314 results about "Bronchoscopes" patented technology

The invention discloses an image ranging system and method for a bronchus endoscope, and belongs to the field of image processing. The system mainly comprises an endoscope image acquisition module, an image preprocessing module, an image ranging module, a training module, a distance verification module and a data output module. The image preprocessing module performs size adjustment and distortion elimination on the acquired image data and integrates the image data into a data set; the image ranging module constructs a ranging model by using a convolutional neural network, inputs a data set into the stable ranging model trained by the training module to obtain a predicted value of a distance, and finally verifies and outputs a ranging result; the image ranging system adopts a small convolution kernel, a small number of convolution layers and image input of a specific size, is higher in fitting degree, lower in storage requirement and higher in calculation efficiency for a specified scene, can serve as a judgment condition for bending of the front end of a catheter, provides a research basis for a bronchoscope interventional operation path, and has a good application prospect. The accuracy of clinical diagnosis and treatment is improved.

This invention discloses a bronchoscope robot and its control method using a hybrid line / fluid drive system. The bronchoscope robot includes a feeding module, a driving module, and a bronchoscope module. The bronchoscope module is connected to the driving module, and the feeding module drives the driving module and the bronchoscope module to move. The driving module includes a fluid driving module and several line driving modules. The bronchoscope module includes a passive bending section, an active bending section, several lines, and a miniature camera. The fluid driving module controls the length of the active bending section by injecting or extracting fluid, while the line driving modules control the extension and retraction of the lines to control the bending angle of the active bending section. This invention controls the movement, extension, and bending of the bronchoscope through the feeding module and the driving module, improving the flexibility of the bronchoscope robot, meeting the needs of dealing with airways with different curvatures, ultimately successfully entering the distal airway, and ensuring safety during airway contact.

The invention relates to the technical field of robot control and autonomous navigation, in particular to a bronchoscope robot autonomous control method based on deep reinforcement learning. Autonomous navigation of the bronchoscope robot is performed through a deep reinforcement learning training agent, pose data and picture data are acquired in real time by using an electromagnetic navigation technology and an endoscope camera, then data feature extraction and multi-modal data fusion are performed, the data are input to a reinforcement learning agent, and motion output is obtained through a deep network. And finally, three-degree-of-freedom control of the robot is realized. The method has a wide application prospect, and is particularly suitable for the fields of medical robot navigation, artificial intelligence operation assistance and the like. Position data are acquired through electromagnetic navigation, image data are acquired through an endoscope camera, and observation input of deep reinforcement learning is constructed by using a processing method of feature extraction and attention mechanism fusion.

The invention provides a visual bronchoscope device, and relates to the technical field of endoscope catheters. The visual bronchoscope device comprises a catheter body and a handle sleeve, an integrated imaging module is eccentrically arranged at the far end of the catheter body, the near end of the catheter body is connected with the handle sleeve, a sputum suction channel is formed in the catheter body, and a handle isolating membrane is further arranged on the imaging catheter; the integrated imaging module comprises a plurality of miniature LEDs and an ultra-miniature CMOS image sensor; the device further comprises a handle and a computer, and the computer comprises an image processing unit which is used for receiving original image data from the integrated imaging module, performing image processing on the original image data and displaying an image processing result on the display screen. The kit can be used for auxiliary diagnosis of lung diseases.

A two-stage method for guiding an endoscope and second device toward a target destination near the ROI includes navigation and localization. The endoscope is navigated near the vicinity of the ROI according to a pre-procedure plan. When the ROI location is reached, the second device's tip is pushed far enough through the endoscope so that its tip is outside the endoscope and in the endoscope's video view. Then a two-phase registration mechanism is used: i. Phase 1: Align the endoscope by registering the endoscope's video to a virtual bronchoscope's simulated video stream; ii. Phase 2: Align the second device by registering the second device's shape in the endoscope's video to a virtual second device model.

The invention relates to the technical field of medical information processing, in particular to a path planning device of a bronchoscope. Firstly, multi-modal medical image data of a plurality of breathing phases of a patient are collected through a construction module, and a three-dimensional model containing a focus, a bronchus and an accompanying blood vessel is generated. Then, the three-dimensional model is loaded to AR display equipment, AR virtual dissection is carried out on the three-dimensional model through a virtual dissection module based on the target operation instruction until the transparency of the focus reaches the set transparency, and a dissection model corresponding to the three-dimensional model is obtained. An initial path is then generated in the anatomical model based on a preset security constraint. Finally, the initial path is dynamically updated through a dynamic planning module in combination with the real-time breathing phase, and a target path is obtained. According to the invention, a focus shielding blind area is broken through, the target fine bronchial segment shielded by the focus is visually presented, and the operation precision and safety of the bronchoscope are improved.

The invention discloses an intelligent bronchial endoscope focus detection method, computer equipment and a storage medium. The intelligent bronchial endoscope focus detection method comprises the steps that real, reliable and diversified bronchial endoscope examination images are collected; through data preprocessing, labeling and data division, a bronchial focus detection data set is constructed; an efficient bronchial focus detection network is constructed, and improvement is carried out through multiple attention mechanisms and a convolution module; designing a loss function and training the network to obtain an optimized bronchial focus detection model; and performing focus detection on the acquired image in the real-time bronchoscopy video, and displaying a result. Based on the deep learning technology, the deep neural network model is trained to carry out precise focus type detection on the bronchial endoscope image, real-time bronchial lesion prompt information is provided for endoscope operators, the lesion omission problem during bronchial lesion examination is effectively relieved, the bronchoscopy process is standardized, the endoscope examination quality is improved, and the bronchial lesion detection efficiency is improved. And the workload of operators is reduced.

The invention relates to a navigation method and device of a bronchoscope and a storage medium. The navigation method relates to the technical field of medical information processing. The mapping library is constructed based on the dynamic tomographic image, and the target bifurcation point identifier corresponding to the target bifurcation point is determined based on matching of the multi-modal data of the target bifurcation point and the mapping library in the process that the bronchoscope advances along the initial path. And then, determining a target AR mark corresponding to the target bifurcation point identifier based on the mapping library, and superposing the target AR mark in the visual field of the bronchoscope through AR display equipment, so as to intuitively present the position mark, the feature mark, the risk mark, the path mark and other multi-modal parameters of the bifurcation point. And finally, on the basis of a position deviation value between the mark position of the target AR mark monitored in real time and the positioning data, updating the target multi-modal feature corresponding to the target bifurcation point identifier in the mapping library in real time. In conclusion, the accuracy and safety of bronchoscope navigation are improved.

The invention discloses an image registration method and system based on virtual bronchoscope navigation, and the method comprises the steps: generating a navigation path of a target nodule through lung segment segmentation according to the target nodule and a preset bronchus three-dimensional model; collecting a real-time image at a preset sampling point in the navigation path by moving a bronchoscope, and converting the real-time image into a depth map; and registering the depth map and the bronchus three-dimensional model through a rough matching method and a fine matching method to obtain a registration result. The position of the bronchoscope is adjusted through image matching, accurate navigation of the bronchoscope is achieved, and the operation cost is reduced.

The utility model discloses a rigid support bronchoscope capable of ventilation, belonging to the technical field of rigid bronchoscopes, comprising a tube body and an operating head, an operating channel is provided inside the tube body, an operating hole is provided in the middle of the operating head, a ventilation tube is provided inside the tube body on one side of the operating channel, an air guide tube is provided inside the operating head, an air bag is fixedly sleeved on the surface of the tube body, an inflation tube is provided inside the tube body on the other side of the operating channel, an air inlet tube is provided inside the operating head, an inflation ball is fixedly connected to the other end of the air inlet tube, a connecting head is provided at one end of the tube body, a connecting groove is provided at one end of the operating head, clamping grooves are provided on both sides of the connecting head, and clamping components are provided on both sides of the connecting groove; the tube body and the operating head can be disassembled through the cooperation of the connecting head, the connecting groove, the clamping groove and the clamping component, so that they can be cleaned and disinfected separately, and the use is convenient.

The invention discloses a remote control visual fiberoptic bronchoscope device, and belongs to the technical field of medical instruments, the remote control visual fiberoptic bronchoscope device comprises a bedstead, and further comprises a supporting device, an adjusting device, a clamping driving device and a cleaning device, the supporting device is installed on the left side of the bedstead, and the adjusting device is installed on the right side of the supporting device; the clamping driving device is installed on the upper side of the adjusting device, the multiple cleaning devices are installed on the lower side of the adjusting device, the clamping driving device comprises a sliding rod, a guide wheel, a sliding support, a tension spring, an auxiliary wheel and a gear motor, the sliding rod is slidably connected to the right side of the adjusting device, and the guide wheel is rotatably connected to the right side of the sliding rod through a rotating shaft; the sliding support is slidably connected to the middle side of the sliding rod. By means of the mode, the visual fiber bronchoscope can be operated by a single person to conduct various complex operations, synchronism is improved through single-person operation, the treatment efficiency is improved, and pre-cleaning of an insertion tube can be assisted.

The invention relates to the technical field of medical robots, in particular to a shape sensing type bronchoscope robot control method, which comprises the following steps of: acquiring a tail end shape coordinate of a bronchoscope in a current bending state, and constructing a current bending state model of the bronchoscope; robot joint angle vectors are obtained through deformation state data collected in real time; according to the robot structure model, constructing a robot model in the current bending form; respectively constructing a bending part spring model and a joint spring model based on the stress conditions of the tail end control point and the bending part control point; lateral pressure borne by the bending part and the tail end of the bronchoscope in the current bending posture is collected and processed; self-adaptive control is realized based on the target control quantity; the shape of the bronchoscope is sensed in real time through multiple sensors, mechanical analysis is carried out in combination with a spring model, multi-strategy self-adaptive control is achieved, the accuracy, safety and efficiency of bronchoscope operation are improved, and powerful technical support is provided for bronchoscope examination and minimally invasive surgery.

The invention discloses a special-shaped probe multi-point refrigerating system for bronchoscope cryopreservation, and relates to the technical field of medical instruments, the special-shaped probe multi-point refrigerating system mainly comprises a probe, an air pressure sensing execution sleeve and a wireless computer control system, the special-shaped probe on the probe is provided with four dome cylindrical protruding parts, the middle of the special-shaped probe is sunken, and five capillary tubes are arranged in the probe; the five point refrigeration areas correspond to the convex part and the concave part of the special-shaped probe respectively, so that the five point refrigeration areas are independent; an initial pressure value required by pressure reduction and heat absorption of high-pressure gas is calculated, a wireless signal is transmitted by a computer control system, and then the five air pressure sensing execution sleeves release corresponding pressure, so that the temperature of different point positions on the special-shaped probe is different. Meanwhile, the provided multi-point refrigeration system achieves independent adjustment of the temperatures of different point positions in the probe, prevents the probe from touching and frostbite surrounding healthy tissues by mistake, and has a good clinical application prospect.

The invention provides a quick replaceable bronchoscope interventional operation robot. The quick replaceable bronchoscope interventional operation robot comprises a base, a bronchoscope structure, a driving device, a first supporting part and a second supporting part, the driving device is fixed on the base, one end of the bronchoscope structure is connected with the driving device, the first supporting part is connected with the bronchoscope structure, one end of the second supporting part is connected with the base, and the other end of the second supporting part is connected with the first supporting part; the bronchoscope structure comprises a bronchoscope which is arranged in a first supporting part in a penetrating manner; the shell is used for opening or closing the bronchoscope structure; a through hole is formed in the shell, is communicated with the bronchoscope and is used for introducing external normal saline into the bronchoscope. The bronchoscope structure is stably supported through the base, the first supporting part and the second supporting part, external normal saline can be introduced into the bronchoscope through the through hole in the shell, the bronchoscope can be flushed in time, it is guaranteed that the visual field of the bronchoscope is clear, and the precision and safety of an operation are improved.

The invention discloses a universal soft endoscope system which comprises a reusable handle, and a threaded connector is arranged at the front end of the handle and used for being connected with a disposable soft endoscope consumable assembly. The threaded connector extends outwards to be provided with a flexible camera sleeve, and the end of the flexible camera sleeve is connected with a reusable camera assembly through a snake bone assembly. At least one group of traction assembly is arranged in the handle and is used for driving the camera assembly to steer; the camera assembly is electrically connected to the control device, and the control device is used for processing image signals collected by the camera assembly and / or controlling the traction assembly to achieve steering of the camera assembly. The disposable flexible lens consumable assembly is one of a disposable gastroscope consumable assembly, a cystoscope consumable assembly or a bronchoscope consumable assembly and a ureteroscope consumable assembly. The problems that an existing soft endoscope is high in cost, use convenience and safety are insufficient, and performance is difficult to guarantee are solved, cost is reduced, and meanwhile performance and use safety are improved.

One or more devices, systems, methods, and storage mediums for performing robotic control and / or for manufacturing and / or using a catheter having a tip are provided herein. Examples of such control, catheter manufacturing and use include, but are not limited to, correction of one or more sections or portions of a continuum robot as the continuum robot is moved. Examples of applications include imaging, evaluating, and diagnosing biological objects, such as, but not limited to, for bronchial or other medical applications, and being obtained via one or more optical instruments, such as, but not limited to, optical probes, catheters, endoscopes, and bronchoscopes. Techniques provided herein also improve processing, imaging, and catheter control efficiency while achieving images that are more precise, and also achieve devices, systems, methods, and storage mediums that reduce mental and physical burden and improve ease of use.

A two-stage method for guiding an endoscope and second device toward a target destination near the ROI includes navigation and localization. The endoscope is navigated near the vicinity of the ROI according to a pre-procedure plan. When the ROI location is reached, the second device's tip is pushed far enough through the endoscope so that its tip is outside the endoscope and in the endoscope's video view. Then a two-phase registration mechanism is used: i. Phase 1: Align the endoscope by registering the endoscope's video to a virtual bronchoscope's simulated video stream; ii. Phase 2: Align the second device by registering the second device's shape in the endoscope's video to a virtual second device model.

The present invention relates to a hemostatic balloon device for a bronchoscope, the device which, even when a hemostatic balloon is being inflated or has been inflated, is capable of continuously suctioning blood generated in the bronchial tubes since there is no interference with an operation passage of a bronchoscope, enabling a smooth operation by not obstructing a front field of view for a bronchoscope camera, and checking whether the balloon is normally inflated within the lateral field of view, and which comprises: a support member supported by the tip portion of the bronchoscope in a shape of encompassing the outer peripheral surface of the tip portion of the bronchoscope; and a hemostatic balloon which has a forwardly protruding inflation part provided in a shape of encompassing the outer peripheral surface of the support member so as to inflate toward the front of the support member and protrude in a ring shape when air is supplied, and has, at the center of the forwardly protruding inflation part, an accommodation hole that communicates with the support member and has an inlet opened forward, and thus, even when the hemostatic balloon is inflated such that the tip portion of the bronchoscope is accommodated in the accommodation hole, the hemostatic balloon can stop bleeding by making localized contact with the bronchial tubes by means of the forwardly protruding inflation part of the hemostatic balloon, without interfering with the bronchoscope camera and the operation passage through the opened inlet of the accommodation hole.

The application discloses a low-temperature cryogenic ablation device for a bronchoscope, which comprises a double-layer low-temperature insulation cup, a cup cover and an output pump group arranged at the top and the bottom of the double-layer low-temperature insulation cup respectively, wherein the cup cover is provided with a low-temperature switch valve communicated to the bottom of the double-layer low-temperature insulation cup, and the output pump group is communicated to the double-layer low-temperature insulation cup through a capillary pipeline and outputs the liquid nitrogen in the cup through the low-temperature switch valve by pressurizing the cup. The device has the advantages of compact structure, simple operation and high safety.

Methods and devices for creating a tunnel for accessing a target tissue are provided. The method comprises: navigating a robotic bronchoscope towards a target site in an airway passage; inserting a tunnel creation device through a working channel of the robotic bronchoscope and creating an opening on the airway at the target site; and inserting a treatment device through the working channel and reaching a target tissue by passing through the opening. The tunnel creation device utilized RF energy with a metal tip, where the metal tip has a rough surface to anchor the metal tip to the target site. The opening has a size allowing the treatment device to pass through and the size is smaller than a diameter of the robotic bronchoscope.

1. The name of this design product: Fiber bronchoscope optical performance detection device. 2. Purpose of this design product: Used as a device for detecting the optical performance of a fiber bronchoscope. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The disclosure relates to a bronchoscope system, comprising a second endoscope body, a second endoscope handle, a sheath tube and a connecting assembly; further comprising a channel plug and a working channel adapter. Since the channel plug can be deformed by extruding the deformation part to narrow the hole and hold the sheath tube, the locking of the sheath tube is realized, the displacement of the sheath tube after the second endoscope body is pulled out is avoided, the accuracy of subsequent analysis, treatment and other operations is ensured, and a solution is provided for the problems of difficult lung peripheral lesion positioning and treatment.

The invention relates to the technical field of medical instruments, in particular to a bronchoscope for respiratory medicine examination. Comprising a handle module, the handle module is fixedly connected with a flexible sheath, the flexible sheath is internally and fixedly connected with a spiral framework and a snake bone pipe, the handle module and the snake bone pipe are fixedly connected with the two ends of the spiral framework respectively, the end, away from the spiral framework, of the snake bone pipe is fixedly connected with a fixing block, and the fixing block is provided with a camera module, a communicating pipe, an illumination module and two symmetrically-distributed steel wires; the camera module, the communicating pipe and the steel wire are all connected with the handle module, and the fixing block is fixedly connected with two regulation and control pipes which are symmetrically distributed. By controlling the expansion of the regulating pipe and limiting the partial position of the snake-bone pipe, the resistance to be overcome by bending of the snake-bone pipe is increased, so that the length of the bendable part of the snake-bone pipe is shortened, the bending radius of the snake-bone pipe is further shortened, the two bending radiuses of the snake-bone pipe are freely switched through the expansion and contraction of the regulating pipe, and the bending efficiency of the snake-bone pipe is improved. And the applicability of the bronchoscope in bronchial examination is improved.

The invention provides a bronchoscope simulation training system and method based on a VR technology, and the system comprises a VR helmet which is used for generating a 3D simulation bronchoscope examination scene; the simulation operation handle is used for simulating the operation of the bronchoscope; the position sensor is used for capturing action data when the user operates the simulation operation handle; the controller is used for calculating and rendering an operation view angle and an operation object of a user in a 3D simulated bronchoscopy scene according to the received action data, and feeding back an operation torque through the simulated operation handle so as to form various operation experiences; and the adaptability training algorithm chip is used for performing proficiency evaluation according to the action data to obtain an operation proficiency, and dynamically adjusting the difficulty of the 3D simulated bronchoscopy scene according to the operation proficiency. According to the invention, a vivid virtual training environment is provided, so that a novice doctor can carry out simulation training under a non-invasive condition, and the operation skill is improved.

The invention discloses an intelligent bronchus lumen part identification method, electronic equipment and a storage medium, and the method comprises the steps: collecting each bronchus lumen part image under real bronchus endoscopy, and carrying out the data labeling, data preprocessing and data division, so as to construct a bronchus lumen part identification data set; designing and constructing a feature extraction backbone network and a loss function; training the network by using the training data set to obtain a trained bronchial lumen part identification model; and classifying and identifying the acquired images in the real-time bronchial endoscopy video, and displaying an identification result. On the basis of the deep learning technology, automatic identification of the bronchus lumen part is achieved, real-time bronchoscope position information is provided for bronchoscope operators, operation errors such as false detection and missing detection caused by manual inspection are effectively relieved, the bronchoscope inspection process is standardized, the endoscopic inspection quality is improved, and the operation efficiency is improved. And the workload of operators is effectively reduced.

The utility model relates to a tracheal stent pusher which comprises a restraining assembly, a pushing assembly and a pushing assembly, the restraining assembly comprises a long-strip-shaped rope cage and a traction rope arranged at one end of the rope cage in a connected mode, and the rope cage is used for folding and restraining a tracheal stent; the two ends of the containing pipe are communicated, a deformable guide wire is arranged in the length direction of the containing pipe so that the containing pipe can be bent and shaped, and the rope cage is arranged in the containing pipe in a sliding mode; the pushing pipe is arranged in the placing pipe in a sliding manner and is used for ejecting the rope cage filled with the air pipe bracket out of the placing pipe; the two ends of the pushing pipe are communicated, a wire passing opening is formed in one side of the pushing pipe, and the traction rope penetrates in from the end of the pushing pipe and penetrates out from the wire passing opening. A through biopsy hole is formed in the fiberoptic bronchoscope, the free end of the fiberoptic bronchoscope can penetrate through the pushing pipe and the rope cage in a sliding mode, and the biopsy hole is used for inserting a cutting tool to damage connection of the end, away from the pushing pipe, of the rope cage. The utility model provides a tracheal stent pusher which is simple to operate and high in fault tolerance.

The utility model discloses a device for freezing a guinea pig trachea through liquid nitrogen spray under a bronchoscope. A cold source device is mounted at one end of the first pipe body, and a nozzle is mounted at the other end of the first pipe body and extends into a guinea pig air pipe; one end of the second tube body is provided with a display screen, and the other end of the second tube body is provided with a lens which is in signal connection with the display screen and extends into the trachea of the guinea pig. The spray head extends into the trachea of an experimental animal, liquid nitrogen in the liquid nitrogen high-pressure storage tank is sprayed into the trachea of a guinea pig from the spray head through the first pipe body, a freezing experiment can be carried out on the trachea of the guinea pig, meanwhile, the lens also extends into the trachea of the guinea pig, and the lens transmits the freezing condition in the trachea of the guinea pig to the display screen. The freezing condition and the treatment condition in the trachea can be observed on the display screen in real time, the trachea of a guinea pig, a rat, a mouse and other small animals can be effectively subjected to freezing treatment, and the treatment condition can be observed in real time.

The utility model discloses an aerosol inhalation device convenient for tracheal intubation and tracheostomy intubation patients, which comprises an atomization medicine storage cup, an intubation connecting seat and a connecting tube, the atomization medicine storage cup is connected with the intubation connecting seat through the connecting tube, and the atomization medicine storage cup comprises a cup body and a cup cover. The lower surface of the cup cover is connected with the top end of the conical cover through a stand column and two connecting rods, a middle partition plate is arranged between the two connecting rods, drainage grooves are formed in the two sides of the inner wall of the conical cover, liquid inlet grooves are formed in the positions, located at the drainage grooves, of the bottom of the conical cover, and a sealing plug is arranged at a bypass opening in the top end of the cannula connecting base. On the premise that a trachea cannula or a tracheostomy cannula is not pulled out, a patient can inhale enough atomized liquid medicine, secretions and sputum in the respiratory tract are effectively removed, respiratory tract infection and other complications are effectively prevented, the operation of the fiberoptic bronchoscope is smoother, meanwhile, the liquid medicine can be completely pulled out, and residue and waste of the liquid medicine cannot be caused.

A bronchoscope path assistance system includes: a bronchoscope, having a camera device on one end thereof, for generating an image signal; a mouthpiece, having an opening at a center thereof; a positioning device, disposed on the mouthpiece, for detecting a relative movement between the bronchoscope and the mouthpiece to issue a positioning signal; a memory device, for storing path information; a processing device, for generating a composite image signal according to the image signal, the positioning signal and the path information; a display unit; and an input unit. The bronchoscope path assistance system of the present disclosure is adapted for treatment, inspection or sampling of bronchi. The present disclosure further relates to a positioning mouthpiece and a bronchoscope path display device.

To provide a method for auto-registration for a robotic endoscopic apparatus.SOLUTION: The method comprises: (a) generating a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of a location sensor based at least in part on a first set of sensor data collected using the location sensor; (b) generating a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and (c) updating, based at least in part on a third set of sensor data, the second transformation using an updating algorithm.SELECTED DRAWING: Figure 7