a guidewire for a vascular intervention operation robot. The system comprises a main terminal subsystem and a secondary terminalsubsystem, the catheter and the guidewire can be synchronously controlled to achieve cooperative operation; a cooperative control method for the catheter and the guidewire for the vascular intervention operation robot comprises the steps of detection for operation information of a doctor through a main operator; transmission of axial moving information of the catheter and the guidewire and rotarydistance information; intervention executed by the operator; detection for stress of the operator; a collecting process of the operation information; a force feedback process of the main operator; the system is in accord with operation habits of the doctor, the operation method can be easily implemented, the accuracy is high, and the system is simple and stable in structure.

The invention discloses a master-slave minimally invasive vascular interventional surgery remote operation system and belongs to the technical field of medical equipment. The system comprises a doctor control platform, a master-end control computer, visual feedback detection equipment, a wire and tube guiding manipulator, a slave-end control computer and a slave-end pose adjusting platform. The doctor control platform conducts motion of simulating the medical behavior of guiding a tube and a wire according to operation of a doctor and transmits motion information corresponding to the motion to the master-end control computer; the master-end control computer transmits the received motion information as a motion control command to the slave-end control computer; the slave-end control computer transmits the received motion control command to the wire and tube guiding manipulator; the wire and tube guiding manipulator moves according to the received motion control command and then conducts the medical behavior on a patient. Through the system, intervention can be completed according to operation information of the doctor, haptical information can be fed back to the doctor in real time, and therefore safety and operability of interventional surgery are improved.

The invention relates to a vacuum-assisted mammary gland sample biopsy and rotary cutting system. A puncture head is fixedly connected to the front end of an outer cutter tube, a sampling groove is formed in the outer cutter tube, an inner cutter tube is sleeved with the outer cutter tube, a stirring disc is arranged at the rear end of the inner cutter tube which is connected with a transmission module, the transmission module is used for providing the two kinds of movements of rotating and advancing and retreating, a circuit control module is connected with the transmission module through a driving module to achieve driving control over the transmission module, and the vacuum-assisted mammary gland sample biopsy and rotary cutting system is controlled to perform cutting and suction surgical actions through operation buttons on the control module. By means of modularization and integration optimization design of a mechanical structure, the functions of surgical puncture, mechanical rotary cutting and vacuum suction are integrated in a probe region of the device, smaller surgical pain and postoperative trauma are caused on a patient with suspected mammary gland cancer with the smaller size of the system and the reasonable excision mode, and minimally-invasive biopsy sampling on a suspected tumor focus and minimally-invasive excision treatment on benign tumor can be achieved.

The invention relates to a medical inner support hollow tubular sac catheter which comprises a catheter body, a tubular sac and a filling tube connected with the tubular sac, wherein the catheter body is sheathed with a sleeve; the medical inner support hollow tubular sac catheter is characterized in that the front end of the sleeve is provided with more than two sliding sections, wherein the circumference of the front end of the first sliding section is evenly articulated with N support rods; the sides of M support pieces are articulated with each other so as to form an inner wall which is in a circular ring shape after being stretched; and the sliding sections and the support rods form umbrella-shaped support for the circular-ring-shaped inner wall. The medical inner support hollow tubular sac catheter leads blood flow with the quantity being more than 50% of original blood flow filling capacity to pass through a support cavity, and ensures the blood flow at far and near ends of treatment parts not to be blocked in the treatment process, thus reducing the probability of vascular accident in the period of treatment and surrounding treatment, improving the safety of operation, andsolving the problem of blocking branch artery blood supply when in treatment in a branch blood vessel cavity.

The invention discloses a bone cutting navigation device capable of positioning accurately and a manufacturing and using method thereof. According to the device and method, a 3D printing navigation template technology is introduced and applied to the PAO. The 3D printing navigation template technology is a product by organically combining a three-dimensional reconstruction technology in medical imaging, a computer aided design technology, a converse project technology and a 3D printing technology. Firstly, three-dimensional reconstruction is conducted on CT scanning data of a patient before surgical operation to make a doctor visually know pathology anatomic abnormities, and accurate and specific numerical values are obtained; then, surgical operation simulation is conducted before the surgical operation according to different changes of pathological anatomy, and the best personalized operation treatment scheme is made; next, the surgery field pelvic anatomical state feature and the bone cutting face are extracted according to the preoperative planning through the converse project technology, and a navigation template is designed and made into an entity through the 3D printing technology; finally, the disinfected navigation template is directly attached to the exposed pelvis and the bone cutting face in the surgical operation, and accurate bone cutting and rotating displacement of acetabulum bone blocks are completed.

The invention discloses a real-time catheter intervention information measuring device in a cardiovascular interventional operation. The information measuring device comprises a six-dimensional force sensor, a linear encoder and an angle photoelectric encoder. In the operation, a catheter penetrates through the six-dimensional force sensor, and is connected to a force bearing end of the six-dimensional force sensor in a clamping manner through a clamping device; when an operator clamps the catheter to contact with a vessel wall through a clamping shaft, the resistance and the resistance moment between the catheter and the vessel wall can be measured in real time through the six-dimensional force sensor; when the operator operates the catheter to rotate axially through the clamping shaft, the rotary angle can be measured through the angle photoelectric encoder; and when the operator operates the catheter to move forwards or backwards through the clamping shaft, the number of grating pulse is counted by a reading head to measure the displacement in real time. By the information measuring device, information monitoring during the operation can be realized, safety of the operation can be improved, and quantitative data are provided for evaluating a virtual operation training system.

The invention relates to a multifunctional perfusion and suction platform and a using method. The perfusion and suction platform at least comprises a perfusion device and a main control unit and further comprises a pipe pressure sensor for measuring pressure in a perfusion fluid channel of the perfusion device, a cavity pressure sensor for measuring pressure of an inner cavity and an alarming device; the pipe pressure sensor, the cavity pressure sensor and the alarming device are all connected with the main control unit, limit reference values of the pipe pressure sensor and the cavity pressure sensor are preset in the main control unit, and on the condition that the pressure measured by the pipe pressure sensor or the pressure measured by the cavity pressure sensor exceeds the corresponding limit reference value, the alarming device is started. The structure has the advantages that the pipe pressure and the cavity pressure are monitored simultaneously, double insurance is formed, a doctor can know a failure through the alarming device and make a right judgment at first time according to the pressure measured by the other sensor even if one of the sensors fails, and therefore the operation safety is greatly improved.

The invention provides a three-degree-of-freedom parallel serial joint plastic operation robot. The problems of uneven operation level of doctors and low overall precision in the present prosthesis joint replacement are solved. The three-degree-of-freedom parallel serial joint plastic operation robot comprises a workbench, wherein a vertical mechanism and horizontal mechanisms are arranged on the workbench; an abrasive drilling mechanism is arranged on each of the horizontal mechanisms; the quantity of the horizontal mechanisms is two; the horizontal mechanisms are respectively arranged on the two sides of the vertical mechanism; the vertical mechanism comprises a vertical sliding table and a vertical driving component; each of the horizontal mechanisms comprises a horizontal sliding table and a horizontal driving component; connecting arms are fixedly connected with the two sides of the vertical sliding table; an outer end of each connecting arm is hinged to the horizontal sliding table on the corresponding side; a claw arm forward extends from each of the horizontal mechanisms; a sleeve ring is arranged at the front end of each claw arm; the sleeve rings forward extending from the horizontal mechanisms on the two sides are vertically overlapped and formed into a communicated sleeve hole; the abrasive drilling mechanism is penetrated through the sleeve hole; an inner wall of the sleeve hole is in sliding contact with an outer wall of the abrasive drilling mechanism. According to the invention, a triangular structure is adopted by the robot, so that the accurate route of a three-dimensional space track is realized and the face cutting precision of a bone joint is increased.

The invention discloses an interventional surgical robot subordinate end and a mobile platform and a control method of the robot subordinate end and belongs to the technical field of minimally invasive blood vessel interventional operations. The mobile platform comprises a platform main beam, and platform connection blocks are arranged on the platform main beam through a linear guide rail pair D; the platform connection blocks are driven by a platform driving mechanism and used for installing a catheter controller or a guide wire controller. The interventional surgical robot subordinate end comprises the catheter controller, the guide wire controller and the mobile platform; the catheter controller and the guide wire controller are mounted on the two platform connection blocks respectively. According to the interventional surgical robot subordinate end, the catheter controller and the guide wire controller are installed on the mobile platform, and the problem is solved that it is difficult for an existing robot to complete co-operating of a catheter and a guide wire.

The invention relates to a production method for a guide template. The production method comprises the following steps of: at first, importing CT (computed tomography) serial sectional image data into three-dimensional rebuilding software such as Mimics 10.01 for three-dimensional model rebuilding by CT scanning; then, designing a guide plate with vertebral pedicle positioning guide holes in the two sides of a single vertebral body on a digital lumbar vertebra anatomical model subjected to three-dimensional rebuilding; and finally, producing the template by a laser irradiation layer-by-layer curing and forming technology. The guide template produced by the method can be satisfactorily and closely combined with the vertebral body, can be used for accurately positioning and orienting vertebral pedicle, and guarantees the correct implantation position and direction of vertebral pedicle screws.

The invention discloses a minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism. The minimally invasive vascular intervention surgical robot catheter andguide wire propulsion mechanism comprises a displacement platform, a fine adjustment device, a catheter clamping and spin-twisting device and a guide wire clamping and spin-twisting device, wherein the fine adjustment device, the catheter clamping and spin-twisting device and the guide wire clamping and spin-twisting device are sequentially arranged on the displacement platform; the displacementplatform comprises a first displacement workbench and a second displacement workbench, the fine adjustment device and the catheter clamping and spin-twisting device are installed on the first displacement workbench, and the guide wire clamping and spin-twisting device is installed on the second displacement workbench; the first displacement workbench is provided with a catheter displacement mechanism for driving the catheter clamping and spin-twisting device to move and a platform displacement mechanism for driving the second displacement workbench to move, and the second displacement workbench is provided with the guide wire displacement mechanism for driving the guide wire clamping and spin-twisting device to move. The catheter displacement mechanism, the platform displacement mechanismand the guide wire displacement mechanism can move synchronously or independently, so that synchronous or independent delivery of catheters and/or guide wires into blood vessels can be facilitated.

The invention discloses a knee-joint operation adjusting and fixing distraction device which comprises a foot posture adjusting fixing apparatus capable of performing stepless continuous position adjustment and fixing in the front-back direction of a guide rail and rotating at 3360 degrees, a foot-thigh separation distance quick and fine adjusting device capable of achieving quick adjustment and fine adjustment of a separation distance between the foot and the thigh in the vertical direction of the shank, and a thigh posture fixing apparatus capable of adjusting rotation of the fixing apparatus according to a foot posture, wherein the lower end of the foot-thigh separation distance quick and fine adjusting device is connected with the foot posture adjusting fixing apparatus, and the upper end of the foot-thigh separation distance quick and fine adjusting device is connected with the thigh posture fixing apparatus. The foot-thigh separation distance quick and fine adjusting device comprises a quick adjusting rod mechanism with the lower end fixed on a foot fixing boot, wherein the upper portion of the quick adjusting rod mechanism is connected with a fine adjusting mechanism, and the upper end of the fine adjusting mechanism is connected with the thigh posture fixing apparatus. The knee-joint operation adjusting and fixing distraction device can meet continuous or temporary fixing and position adjustment under the condition that the knee joint of a patient is at different bending and stretching angles and inward and outward turning angles and any-time quick, fine and accurate adjustment of the foot, shank, knee joint and thigh positions of the patient and angle postures.

The invention discloses an interventional surgical robot subordinate end device and a control method thereof and belongs to the technical field of minimally invasive blood vessel interventional operations. The device comprises a main body, a catheter clamp holder, a guide wire clamp holder, a torsional component and a force measurement component; the catheter clamp holder is used for clamping catheters, the guide wire clamp holder is used for tightly clamping or loosening guide wires, and the catheter clamp holder and the guide wire clamp holder are both detachably mounted on the main body; the catheter clamp holder comprises a medical three-way valve and a clamping component, and the medical three-way valve is used for connecting the catheters and is fixed to the main body through the clamping component; the torsional component is used for driving a screw cap of the medical three-way valve to drive the catheters to rotate; the force measurement component is used for detecting push force of the catheters. The subordinate end device can clamp the catheters and tightly clamp or loosen the guide wires, achieves co-operating operation of the catheters and the guide wires, and is simple in structure and convenient to disassemble and assemble. According to the control method, the subordinate end device is controlled so that clamping, pushing, torsion and force measurement of the catheters and clamping of the guide wires can be completed, and accordingly co-operating of the catheters and the guide wires is achieved.

The invention discloses a pose mechanical-adjusting movable platform, and belongs to the technical field of medical facility. The pose mechanical-adjusting movable platform comprises a six-connecting-rod manipulator, a turntable, a lifting mechanism and a base; the lifting mechanism is mounted on the base, and motion and self-locking, in the vertical direction, of peripheral equipment mounted on the movable platform are realized; the six-connecting-rod manipulator is mounted on the lifting mechanism, and translation in a horizontal plane and adjustment and locking for rotation in the vertical direction, of the peripheral equipment, are realized; the turntable is mounted on the six-connecting-rod manipulator, and adjustment and self-locking for the rotation, of the peripheral equipment, around the central line of the turntable are realized; the base is used for supporting an adjusting mechanism comprising the six-connecting-rod manipulator, the turntable and the lifting mechanism, and realizing translation and turning of the adjusting mechanism on the ground. Through the mechanical mechanism, the platform realizes supporting and adjusting functions, improves the precision, stability and safety of an operation, and conveniently realizes fixed connection and separation of a slave terminal system and a hospital bed.

The invention relates to an operation positioning navigating device which is mainly used for positioning an operation position and performing operation navigation during medical operation so as to beused for various operations requiring positioning navigation. The operation positioning navigating device comprises an upper indicating plate, a lower indicating plate and an optical positioning navigating device, wherein the upper indicating plate is provided with an upper positioning block, and the lower indicating plate is provided with a lower positioning block. The operation positioning navigating device has reasonable structure and design, good service effect, rapidly and accurately positions the concrete positions of foreign bodies or pathological tissue inside a human body, increases the operation safety, improves the operation accuracy, and reduces the radiation exposure as well as operation wound.

The invention relates to a personalized lumber internal fixation auxiliary device and a manufacturing method thereof. The personalized lumber internal fixation auxiliary device comprises two guide holes, two sleeve pipes and a connector, wherein the sleeve pipes are positioned in the guide holes, and the connector is connected with the guide holes on two sides. The manufacturing method comprises the following steps of: firstly, acquiring lumbar three-dimensional parameters through CT (computed tomography) scanning; secondly, designing a guide plate containing positioning guide holes for vertebral pedicles on two sides of a single vertebral body on a three-dimensionally reconstructed lumbar digital anatomical model; and finally, producing a template through a laser radiation layer-by-layer solidification forming technology. The personalized lumber internal fixation auxiliary device is used for accurate implantation of pedicle screws.

The invention discloses a cooperative interaction control system for a craniotomy robot. The cooperative interaction control system comprises a motion limiting module, a doctor-robot interaction module, a robot-patient interaction module and a solver. The motion limiting module is used for tracking the position of the robot in real time and is compared with a limited area, so that the robot is limited within a certain area for movement. The doctor-robot interaction module is used for completing real-time speed control over the robot by doctors. In the skull milling process, the robot-patient interaction module is used for keeping a certain contact force between the tail end of a milling cutter and the bottom face of a skull and further keeping a certain drilling force in the skull drilling process. The solver is used for completing inverse kinematics resolving of the robot and further used for inputting and outputting robot motion and joint motion speeds separately so as to drive the robot to move. According to the cooperative interaction control system, the advantages that the flexibility of the doctors is high and the precision of the robot is high are integrated, operation efficiency and quality can be improved while operation safety is improved, and the craniotomy fatigue degree of the doctors is lowered.

The invention relates to a thermal insulation device for protecting esophagus in the frozen balloon catheter cryoablation process of pulmonary veins. A balloon wall thermocouple, an intra balloon thermocouple, and a thermal circulating thermal insulation device are arranged in a balloon, and the balloon wall thermocouple and the intra balloon thermocouple are respectively attached onto the inner and outer walls of the balloon to measure the temperature in real time; and the thermal circulating thermal insulation device is connected with a thermal insulation module, and the thermal insulation module is connected with the balloon wall thermocouple, the intra balloon thermocouple and the thermal insulation module to be used for controlling and feeding back the temperature of the balloon, and controlling the cold and heat amount of the thermal circulating thermal insulation device by intelligent match so as to keep the temperature of a pulmonary vein ablation area near the esophagus at 20 to 30 DEG C. The thermal insulation device provided by the invention can be introduced to the cryoablation area through the esophagus natural cavity, the thermal insulation balloon is used in the CBA (Cryoballoon-based Ablation) cryoablation process of pulmonary veins so as to protect the esophagus near the pulmonary vein cryoablation area, prevent esophageal fistula and other serious damages caused by cryoablation, eliminate the limitation of CBA cryoablation treatment of pulmonary veins on atrial fibrillation, and benefit the popularization of CBA catheter ablation of pulmonary veins.

The invention discloses an endoscopic surgery instrument outer sheath based on a soft continuum mechanism, and belongs to the technical field of minimally invasive surgery instruments. The endoscopic surgery instrument outer sheath comprises a plurality of flexible units, each soft unit comprises a soft air with the high ratio of expansion and contraction, a rigid connecting piece, a steel wire soft shaft, a nickel-titanium wire, a disc, a surgical instrument channel, a pretightening force support, a pretightening force air cylinder and a fastening screw. Air pressure in the air bags is controlled to change the lengths of the air bags, and space bending of the units is achieved. Under any bent state, the pretightening force air cylinders apply pretightening force to the three nickel-titanium wires, the bending rigidity of the units is controlled, the effect of changing the rigidity is achieved, and the function of passive protection is achieved. The endoscopic surgery instrument outer sheath is used as an outer sheath unit of an endoscopic surgery instrument entering a human body, the outer sheath can be bent along with the cavity of the human body, the tissue of an inner wall is prevented from being oppressed, the rigidity is changed after the endoscopic surgery instrument outer sheath reaches the position of a disease, mechanical support is provided for the surgical instrument, the tissue can be prevented from being over-pressed to be hurt through the passive protection characteristic of the outer sheath when the surgical operation is carried out, and therefore the safety and effectiveness of surgery are improved.

The invention discloses a coupled full-intervertebral joint system, which possesses little oligodynamic joint between upper and lower intervertebral end-plate on the spine, wherein one little oligodynamic joint is set between each little joint position on two sides of upper and lower intervertebral or upper and lower crests; one end of little oligodynamic joint is fixed on the vertebral arch root or crest of upper vertebral bulk with the other end fixed on the vertebral arch root or crest of lower vertebral bulk; the joint system is composite joint system with intervertebral little oligodynamic joint and little oligodynamic joint, which replaces lateral joint to support vertebra to avoid joint from degenerating and hardening effectively.

The invention relates to a single-side pedicle screw-driving auxiliary device and a manufacturing method thereof. The device comprises a guide hole, a sleeve, a first clamping piece, a second clamping piece, a cross shaft and a torsion spring. The invention also discloses the manufacturing method of the device. The manufacturing method comprises the following steps of: firstly, acquiring three-dimensional data of a vertebral body through CT (computed tomography) scanning, and three-dimensionally constructing a three-dimensional model of the vertebral body; secondly, fitting the clamping pieces which are complementary with anatomic form curved surfaces of a cone plate and an acantha by using engineering software; and finally, producing the device by using a rapid forming technology. The single-side pedicle screw-driving auxiliary device has the beneficial effects of being convenient and simple to use, shortening the average operation time, improving the efficiency, reducing the risk of exposure infection, avoiding traction injuries to surrounding tissues, and the like.

The invention discloses a medical instrument sheath which is used for being in cooperation with an endoscope for use. The medical instrument sheath comprises a sheath tube and an inner core, wherein the inner core is sleeved with the sheath tube. One end of the sheath tube is connected with an air bag, the air bag wraps the periphery of the end portion of the sheath tube, the sheath tube is provided with an air inflation catheter and a clamping opening, the air inflation catheter is connected with the air bag of the end portion of the sheath tube, and the clamping opening is matched with the endoscope in a locking mode. The air bag is designed on the end portion of the sheath tube, the air bag wraps the end portion of the sheath tube, and the surgical space is expanded through expansion of the air bag. When the medical instrument sheath is in cooperation with the endoscope for use, the endoscope can be protected, the better view and the better space are provided for the observation and a surgery, and therefore the aim of improving the safety rate of the surgery is achieved.

The invention relates to an instrument used for a medical minimally invasive operation, in particular to an ultrasonic lithotriptor. The ultrasonic lithotriptor comprises an ultrasonic transducer which is sleeved with an operating handle shell outside and is connected with a stone-breaking amplitude transformer, wherein a working channel is arranged in the stone-breaking amplitude transformer, one end of the working channel is arranged on the working face of the stone-breaking amplitude transformer, while the other end is connected with two channels, one channel is a water inlet channel connected with a water inlet, and the other channel is a suction channel connected with a suction interface. The invention mainly provides the ultrasonic lithotripter used together with an endoscope in a minimally invasive operation, can completely adsorb stones, then break up the stones, and suck the stones out of a body through pipelines without causing the broken stone to enter the kidney to damage a human body; therefore, the ultrasonic lithotripter solves the technical problems that the prior art cannot break the stones thoroughly from the outside and cause damages to the human body.