565 results about "Endoscopic surgery" patented technology

The utility model discloses a novel channel expanding device for a single-side double-channel spine endoscopic surgery, and relates to the technical field of medical equipment. The pressurizing plates are mounted on the two sides of the holding part and are symmetrically distributed; the beneficial effects of the utility model are that: be equipped with holding piece, pressurizing plate, delivery ball bin, delivery box and elastic bandage, when in use, the pressurizing plate is used for the pressure operation, the delivery box supplements the required dilation auxiliary solution, the limit bandage carries out the limit installation of first dilation plate, second dilation plate and holding piece, and the use is convenient. Double buffering protection treatment is carried out when the holding piece is pressurized through the damping shock absorber and the spring, the service life of the equipment is prolonged, the equipment is convenient to carry through the elastic binding band, the overall structure is simple and easy to operate, the use requirement is met, and the practicability is high. And normal expansion, convenient carrying and multi-stage buffer protection treatment functions are integrated when the equipment is used, so that the overall use flexibility is improved.

The invention discloses a high-stability supporting device for endoscopic surgery, which comprises a clamping structure, a lifting mechanism, a length adjusting mechanism, a horizontal rotating mechanism and a longitudinal rotating mechanism, and is characterized in that the clamping structure can be used for clamping and fixing endoscopic bodies with different sizes, and the lifting mechanism is used for preliminarily adjusting the heights of the endoscopic bodies; the length adjusting mechanism is arranged at the upper end of the lifting mechanism and used for adjusting the height of the endoscope body and the distance between the endoscope body and a patient, the horizontal rotating mechanism is used for adjusting the horizontal direction of the endoscope body, and the longitudinal rotating mechanism is used for adjusting the longitudinal angle of the endoscope body. According to the invention, all-directional supporting and adjusting functions can be provided for endoscopic surgery, so that the position and angle of the endoscope can be accurately adjusted to adapt to different surgical requirements.

The invention discloses an operation index determination method and device for an endoscopic surgery, equipment and a storage medium, and can be applied to the technical field of surgical operation data processing. The method comprises the following steps: firstly, acquiring a surgical operation data set of a target operation object for an endoscopic surgery; the surgical operation data set comprises a plurality of pieces of surgical operation data sorted according to a time sequence. Each piece of surgical operation data comprises five-dimensional data, namely endoscope action data, endoscope type data, instrument action data, instrument type data and surgical object data. And constructing a hidden Markov model by using the surgical operation data set. In the hidden Markov model, the surgical operation described by the surgical operation data is the observed quantity, and the surgical state is the state quantity, and based on the hidden Markov model, the statistical principle is utilized to carry out quantitative evaluation on the surgical operation indexes, so that the accurate evaluation of the surgical operation when a doctor carries out the endoscopic surgery is realized, and the reference effectiveness of the operation indexes is improved.

The invention relates to the technical field of medical image processing, in particular to an endoscopic surgery video real-time structure analysis method and system, and the method comprises the steps: carrying out the frame-by-frame semantic segmentation of real-time video data, and generating a segmentation mask of each frame of image; calculating a comprehensive quality score of the target frame based on the segmentation masks of the target frame and the previous frame of the target frame; analyzing a motion amount index between adjacent frames; generating the current length of a sliding time sequence window according to the comprehensive quality score and the exercise amount index, and fusing multiple frames of segmentation masks in the sliding time sequence window to generate a reference mask; extracting a key point from the reference mask, and obtaining a displacement vector of the key point from a previous frame of the target frame to the target frame; generating a pixel-level displacement field according to the displacement vector, deforming the segmentation mask of the previous frame of the target frame to the target frame, and generating a prediction mask of the target frame; and performing superposition display on the prediction mask and the image of the target frame. According to the scheme, the time sequence consistency and stability of the video semantic segmentation result can be enhanced.

Provided is an endoscopic surgery system with automatic hydraulic monitoring function, comprising a control system, a cart kit and an endoscope accessory. Then control system includes a processor, a touch display, a perfusion pump, a negative pressure pump, etc. The cart kit includes a cart, a perfusion tube and an extraction tube. The endoscope accessory includes a pressure measuring guide sheath, a hydraulic sensor and an electron microscope. When the endoscope is employed for observation, the invention can control the perfusion and monitoring of the liquid in endoscope instrument, as well as the cavity liquid pressure in organs, allowing for precise control of the intracavity pressure during operation. The real-time monitoring module measures the liquid pressure in the organ in real time and sends data to the control system, calculates a state of the intracavity pressure based on real-time data obtained from the hydraulic sensor using intelligent PID control.

The invention discloses a medical operation AR practical training system based on mixed reality and reinforcement learning and a training method thereof, and relates to the technical field of medical education and medical operation training. The system comprises an MR terminal presentation and interaction module, a case and scene management module, a multi-mode operation data acquisition and evaluation module, a reinforcement learning training strategy engine module, a practical training process control module, a training examination management module and the like, a vivid medical scene is constructed in an MR environment, and data such as operation tracks, force and step time sequences of students are acquired in real time; the evaluation result is coded into a state to be input into the reinforcement learning model, the case difficulty, the prompting mode and the training rhythm are adjusted in a self-adaptive mode, individualized, procedural and quantifiable skill training and assessment are achieved, and the method is suitable for various operations such as cardio-pulmonary resuscitation, endoscopic surgery and puncture catheterization.

The invention discloses an endoscope in-vivo flushing control system, which comprises an endoscope, a surgery power device, a first information acquisition device, a second information acquisition device, an image processing device, a detection module and a data control module, and is characterized in that joint point potential and myoelectricity potential data are acquired through the first information acquisition device; a first information acquisition device on the endoscope acquires an image of a focus in the body through the endoscope and processes the image to obtain first diagnosis and treatment data, a second information acquisition device on the endoscope acquires an image of the focus in the body through the endoscope and processes the image to obtain second diagnosis and treatment data, and the data control module matches a first flushing parameter based on fusion of the first diagnosis and treatment data and the second diagnosis and treatment data. The endoscope operates at a particular irrigation flow rate and irrigation pressure based on the first irrigation parameter. Further, the data control module generates a second flushing parameter according to the change of the patient articulation point myoelectric potential data, and the endoscope works at a specific flushing flow rate and flushing pressure based on the first flushing parameter.

The present disclosure provides an endoscope holding device, an endoscopic surgery system, and a control method capable of curbing an increase in size.According to the present disclosure, an endoscope holding device includes: a housing that accommodates a relay optical system and is disposed in a robot arm; a first rotation unit that is disposed in the housing and rotates an endoscope with respect to an optical axis of the relay optical system, the endoscope being fixed such that light emitted from the endoscope enters the relay optical system, and a second rotation unit that is disposed in the housing and rotates an imaging device with respect to the optical axis of the relay optical system, the imaging device being fixed such that light emitted from the relay optical system enters the imaging device.

The invention provides a multi-modal image fusion endoscope operation target positioning device and method, and the method comprises the steps: calibrating internal and external parameters of a binocular camera and a fluorescence camera, and obtaining a pose conversion matrix between the fluorescence camera and the binocular camera; using a U-Net network model to identify and track the position of the fluorescent mark point in the fluorescent image in real time, and obtaining the two-dimensional image coordinate of the fluorescent mark point; processing a left image and a right image of the binocular camera by using a region-based local stereo matching method in binocular stereo imaging to obtain a point cloud image of a target space; and obtaining three-dimensional pose information of the fluorescent mark point by combining the two-dimensional image coordinate of the fluorescent mark point and the point cloud image of the target space. The binocular stereoscopic vision and the fluorescence imaging technology are combined, the three-dimensional pose and depth information of the fluorescence mark point is obtained by registering the information between the fluorescence camera and the binocular camera, more accurate and real-time vision assistance is provided for an operation, and the safety and efficiency of the operation are improved.

The invention relates to the technical field of medical care, in particular to a digestive endoscopy postoperative intelligent nursing system based on deep learning. The system comprises an endoscopic postoperative data acquisition and processing module, an endoscopic postoperative feature analysis module, an endoscopic postoperative recovery risk assessment module and a postoperative recovery risk intelligent nursing module, and can acquire physiological data of a patient after a digestive endoscopic surgery and digestive tract state image data after the endoscopic surgery; the long and short time memory network is used for obtaining the long and short time sequence characteristics of the physiological indexes after the endoscopic surgery, the convolutional neural network is used for identifying and obtaining the healing abnormal lesion characteristics after the endoscopic surgery, the characteristics are input into the preset deep neural network model for characteristic fusion, and postoperative recovery risk assessment calculation and postoperative intelligent nursing analysis are carried out. And generating digestive endoscopy postoperative patient recovery nursing suggestions so as to execute corresponding digestive endoscopy postoperative risk recovery nursing operation. According to the invention, postoperative data of the patient can be accurately analyzed, so that nursing decision-making work can be intelligently guided.

The invention discloses a shapeable surgical instrument with a locking device, relates to the technical field of medical instruments, and is particularly suitable for single-port endoscopic surgery. The device comprises an outer rod assembly, an inner rod assembly and a handle assembly, the outer rod can be shaped into any continuous space curve by hands and keep the shape, and the problems that a traditional straight rod instrument cannot reach a narrow operation area, and a pre-bending instrument cannot be shaped secondarily are solved. The inner rod is a flexible force transmission element, the far end is connected with the tong head assembly, and the near end is connected with the handle assembly through a detachable locking device. The locking device drives a radial movable block (a sphere or a cylinder) to clamp the inner rod through an axial movable block, so that quick disassembly and assembly are realized; and the tong head can be synchronously driven to rotate (through the rotating wheel) and open and close (through the rear handle) in cooperation with the handle assembly. According to the design, the instrument is divided into three independent parts, namely the handle, the outer rod and the inner rod, an inner hole of the outer rod is thoroughly exposed, the problem that postoperative cleaning and sterilization are not thorough is solved, and the infection risk is reduced.

The invention discloses an operation lacuna suspension device for breast endoscopic surgery, and belongs to the field of medical instruments, the operation lacuna suspension device comprises a suspension support body, a measuring part is arranged on the lower side of a horizontal part of a connecting frame and the right side of a vertical part of the connecting frame, and the measuring part comprises a first sliding groove formed in the right side of the vertical part of the connecting frame; the movement height of the traction plate can be correspondingly adjusted according to the thickness of the skin and subcutaneous tissue of a patient, so that the traction force can be controlled, and the traction plate is not prone to falling off before the traction plate pulls the incision of the patient. The thickness of the skin and subcutaneous tissue at the incision of a patient can be measured through the distance between the detection plate and the traction plate, and the traction force of the traction plate is correspondingly adjusted according to the skin and subcutaneous tissue of different thicknesses of obese people and thin people. And unnecessary damage caused in the process that the traction plate pulls the knife edge is avoided.

The invention provides a breast endoscopic surgery simulation training system. The breast endoscopic surgery simulation training system comprises a hardware end and a software end, the hardware end comprises a simulation human body model, and the software end is provided with a 3D mesh model corresponding to the simulation human body model; the simulation surgical instrument comprises a simulation electrotome, a simulation endoscope, simulation grasping forceps and a simulation incision protection sleeve, and the software end is provided with an electrotome model, an endoscope model, a grasping forceps model and an incision protection sleeve model which correspond to one another; the pose detection device is used for detecting the current pose of the simulation surgical instrument in real time and sending the current pose to the software end, so that interaction between the simulation surgical instrument and the simulation human body model is mapped to interaction between the instrument model and the 3D mesh model; the software end further comprises a display screen, and the display screen is used for displaying interaction between the instrument model and the 3D mesh model in real time. According to the scheme, breast endoscopic surgery training, teaching and research which are closer to a real surgery scene can be provided, so that the safety and the operation precision in an actual breast endoscopic surgery are improved.

The invention provides a movement control system of an endoscopic surgery robot and the endoscopic surgery robot. A tiller, a sensor, a driver, a controller and a driving power supply are arranged on an operation trolley of the endoscopic surgery robot. Wherein the sensor is arranged in a touch area of the tiller and is configured to generate a moving signal corresponding to a touch action. The amplitude of the moving signal is in positive correlation with the amplitude of the touch action. The moving speed of the operation trolley is in positive correlation with the amplitude of the moving signal. The driving power supply comprises a switching power supply, a driver and a protector. The protector is arranged between the switching power supply and the driver so as to block the current backlash from the driver to the switching power supply when the amplitude of the moving signal generated by the touch action frequently changes, so that the switching power supply is protected, and the adaptability to the environment when the operation trolley moves is improved by arranging the protector.

The present invention is an apparatus, device or tool for performing endoscopic (that is, minimally invasive) surgery. An exemplary embodiment of the invention includes a video endoscope whilst in another embodiment of the invention includes an endoscopic surgical tool which, when equipped with one of a suite of endoscopic surgical instruments, can be used by a surgeon to perform surgical procedures inside a body. Another embodiment of the present invention includes a suite of endoscopic surgical instruments designed to work co-operatively with the endoscopic surgical tool. In another embodiment of the present invention, a video-assisted endoscopic surgical tool system is provided. In one embodiment, the system includes the video-assisted endoscopic surgical tool and a suite of at least one endoscopic surgical instrument.

The utility model provides a simple pulmonary nodule positioning device for assisting endoscopic surgery, which comprises a positioning mechanism marked with scales, and a bipolar electrocoagulation device which can be matched with the positioning mechanism and is used for accurately positioning pulmonary nodules in the auxiliary endoscopic surgery is fixed on the positioning mechanism. And the bipolar electrocoagulation device is connected with a high-frequency generator with a control button. The simple pulmonary nodule positioning device used for assisting the endoscopic surgery is simple in structure and convenient to operate, can accurately position ground glass nodules in the lung by combining an expansion-collapse method, can improve the positioning accuracy of the pulmonary nodules in the surgery, achieves the purpose of accurately excising the pulmonary nodules, reduces excision of lung tissues while ensuring that the incisal margins are negative, and improves the operation efficiency. More lung functions are reserved, so that the operation effect is improved.

The invention provides an endoscopic surgery video multi-target segmentation method based on a basic segmentation large model and mixed expert fine tuning. The method comprises the following steps: preprocessing a data set, establishing an SAM2 baseline segmentation network, constructing a hierarchical hybrid expert module, constructing a stage gating network, establishing an endoscopic surgery video segmentation network, training the endoscopic surgery video segmentation network, and automatically segmenting an endoscopic surgery video by the segmentation network. According to the invention, accurate segmentation of different operation scenes can be realized. The hierarchical hybrid expert module and the stage gating network are introduced, and the problems of scene difference and multi-organization segmentation commonly existing in endoscopic surgery video segmentation tasks can be well solved.

The invention discloses a robot calibration method for spine endoscopic surgery, which comprises the following steps: S1, optical marking points are pasted on the skin or bony structure of a patient, the skin marking is used for fixing a reflective ball by using a medical adhesive tape, the bony marking is percutaneously implanted into a spinous process or crista iliaca through a titanium alloy bone nail, and at least six marking points are needed. According to the method, minimally invasive property and stability are both considered through a double marking strategy, six points cover three vertebral bodies to ensure the integrity of an anatomical range, registration errors caused by breathing / body position changes are reduced, meanwhile, non-rigid registration is combined with a B spline grid (10 mm) to consider calculation efficiency and spine physiological curvature adaptability, high-precision surface reconstruction is achieved through a Marching Cubes algorithm, and the method has the advantages of being high in precision and high in precision. An error suppression mechanism is formed by + / -0.25 mm precision and redundancy measurement (five times of sampling) of the optical tracking system, registration robustness is improved through SVD and ICP double-algorithm complementation, multi-constraint path planning is achieved through an A * algorithm and Monte Carlo simulation, and a 4 mm safety corridor provides a buffer space for instrument errors.

A method for constructing a clinically-relevant large animal model of traumatic optic neuropathy, employing a goat with orbital anatomy and optic nerve structure similar to humans as a model animal, overing the defects existing in other animals as TON model animals. The target model goat is obtained by screening parameters, such as a maximum transverse diameter of a coronal plane of a body of sphenoid bone and a wall width of a sphenoid bone, thereby facilitating the exposure of an optic nerve in a optic-canal segment under a nasal endoscopic surgery and quantitative injury. With the optic nerve injury animal model, the clinical TON pathogenesis can be explored by studying the optic nerve at the injured optic canal. In the prepared TON animal model, the injured optic nerve is closer to the brain, which is beneficial to rebuilding the synaptic connection.

The invention provides a percutaneous spine endoscopic surgery robot path planning method and system, and the method comprises the steps: determining the pixel offset characteristics of a percutaneous spine after the tissue structure deformation in a current spine surgery according to deformation data in tissue structure information; determining each obstacle area generated by tissue deformation in the percutaneous spine according to the pixel offset characteristics and the current motion state of the surgical robot, and predicting the obstacle influence degree of the tissue deformation in the spinal operation at the current operation moment according to the distribution characteristics of each obstacle area; feedback constraint is carried out on the obstacle influence degree according to the execution deviation of the actual operation path, and confidence constraint of an obstacle avoidance strategy in the spinal operation is obtained; and performing dynamic feedback on the obstacle avoidance strategy of the surgical robot in the subsequent surgical path based on confidence constraint to obtain an obstacle avoidance path of the surgical robot in the spinal surgery. Based on the scheme, the dynamic feedback adjustment of the obstacle avoidance path in the surgical robot can be realized, so that the safety of the percutaneous spine endoscopic surgery can be improved.

The invention relates to the technical field of urinary surgery, in particular to a balloon expansion device for urinary surgery endoscopic surgery, which comprises an air bag, a catheter and an adjusting mechanism, the catheter horizontally penetrates through the air bag and is communicated with the adjusting mechanism. The interior of the air bag is divided into a plurality of independent inner cavities through the first diaphragm, the second diaphragm and the third diaphragm, and independent expansion control over all areas is achieved by matching with the filling pipes and the adjusting mechanisms which are in one-to-one correspondence; an operator can accurately adjust the filling degree of different inner cavities according to the anatomical structure difference of the surgical site, excessive expansion of a non-target area is avoided, the accuracy of surgical operation is remarkably improved, and the device is particularly suitable for fine treatment of local tissue in a complex urinary surgery endoscopic surgery.

The invention relates to the technical field of medical instruments, in particular to a three-mode endoscope system, a control method and an endoscopic surgery robotic.The three-mode endoscope system comprises a light source device, a mode switching assembly, an imaging handle and an image processing host; the mode switching assembly generates an observation mode switching signal; the light source device outputs visible light, first near-infrared light and second near-infrared light. The imaging handle transmits light output by the light source device to target tissue; the imaging handle collects an imaging light beam returned by the target tissue and outputs a corresponding electric signal; the image processing host receives the electric signal and generates a visual image. According to the three-mode endoscope system, a white light mode, a fluorescence mode and a blood flow mode are integrated in a single endoscope system, an operator can obtain a blood vessel map at a target tissue through the blood flow mode of the three-mode endoscope system, and therefore the trend of large blood vessels invisible to naked eyes is revealed in the dissection process, the risk of accidental injury of the blood vessels is avoided, and the dissection efficiency is improved. And the operation safety is improved.

A method and apparatus for applying pressure to a patient's abdomen during an endoscopy procedure. The apparatus comprising a sleeve configured to surround at least a portion of the abdomen of the patient. The sleeve comprises a front portion comprising a first material, a rear portion comprising a second material having a different elasticity than the front portion, and one or more anchor regions on at least the front portion or the rear portion. The sleeve comprises a first anchor region of the one or more anchor regions along a left region of the sleeve and is configured to removably couple with a first end of one or more compression apparatuses, wherein at least a second anchor region of the one or more anchor regions along the rear portion is configured to removably couple with a second end of each of the one or more compression apparatuses.

The invention provides an extrascopic rotary bone grinding device for spine endoscopic surgery, and belongs to the technical field of machinery. The extra-scope rotary bone grinding device for the spine endoscopic surgery comprises a handheld part and a driving assembly fixedly connected to the outer end face of the handheld part in a locked mode, and is characterized in that the driving end of the driving assembly is in shaft connection with a shaft rod, a grinding head is integrally manufactured at the outer end of the shaft rod, a plurality of grinding teeth are arranged on the peripheral face of the grinding head in a staggered mode, and a toothed trephine is arranged at the outer end of the grinding head; the outer wall of the shaft rod is sleeved with a protective outer sleeve, a liquid injection component is arranged on the inner layer of the protective outer sleeve, a scrap capturing component is integrally manufactured between the inner wall of the protective outer sleeve and the outer wall of the shaft rod, the inner ring wall of the scrap capturing component is in interference fit with the outer wall of the shaft rod, and one end of the interior of the scrap capturing component is in clearance fit with the outer wall of the grinding head. And in cooperation with the protective outer sleeve, the liquid injection component and the debris capturing component, the accuracy, safety and convenience of bone tunnel expansion operation in the spine endoscopic surgery can be effectively improved.

An image processing device according to the present invention comprises: an image acquisition unit that acquires a surgical field image obtained by imaging a surgical field in endoscopic surgery; a region recognition unit that inputs the surgical field image acquired by the image acquisition unit into a trained model, which has learned training data obtained by adding a region indicating a tissue classification to a training image obtained by imaging a surgical field, and thereby recognizes a region included in the surgical field image; a structure detection unit that detects a fibrous structure which is included in the surgical field image acquired by the image acquisition unit; and an image output unit that outputs a surgical field image indicating the fibrous structure which is included in the region recognized by the region recognition unit.

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 right-angle separating forceps for the subclavian approach endoscopic surgery comprise a right-angle separating forceps head, a forceps rod, an inner rod, a rotating wheel, an operating handle and a fixing handle, the right-angle separating forceps head is installed at the front end of the forceps rod, and the inner rod is hinged to the rear end of the right-angle separating forceps head; the inner wall of the forceps rod is provided with an inner rod fixing groove, the outer side of the forceps rod is provided with a forceps rod rotating groove, and the rear end of the forceps rod is provided with a dismounting groove; fixing blocks are arranged on two sides of the middle part and are connected with the forceps rod, and a ball head is arranged at the rear end and is connected with the operating handle; a forceps rod clamping block is arranged in the rotating wheel and in an inner rod channel, and a channel opening is provided with a forceps rod clamping block clamped into the forceps rod rotating groove. The forceps are easy to disassemble, the forceps rod and the inner rod are detachable, and instruments can be thoroughly cleaned and disinfected conveniently; the clamp rod is matched with the rotating wheel, so that the clamping and separating range can be expanded; the flushing joint is vertically downward, so that the view at the upper end of the right-angle separation tong head is prevented from being blocked and the operation of a doctor is prevented; the tong head is a right-angle separating tong, so that fine operation in a narrow space is facilitated.

The utility model discloses a placing device for high-frequency endoscopic surgery electrode storage, which comprises an endoscope electrode, the surface of the endoscope electrode is sleeved with an outer frame, the front side of the outer frame is open, the inside of the outer frame is movably connected with a shaft rod through a bearing, and the shaft rod is movably connected with a bearing. The top and the bottom of the surface of the shaft rod are fixedly connected with bearing discs, the endoscope electrodes are evenly inserted in the surfaces of the bearing discs in a surrounding mode, and the endoscope electrodes at different positions can be located at the open position of the outer frame in the process that the shaft rod carries the bearing discs to rotate. The endoscope electrodes are sleeved with the outer frame, the open front face is arranged to facilitate storing and taking, the shaft rod and the bearing disc are combined so that the multiple endoscope electrodes can be evenly connected in a surrounding and inserted mode, the electrodes at different positions can be located at the open position through rotation of the shaft rod, and a user can conveniently select and use the electrodes. And the storage efficiency and the use convenience of the electrode are improved.

The invention discloses a tracheal catheter special for upper gastrointestinal endoscopic surgery, which comprises an inner tube, an outer tube capable of sliding up and down with the inner tube is sleeved outside the inner tube, the top end of the outer tube is fixedly connected with the inner tube through a fixing knob, a respirator joint is arranged at the top end of the inner tube, an inner tube water bag is arranged at the bottom of the inner tube, and an outer tube water bag is arranged at the bottom of the inner tube. An inner tube suction hole is formed in one side of the inner tube water bag, and a Murphy hole is formed in the position, located below the inner tube water bag, of the bottom of the inner tube. The problems that in an upper gastrointestinal endoscopic surgery in the prior art, the exposed part of the tracheal catheter affects surgical operation, the cuff of the tracheal catheter compresses a surgical site or affects taking out of a specimen, the tracheal catheter rubs with an endoscope and is prone to disengagement to damage tracheal mucosa, and blood and secretions in the trachea are not sucked thoroughly are solved.

A light emitting device irradiates a surgical area with first wavelength light and second wavelength light. A wobbling operation of a focus lens included in an imaging device is controlled according to an emission timing of the first wavelength light and the second wavelength light when the surgical area is alternately irradiated with the first wavelength light and the second wavelength light. The present disclosure can be applied to an endoscopic surgical system, for example.