191 results about "Bronchoscopes" patented technology

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 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.

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 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 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 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.

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 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.

The present application relates to the technical field of medical image processing, and particularly relates to a combined narrowband and fluorescence imaging method and system for bronchoscopy lesion detection. The method provided by the present application realizes selection and extraction of features with discriminative ability in narrowband imaging images and autofluorescence imaging images based on deep learning, and realizes fusion of advantages of different imaging technologies for lesion detection through decision fusion, thereby improving the speed and accuracy of lesion recognition. Meanwhile, the method provided by the present application can better adapt to different scenes and lesion characteristics, has better generalization ability, improves the specificity and sensitivity of lesion detection, and is beneficial to improving the diagnostic accuracy and efficiency.

The present invention relates to a method for manufacturing a bronchoscope simulator, and more specifically, to a method for manufacturing a bronchoscope simulator comprising: a base part printing step in which a base part is printed by a 3D printer; a plastic dipping step in which a plastic dipping is applied to the outer surface of the base part; a through-hole processing step in which a through-hole is formed on one side of the base part; and a liquid passing step in which a liquid is passed through the through-hole so that only the base part is melted away while leaving the plastic dipping.

1. Name of the product in this design: Bronchoscope. 2. Purpose of this design: for the examination, diagnosis and treatment of the trachea and bronchi. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The utility model discloses a hard bronchoscope air bag which comprises an air bag body, the air bag body is arranged on the outer tube wall of a hard bronchoscope tube body in a clamping mode, the air bag body comprises a first air bag and a second air bag which are arranged side by side in an attached mode, the first air bag and the second air bag are each of a C-shaped structure, and a C-shaped opening of the first air bag and a C-shaped opening of the second air bag are staggered. And the air bag body is communicated and connected with an air outlet end of an inflation pipeline. The utility model provides a hard bronchoscope air bag which can be clamped on various hard bronchoscope tube bodies with different outer diameters. After inflation, a gap left after the first air bag is adhered around the outer tube wall of the hard bronchoscope can be completely sealed by the second air bag, and meanwhile, a gap between the hard bronchoscope and the tracheal wall of a human body can be completely sealed after the first air bag and the second air bag are inflated, so that air leakage or aspiration can be effectively prevented in an operation process; the hard bronchoscope solves the problem that when an existing hard bronchoscope is applied, air leakage occurs, and accordingly gastric reflux substances are aspirated by mistake.

A navigation system, medical system, method of use, and medium for use in navigating a bendable medical device are provided. The system and method include a display device and a control device. The control device is configured to display, on the display device, an image of a biological lumen taken from a distal end of the bendable medical device and a representation of an airway structure. The representation of the airway structure includes a navigation path through at least a portion of the airway and a guidance reference surface disposed perpendicular to the navigation path and located at an insertion depth of the distal end of the bendable medical device.

The biopsy and hemostasis integrated balloon catheter for the bronchoscope comprises a catheter body, and a working hole channel, a balloon channel and a guide wire channel which are independent of one another are integrally arranged on the catheter body; wherein the working hole channel is used as a channel when the freezing probe performs biopsy operation; a hemostasis balloon communicated with the balloon channel is arranged at the catheter head end of the catheter body, hemostasis medicine is arranged on the outer surface of the hemostasis balloon, and the hemostasis balloon is inflated and expanded through the balloon channel to achieve compression hemostasis; a guide wire is arranged in the guide wire channel, and the catheter body is guided to reach a target position in the trachea through the guide wire. According to the application, the functions of freezing biopsy and instant hemostasis are integrated.

The invention relates to a bronchoscope matching sampling assembly and an automatic forceps examination system, and relates to the technical field of medical auxiliary instruments, the assembly comprises a forceps examination auxiliary device used for clamping biopsy forceps and driving the biopsy forceps to move to execute tissue sampling action of bronchoscope forceps examination; the front end guide plate is arranged at the foremost end of the clamp inspection auxiliary equipment body or the bearing table and is provided with a first positioning guide hole allowing biopsy forceps to penetrate through, the front side of the front end guide plate is integrated with a closed spray washing cavity, a cavity plate of the spray washing cavity is provided with a second positioning guide hole allowing the biopsy forceps to penetrate through, and the first positioning guide hole and the second positioning guide hole are aligned; a spray-washing head is arranged in the spray-washing cavity, and the liquid outlet direction faces a spray-washing area between the first positioning guide hole and the second positioning guide hole; a liquid collecting container is communicated with the lower part of the spray-washing cavity; the forceps head position detection assembly triggers a control signal when detecting that the forceps head position of the biopsy forceps reaches a spray washing area, stops the traction action of the forceps detection auxiliary equipment on the biopsy forceps, and starts the spray washing action.

The utility model discloses a bronchoscope's air leakage prevention negative pressure interface structure, including bronchoscope main part, the bottom of bronchoscope main part is provided with operating part, and the bottom of operating part is connected with the detection tube of checking bronchus, and the outer setting of bronchoscope main part has the connecting assembly, and the connecting assembly is provided with the suction needle cylinder of the suction of detection tube. When the bronchoscope main part cooperation detection equipment detects the bronchus of sick child, the stability of air pressure environment is very important. The device passes through the adsorption of sucking disc, and the air pressure fluctuation in subsequent suction process is effectively reduced, and the stability of air pressure environment in detection process is ensured. Meanwhile, the cooperation of positioning clamp, first spring, second connecting plate and other components realizes the firm fixing of suction needle cylinder, avoids the security risk caused by the loosening or falling of suction needle cylinder, and further improves the stability and safety of air pressure regulation.

The application discloses a multifunctional bronchoscope simulation training teaching method, and belongs to the technical field of training teaching, and specifically comprises the following steps: collecting instrument moving track data and real-time video stream data in bronchoscope operation, comparing the track data with a standard path to identify a path deviation section, extracting bronchial bifurcation position marks and mucosa morphological feature marks from the video stream, establishing a space-time correlation between path deviation and anatomical features and constructing an operation logic analysis report, converting the report into semantic features and image features, inputting the semantic features and the image features into a multimodal large model for feature fusion to generate an operation rationality evaluation vector, finally analyzing the vector to obtain a path compliance score, a clinical decision score and a strain capacity score, and finally obtaining a final score result by fusing the three scores; the application effectively distinguishes between operation mistakes and reasonable clinical strain, and realizes real evaluation of the clinical decision-making ability of students.

The application relates to the technical field of bronchoscopes, and discloses a multifunctional bronchoscope which comprises a bronchoscope main body, one end of the bronchoscope main body is connected with a front end part, a camera and a light lamp are fixed on the front end part respectively, biopsy holes are arranged on the bronchoscope main body and the front end part, a biopsy head is slidably arranged in the biopsy holes, a sampling cylinder is fixed in the biopsy head, one end of the biopsy head is connected with a suction hose, two rotatable cutters are arranged on the biopsy head, and one end of each cutter is connected with a first pull rope; a rectangular groove is arranged on the front end part, a movable supporting plate is arranged in the rectangular groove, the incision area of suspicious lesion tissue is reduced during cutting, the cutting incision is relatively smooth, the amount of bleeding can be reduced, the healing effect is improved, the surface of the camera and the light lamp can be automatically wiped to remove stains, and the quality of post-sampling inspection is improved.

The invention provides a bronchoscope surgical robot device which comprises a bronchoscope module which comprises a plurality of intelligent segments which are sequentially and flexibly connected in the axial direction. The driving module is connected with the bronchoscope module so as to drive the bronchoscope module to bend; the feeding module is connected with the driving module so as to drive the driving module and the bronchoscope module to move; and a control unit. Wherein each intelligent section comprises a flexible shell; the electrorheological fluid cavity is arranged in the flexible shell; the electrode unit is arranged on the shell wall of the flexible shell; and the force sensor module is arranged on the outer surface of the flexible shell. According to the bronchoscope surgical robot device provided by the invention, flexible and active rigidity adjustment of a bronchoscope surgical robot can be realized on the basis of feedback of contact force between a pipeline of a bronchoscope and in-vivo tissues.

The present application belongs to the technical field of image processing, and particularly relates to a bronchoscope image processing method, system and terminal based on deep learning. The method comprises: extracting an evaluation area from a bronchoscope image set, determining an image offset index representing the offset characteristics of the evaluation area, the determination of the image offset index comprising calculating the pixel offset difference value between the image pairs, and further performing offset characteristic calibration on the evaluation area based on the image offset index, the calibration process can comprise tolerance correction, to finally generate a calibrated image set. The present application actively suppresses motion artifacts by calibrating the offset characteristics, thereby improving data preprocessing efficiency, diagnostic decision accuracy and system robustness.

The invention discloses an airway segmentation network based on multi-scale directional attention and local graph convolution fusion, and relates to the field of medical image processing, a U-Net type three-dimensional encoder-decoder structure is adopted, space detail information is reserved and gradient propagation is promoted through jump connection, an encoder is used for extracting multi-level semantic features, and the decoder is used for extracting multi-level semantic features; a decoder gradually recovers spatial resolution through jump connection, a segmentation result is obtained through a convolution layer and a Sigmoid activation function, an airway segmentation network integrates a multi-scale direction attention mechanism and a local graph convolution attention mechanism, enhancement is carried out in combination with relative position coding, the identification capability of small airway branches is improved, and boundary false detection is reduced. According to the method, the recognition rate of the tail end fine bronchus is remarkably improved, breakage and leak detection are reduced, the connectivity and topological integrity of the airway tree are enhanced, the model is more sensitive to feature response of small airways, fuzzy boundaries and low-contrast areas, the continuity of the output airway model is higher, and the method can be directly used for bronchoscope robot navigation and path planning.

The utility model relates to the technical field of medical instruments, and provides a multipurpose pipe joint of a bronchoscope, which comprises a bronchoscope body, one side of the bronchoscope body is fixedly connected with an interface, and one side of the interface is provided with a joint assembly. The bolt is rotated to be separated from the threaded groove, then the connecting ring is pulled to slide along the outer surface of the first silicone tube, and when the leakage part of the first silicone tube is adjusted to the proper length, the penetrating groove of the connecting ring is aligned with the threaded groove in the corresponding position of the leakage part of the first silicone tube; at the moment, a bolt can penetrate through the interior of a penetrating groove to be fixedly connected with a threaded groove in a threaded mode, at the moment, the connecting ring can be prevented from sliding along the outer surface of the first silicone tube again, and a gap between the first silicone tube and the second silicone tube is blocked through a sealing ring. Therefore, gas and liquid are prevented from leaking from the connecting gap of the first silicone tube and the second silicone tube, and the problem that the relative length of the leaking part of the first silicone tube is inconvenient to adjust is solved.