352results about How to "Improve the effect of surgery" patented technology

A robot aided surgical system for the bone setting operation with the locking intramedullary nail is composed of multifunctional automatic operation bed, robot, bone setting regulator on said robot, bone fixing mechanism, high-accuracy full-automatic X-ray machine with C-shaped arm, navigation robot, robot controller, master hand control station, and slave hand control station.

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 discloses an artificial half pelvic prosthesis with a support structure, comprising an ilium side prosthesis and an acetabulum side prosthesis which are provided with a plurality of bolt holes, and a hook-like support structure arranged at the sacrum part justly is arranged at the edge end of the ilium side prosthesis; the ilium side prosthesis is hemispherical, an extension arm is arranged inwards, and a hook-like support structure arranged below the public rami at the same side or the opposite side is arranged at the tail end below the arm. In the invention, by adopting the support structure, interfacial stress between the prosthesis and the residual pelvis is converted into pressure stress from shearing or tensile stress, so as to improve the stability of the prosthesis. Moreover, a special inserted support structure or an inserted intramedullary stem structure is adopted at the connecting part of the prosthesis and a horizontal ramus of pubis, more femoral blood vessels and nerves on the surface are not needed to be exposed in the operation, the inserted type support structure or the intramedullary stem is directly inserted in the stump of the horizontal ramus of pubis, so as to simplify the operation and reduce risks of bleeding and injuring vital nerves and blood vessels.

The invention relates to a tissue restoration fiber membrane, a production method and an application thereof, and a tissue restoration product. The tissue restoration fiber membrane is formed by interlacing fiber yarns with the diameter of 10 nm to 100 [mu]m, the fiber membrane has a pore structure formed by interlacing the fiber yarns, every fiber yarn is provided with an annular projection structure in a radial direction, and the bulkiness of the fiber membrane is not less than 2 cm<3> / g and less than 200 cm<3> / g. The invention also discloses the production method of the tissue restoration fiber membrane, the application of the tissue restoration fiber membrane in the production of the tissue restoration product, and the tissue restoration product produced by using the fiber membrane.

The invention provides a balloon guide catheter, and in particular relates to the technical field of medical apparatus and instruments. The catheter is a composite pipe composed of an outer tube, an inner tube, and a suction tube positioned at the far end of the catheter which are coaxial, and a flexible balloon capable of realizing the full or contraction state is connected to the outer layer ofthe far end of the outer tube; an annular cavity between the inner tube and the outer tube forms a balloon filling cavity; the far end of the inner tube is welded to the near end of the suction tube;an inner cavity of the inner tube is connected with the inner cavity of the suction tube in series to form a guide cavity of the catheter, namely, a thrombus suction cavity; a main inner hole of a Y-shaped joint communicates with the inner cavity of the inner tube to form a wire guide cavity and the thrombus suction cavity; and the axis of side holes of the Y-shaped joint and the axis of the maininner hole of the Y-shaped joint have intersection at the near end direction of the catheter to form an acute angle, and the side holes of the Y-shaped joint and a gap between the outer wall of the inner tube and the inner wall of the outer tube communicate to form the balloon filling cavity. For the balloon guide catheter, during the interventional treatment process, blood flow can be blocked, sothat small broken thrombus is prevented from blocking the far end, and meanwhile, large thrombus blocks at the near end can be sucked, so that the surgery effect is greatly improved.

The present disclosure provides methods, systems, techniques and apparatus related to an instrumentation used to classify tissue before and / or during removal. The tissue can include any hard tissue / soft tissue interface, such as a cataract within a lens. Before an operation, an ultrasound image can be provided that gives a full scan of the targeted region, e.g., a lens, and provide a hardness profile. The profile could include a two or three dimensional map of the tissue hardness, assisting a surgeon to choose a suitable surgical procedure and strategy. During the operation, hardness measurements can be carried out real-time, in a constant manner, while the surgeon is working. This data can allow the handpiece to automatically adjust to the surgical conditions including the tissue hardness, increasing surgical performance, decreasing surgical procedure time and reducing the rate of complications.

The invention relates to a feature-based quick bone plate design method. The method is characterized in that the method includes the following steps that 1, an interesting region is selected through border lines according to a bone model, and surface reconstruction is conducted on the interesting region; 2, feature definition and parameter setting are conducted on the reconstructed surface region, and a surface feature is generated; 3, a bone plate entity feature is built through the generated surface feature, a mapping relation between the surface feature parameters and the bone plate entity feature parameters is built, and later quick editing and altering are facilitated. The feature-based quick bone plate design method provides a certain theoretical basis for the bone plate design, particularly the individualized design of bone plates, the design cycle of the bone plates is shortened, and design efficiency is improved.

The invention discloses a slave end controller of an interventional operation assisting system with catheter-guide wire conducting collaborative operation and belongs to the technical field of medical equipment.The slave end controller comprises a guide wire, a guide wire operator, a catheter, a catheter operator, a sliding bracket, an axial movement controller and a shell; the guide wire operator is used for conducting rotating, clamping and relaxing operation on the guide wire used for the operation; the catheter operator is used for conducting rotating, clamping and relaxing operation on the catheter used for the operation; the sliding bracket is used for supporting the guide wire and the catheter and limiting the movement locus of the guide wire before entering the catheter so as to prevent the guide wire from being bent before entering the catheter; the axial movement controller is used for controlling axial movement of the catheter and the guide wire; the shell is used for supporting the guide wire operator, the catheter operator and the sliding bracket.According to the slave end controller, interventional actions are completed according to operation information of doctors, real-time haptical information can be fed back to the doctor visually, and safety and operability of the interventional operation can be improved.

The invention discloses a customized far-end dissect type bone plate design method based on patient femur parameters; the method comprises the following steps: leading in a patient fracture model, and measuring effective femur model parameters; using the effective femur parameters to build up a patient femur curved surface characteristic model, projecting a main fracture line to the femur model, restoring main fracture traces, and building up a femur fracture reset curved surface model; drafting a customized contour sketch on a femur sagittal surface, projecting the contour to the femur reset model, obtaining a local curved surface to form a femur binding surface, parameterizing the binding surface contour, and building up mapping between the femur parameters and the binding surface parameters; extending the binding surface outwards at unequal pitchs in a sagittal surface direction so as to build up a bone plate entity, defining entity characteristics, building up mapping between the binding surface and entity characteristic parameters, and forming bone plate characteristics; leading out the characteristics so as to generate a customized bone plate. The customized far-end dissect type bone plate design method uses patient femur parameters to directly and accurately build up the customized dissect type bone plate, can fast generate a same kind bone plate according to parametric modification, thus providing important meanings for customized design of the patient bone plate in a bone surgery.

The invention relates to a gallbladder calculus removing device with a lockable calculus crushing end. The gallbladder calculus removing device with the lockable calculus crushing end comprises an outer lens sheath and a lens body, wherein a rotary sheath and an inner lens sheath are arranged in the outer lens sheath, the rotary sheath is rotatably sheathed outside the inner lens sheath, and an axial relative displacement cannot be produced between the rotary sheath and the inner lens sheath; a calculus picking-up assembly is arranged at one end, far away from the lens body, of the inner lens sheath, one opening is also formed in the side wall of the calculus picking-up assembly, the opening can be covered by a sealing assembly, an instrument channel pipe is arranged in a cavity of the inner lens sheath, a calculus crushing assembly is arranged in the instrument channel pipe, and the calculus crushing end of the calculus crushing assembly is inserted into the calculus picking-up assembly. According to the gallbladder calculus removing with the lockable calculus crushing end, a calculus can be placed in an enclosed space and is crushed, no calculus residue is produced, little damage is caused to surrounding tissues, interference of calculus chips to view of an endoscope is small, operation efficiency and an operation result can be obviously improved, and pain and burden of a patient can be alleviated.

The invention relates to the magnetic resonance field, in particular to a device transmitting magnetic resonance signals in a medical facilitie guided by MRI, which is designed for resolving the problems as the obturation of receiving coil and difficulty of moving in the prior art. The invention comprises a medical facilitie, a MRI system and a HIFU device connected with the MRI system, which is characterized in that: the device also comprises induced coils arranged outside the medical facilitie. The invention, by connecting cables and the MRI system, receives the electromagnetic wave signals and then transmits ton the MRI system. The invention has the advantages of preventing the coil connecting and sealing with the cables in the medical facilitie, thus facilitating the free moving of the coils.

The invention provides a fabrication template system for custom individual artificial total hip replacement operation acetabulum. The system comprises an acetabulum positioning guide plate, a depth control drill and a colored depth indication rod. The acetabulum positioning guide plate comprises a fossa ovalis positioning plate, an acetabulum bottom positioning plate and a depth guide cylinder. The fossa ovalis positioning plate is attached to the fossa ovalis according to the fossa ovalis dissection shape. The acetabulum bottom positioning plate is arranged at the outer edge of the fossa ovalis positioning plate and is attached to the acetabulum cartilage face according to the acetabulum dissection shape. The depth guide cylinder is arranged on the acetabulum bottom positioning plate and performs guide and depth limitation on the depth control drill. The depth control drill performs drill on the acetabulum through the depth guide cylinder, a depth limit ring protruding from the drill is arranged on the body portion of the depth control drill, and the depth limit ring is limited at the end of the depth guide cylinder through the depth guide cylinder. The length of the colored depth indication rod is identical to the drill hole depth, and the colored depth indication rod is inserted into the hole to indicate the depth and direction. By means of the template system, the ideal acetabulum prosthesis arranging position can be obtained, and accordingly, the acetabulum prosthesis can be arranged accurately, and the operation effect is improved.

The invention provides a water injection device of a medical operation electrode and a manufacturing method of the water injection device, and particularly discloses a water injection device of a double-pole operation electrode, which can be applied to histological anatomy or tissue drying or tissue ablation or low-temperature hemoglutination. The water injection device consists of a water inlet tube joint of an electrode, a water inlet catheter, an electrode internal pipeline and a tool nose water outlet, wherein the water inlet tube joint is matched with the outer conical joint of a medical infusion set; and the tool nose water outlet is formed in the back part or close to an electrode working end. The water injection device has the beneficial effects that the electrode is more suitable for the practical requirements of different types of surgical operation; and meanwhile, physiological saline is conveniently guided to a surgical treatment position simultaneously in an oriented way on the double-pole electrode, so that the working effect of the double-pole electrode is improved greatly, surgical operation is simplified, the treatment function of the electrode is brought into play to the maximum extent, the operation effect and safety are improved, and side injuries in a treatment process are controlled and reduced to the maximum extent.

The invention provides a continuous negative-pressure drainage device capable of intermittently inflating and flushing and belongs to the technical field of medical instruments in the orthopedics department. The device is used for continuous negative-pressure drainage, that is, inflating and flushing are intermittently conducted on the surface of a wound. The device is characterized in that a negative-pressure drainage pipe is connected with an inflating pipe and a flushing water pipe, an air inlet end of the inflating pipe and an water inlet end of the flushing water pipe are connected with an oxygen delivery pipe and a flushing water pipeline respectively, the inflating pipe and the flushing water pipe are provided with electric control valves respectively, and the electric control valves are connected with a programmable controller respectively. According to the device, oxygen and physiological saline are supplied intermittently, anaerobic bacteria infection can be inhibited, exudate and contaminated tissue can be cleared away, repeated debridement is avoided, when oxygen supply and flushing are conducted, a continuous negative pressure environment can be created, exudate and necrotic tissue of the wound can be timely cleared away and drained, the local microcirculation is improved, relieving of edema of soft tissue is promoted, the growth of granulation tissue is stimulated, wound healing is accelerated, a good condition is provided for the follow-up treatment, and the treatment process is sped up.

The invention discloses a fixing device for medical apparatuses and instruments, and belongs to the technical field of implantation-type medical systems, wherein the fixing device for the medical apparatuses and instruments is used for fixing electrode wires or other thin tubular articles on the skull. The fixing device can locate an electrode accurately, the electrode can be controlled to only generate tiny displacement no matter when it is in a surgery process or after the surgery, the fact that tiny influences are generated on the effect of the surgery by the fixing device is guaranteed, the success rate of a deep brain stimulation surgery is improved in an electrode fixing link, and the surgery effect is improved.

The invention provides a multipole bidirectional high-voltage steep-sided pulse discharge system. The multipole bidirectional high-voltage steep-sided pulse discharge system comprises a control end, ahigh-voltage module, a pulse generating module, an electrode combined control module and at least two discharge electrode needles, wherein the control end controls the high-voltage module, the pulsegenerating module and the electrode combined control module, the pulse generating module generates positive and negative pulse, the discharge electrode needles are connected with the electrode combined control module, during the discharge process, the continuous and alternating conversion discharge of the positive and negative electrodes between each two electrodes of the discharge electrode needles is realized. For the multipole bidirectional high-voltage steep-sided pulse discharge system, the bidirectional pulse discharge among the discharge electrode needles is realized, the effective irreversible electric field wraps the tumor tissue as far as possible, the ablation blind area is reduced, and the effectiveness of the treatment plan is enhanced.

The invention provides a prostate expanding catheter realizing visual locating. The prostate expanding catheter realizing visual locating comprises a main catheter, a soft lens and a composite high-pressure bag, wherein a urine guide cavity, a flushing cavity, an inner bag cavity and an outer bag cavity are arranged inside the main catheter, an opening is formed in the front end of the main catheter, the urine guide cavity and the flushing cavity are connected with the opening, and a positioning bulge is further arranged on the main catheter; a composite high-pressure water bag is arranged between the positioning bulge and the opening, the composite high-pressure water bag comprises an inner bag and an outer bag, the inner bag is located in the outer bag, and one or more marking lines with different colors are arranged on the outer bag; the soft lens can be inserted into the urine guide cavity or the flushing cavity of the main catheter. According to the prostate expanding catheter realizing visual locating, the marking line(s) on the outer bag can be observed through the soft lens inserted in the urine guide cavity, then the main catheter is located through the position of the marking line (s), thus the locating accuracy of the main catheter is improved, and meanwhile, the judgment of medical staff for the locating of the catheter is also facilitated.

The invention discloses a three-dimensional model reconstructing method for keeping a fracture line of a jaw bone. The method is characterized by comprising the following steps that 1, CT data, in accordance with a Dicom protocol, of an injured jaw bone are input; 2, a surface model of the jaw bone is extracted by using a Marching Cube isosurface algorithm; 3, a segmentation algorithm which combines a Gaussian mixture model with Graph Cut is used for rapidly completing segmentation of broken bone blocks and a main bone block; 4, automatic replacement is conducted on the broken bone blocks on the basis of the symmetry, and a complete jaw bone model is obtained by splicing the broken bone blocks and the main bone block; 5, positioning devices which are each composed of a pair of coupling block devices are additionally arranged on the seams of the complete model obtained through splicing; 6, a complete three-dimensional solid model is obtained through assembling according to the positioning devices. By means of the three-dimensional model reconstructing method for keeping the fracture line of the jaw bone, in a jaw bone repairing operation, particularly when chimerism, fixation and repair are conducted between the broken bone blocks and between the broken bone blocks and the main bone block, the fracture line information of the defect parts is kept, so that errors in the operation are reduced, the wounds of a patient are reduced, the process of the operation is accelerated, and the operation effect is guaranteed.

The invention discloses a catheter coated with rapamycin. The outer surface of part catheter is coated with catheter. It is used for preventing disease recurrence for urine injured patient or urethral stricture patient.

The invention belongs to the technical field of medical equipment, and discloses a novel interventional catheter which comprises a fixed catheter, a rotary catheter, a guide part and a branch catheter, the rotary catheter and the fixed catheter are coaxially arranged, and the rotary catheter is arranged at the front end of the fixed catheter in a sealed and rotary mode; the guide part is arranged at the front end of the rotary catheter, and a channel of the guide part is arc-shaped; and at least one branch catheter is arranged on the side wall of the fixed catheter. The invention further discloses an interventional surgical robot. According to the invention, the structure design is reasonable, orderly arrangement and orderly control of different catheters or guide wires can be effectively achieved, so that a complete surgical operation is achieved through the surgical robot, and technical support is provided for further development of the surgical robot in the medical field.

The invention discloses a laser system for the surgical department. The laser system comprises a laser device system, a measuring device, a control device, a deflection device and a focusing optical device. The laser device system comprises a laser wavelength conversion device composed of a near-infrared pulse laser device and a nonlinear crystal, the input end of the laser wavelength conversion device receives near-infrared pulse laser sent by the near-infrared pulse laser device and converts the wavelength of the near-infrared pulse laser, and the laser wavelength conversion device outputs infrared pulse laser and quintuple frequency ultraviolet pulse laser obtained through wavelength conversion. The measuring device comprises an optical coherence tomography system, one or more measurers and a coupler. The laser system for the surgical department is high in integration degree, good in stability, safe and reliable and effectively improves the safety of the surgical operation.

The invention discloses a control method and device of a grinding and filing tool, electronic equipment and a storage medium. The control method of the grinding and filing tool comprises the steps that the initial posture of the grinding and filing tool under a base coordinate system and position coordinates of key points are obtained; based on the transformation matrix, the grinding and filing tool is transformed into a moving posture from the initial posture; the position coordinates of the top end of the grinding and filing tool are fixed, a mechanical arm controls the grinding and filing tool to grind and file in the motion posture, and the posture of the grinding and filing tool is adjusted according to the motion trail of a flange original point of the mechanical arm; and when a coordinate difference value between a current position coordinate of the sphere center of the inner spherical surface of an acetabular cup and the grinding and filing depth limiting point is smaller than or equal to a preset threshold value, the grinding and filing tool is controlled to stop moving through the mechanical arm. In this way, the movement angle and depth of the grinding and filing tool can be controlled in the acetabulum grinding and filing process of an operator, the acetabulum is prevented from being abraded, and therefore the use safety of the grinding and filing tool and the operation effect of patients are improved.

The invention discloses an encephalic puncturing auxiliary guiding system which comprises a puncturing angle and depth calculating subsystem and a puncturing device subsystem. The puncturing angle and depth calculating subsystem comprises a plan puncturing angle and depth calculating module and a first communication module. The puncturing device subsystem comprises an angle measuring module, a depth measuring module, a second communication module and a puncturing monitoring module and is used for comparing a real-time angle with a plan puncturing angle of a puncturing device and comparing a current puncturing depth with a plan puncturing depth. The encephalic puncturing auxiliary guiding system is simple in structure, low in cost and easy to operate.

The invention discloses an autonomous dental implant robot system, device and method thereof. The system comprises a robot for executing dental implanting; a computer controlled system used as a processing, analysis and decision center for dental implant information; a visual scanning navigation and tracking device for determining oral reference marks and the association between the dental implantposition in an oral cavity of a patient and the dental implant medical device. Under the work state of the system, relationship among the visual scanning navigation and tracking device, the dental implant robot system, the computer controlled system and the oral cavity of the patient are established so as to provide complete autonomous dental implant operation solution schemes, which ensures theaccuracy of the position of the implant and the accuracy of the occlusion, greatly improving the service life of the dental implant and the comfort of the patient after surgery.

The invention discloses a characteristic line-based parametric design method for a bone fracture plate abutment surface. The characteristic line-based parametric design method comprises the following steps: (1) on the basis of a bone model, selecting an abutment surface region of a related bone fracture plate, and reconstructing curved surface characteristics of the selected region on the basis of a characteristic line; (2) defining key points and characteristic points on the characteristic line, wherein the characteristic points are one part of the key points; the key points are used for determining the basic shape of the characteristic line; and the characteristic points are used for defining characteristic parameters; (3) building the characteristic line by a cubic B spline interpolation curve, wherein the characteristic line comprises interpolating points, and defining a few of interpolating points to be the key points by a user; and (4) setting semantic parameters on the basis of the characteristic points, building a constrained relationship between the characteristic points and generating the curved surface characteristics employing the characteristic line as the center. According to the characteristic line-based parametric design method, the bone fracture plate form can be intuitively modified through high-level parameters; a series of diversified bone fracture plates can be generated; the method is of great significance in a bone fracture plate design of a patient in an orthopedic surgery; and the development cycle of a product can be effectively shortened; and the production efficiency can be improved.

The invention discloses a space mapping method of an assisted surgery for robots. The space of an assisted surgery for robots comprises an image space, a robot space and a patient space during surgery. The method mainly comprises the steps: an affine coordinate system of different spaces is set up through three or more than three identification points for the connection of all the spaces; and the mutual mapping between the spaces of an assisted surgery for robots is realized through obtaining the affine matrix and the origin coordinate of each affine coordinate system on a basic coordinate system. The invention can realize non-contact identification point positioning independent of any mechanical equipment, has a quick positioning process and can realize sub-second grade positioning. In addition, the mutual positioning error between a camera coordinate system and an image coordinate system is smaller than 1 mm.

The invention discloses a student health monitoring system based on big data. The system comprises a hand-foot-and-mouth disease detection module, an eyesight detection module and a sports bracelet detection module. The hand-foot-and-mouth disease detection module is used for obtaining a disease index value which is used for reflecting the risk that the detected person suffers from the hand-foot-and-mouth disease. The eyesight detection module is used for obtaining a pupil diameter value, siphon response time, pupil response time and pupil-corneal reflection vector coordinates, wherein the pupil diameter value is used for reflecting the pupil diameter of the detected person under the irradiation of natural light; the siphon response time is used for reflecting the response time of capturing a bright pattern by the vision of the detected person; the pupil response time is used for reflecting the adaptive time of the pupil to the illumination brightness change; and the pupil-corneal reflection vector coordinates are used for reflecting the offset of the pupil center and the corneal reflection facula center. The information is input into a database to serve as big data information tobe analyzed, and the big data analysis step is used for analyzing the big data information to be analyzed to obtain analytical judgment information.

The invention relates to a surgical instrument stent for the anesthesia department. The surgical instrument stent comprises a supporting bottom plate, the two sides of the upper end of the supporting bottom plate are provided with wheels, the upper end of the supporting bottom plate is provided with a fixing arm, the fixing arm is internally provided with a drive screw, the upper end of the drive screw is connected with a drive motor, the drive screw is provided with a sliding sleeve, one side of the sliding sleeve is connected with an instrument box, the instrument box is internally provided with a containing cavity and an instrument drawer, one side of the upper end of the fixing arm is provided with a stent body, and the stent body is provided with a germicidal lamp. When the surgical instrument stent is utilized, medical staff place medical instruments and drugs inside the instrument box in a classified mode, when the medical instruments and drugs need to be taken, the drive motor drives the drive screw to rotate, the sliding sleeve moves in the vertical direction, it is convenient for the medical staff to take the medical instruments and drugs, the surgical effect is improved, meanwhile the germicidal lamp can conduct sterilization on the medical instruments, use safety of the medical instruments is improved, and requirements of the medical staff are met.

The invention discloses a plasma scalpel. The plasma scalpel comprises a handle, a plasma scalpel rod body and an electrode assembly. A near end of the plasma scalpel rod body is connected to the handle, the far end of the plasma scalpel rod body is provided with the electrode assembly, the electrode assembly comprises a loop pole, a silk-thread-shaped emitting electrode and an insulating part connected to the far end of the plasma scalpel rod body and used for electrically insulating and separating the loop pole from the emitting electrode, and the emitting electrode integrally bends in an arc shape from the far end face of the insulating part and extends to the far end side face of the insulating part. The plasma scalpel disclosed by the invention can be used for accurately carrying outsurgical operation on diseased tissues, accidental injury to normal tissues can be effectively avoided, the emitting electrode can form plasma in multiple specific directions, different parts of the emitting electrode can be used for carrying out the surgical operation on target tissue, such as throats, which are not easy to expose, the surgical operation precision is high, the effect is good, surgical instruments do not need to be replaced during surgery, the surgical operation efficiency is high, the surgical time is shortened, and the surgical expenditure is saved.

The invention discloses a surgical instrument locating assembly used in the laparoscopic surgery. A surgical instrument is fixed on a fixing device, and comprises an actuating end extending into the abdominal cavity and a power end mounted on the fixing device (2), wherein a long pipe structure is arranged between the power end and the actuating end, a locating assembly carries out locating on thelong pipe structure, and the locating assembly at least comprises a sleeve (211) fixed on the fixing device and used for passing through of the long pipe structure.