577 results about "Invasive surgery" patented technology

The invention relates to the technical field of medical instruments, in particular to a bendable minimally invasive surgery electric hook with a smoke suction function. Comprising a smoke suction pipe, a handle assembly, an electrode pipe, a multi-stage bending assembly and an electric hook. The smoke suction pipe is fixedly connected to an outer smoke suction pipe of the handle assembly, an adjusting part is movably connected to the end of the handle assembly, the electrode pipe is arranged on the adjusting part in a penetrating mode and fixedly arranged in the handle assembly, and a control module is arranged in the handle assembly and electrically connected with the electrode pipe; the multi-stage bending assembly is fixedly arranged at the end of the electrode tube, a movable part is further arranged in the electrode tube and fixedly connected with the steel wire set, and the electric hook is fixedly arranged at the end of the extending end of the electrode tube and extends out. The adjusting piece is controlled to drive the movable piece to move in the electrode tube, and then the steel wire set is driven to pull the multi-stage bending assembly to conduct bending movement. The bending electric hook can integrate a real-time smoke suction function in a flexible bending scene, and the cooperation problem of bending operation and smoke removal in minimally invasive surgery is solved.

The invention relates to the technical field of optical localization, in particular to an optical localization feedback control system in a minimally invasive surgery of bile adipoma. The system comprises the following steps: an image optimization module is used for scanning a full-band optical image in an operation cavity, performing adaptive contrast optimization and constructing a spectrum optimization image; the focus positioning module is used for performing accurate focus positioning on the spectrum optimization image and extracting a focus optical contour; the three-dimensional reconstruction module is used for performing structural feature point identification and three-dimensional reconstruction on the spectrum optimization image to construct a three-dimensional structure model; and the visual error compensation module is used for performing multi-angle optical ranging and stereoscopic visual error compensation on the optical contour of the focus to obtain a three-dimensional compensation positioning coordinate. According to the invention, through real-time accurate position positioning, the instrument response speed and the tissue identification precision are improved.

The invention discloses a thoracoscope minimally invasive cardiac surgery navigation system based on multi-modal image fusion, and the system comprises the steps: constructing a 5D heart digital twin containing an anatomical structure, a soft tissue boundary, metabolic activity and electrophysiological information through fusing preoperative CT, MRI, PET and intraoperative ultrasonic images; real-time dynamic registration is realized by using an electrocardio gating driven biomechanical model; superposing the multi-color coding navigation information to the visual field of the thoracoscope through a wavelength selection type spectroscope; a dynamic risk scoring model is constructed based on the distance, the speed and the tissue vulnerability, and three-level grading intervention is triggered; a miniature force feedback actuator is integrated to realize closed-loop control; and pre-operation virtual drilling and post-operation federal learning optimization are supported. The system remarkably improves the surgical precision and safety, and is suitable for high-difficulty heart minimally invasive surgeries such as mitral valve repair and atrial fibrillation ablation.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The invention relates to an AI image navigation method, device and equipment for prostatic hyperplasia minimally invasive surgery and a medium thereof. The method comprises the following steps: acquiring a prostate three-dimensional image and an intraoperative real-time image sequence, and fusing the three-dimensional image after preliminary filtering to obtain an optimized and enhanced image; based on the enhanced image and the preoperative three-dimensional image, a three-dimensional offset vector is obtained through a multi-modal registration algorithm combined with an anatomical structure reference, and optimized prostate three-dimensional attitude data is generated in combination with anatomical constraints; combining the attitude data and the three-dimensional image, determining boundary area distribution characteristics, calculating a risk assessment value, mapping a risk level, and generating a path correction instruction to obtain an instrument navigation path if the risk level exceeds a threshold value; and based on the navigation path, constructing a clinical recovery model in combination with the anatomical structure, generating postoperative recovery index simulation data, and performing adjustment and verification until preset requirements are met to obtain a final operation execution scheme. According to the method, precision and individuation of surgical navigation are achieved, and comprehensive technical support is provided for precise implementation of minimally invasive surgery.

The invention relates to the technical field of bone implants for minimally invasive surgery, and particularly discloses an implant for percutaneous minimally invasive thoracolumbar vertebral fracture, which comprises a vertebral body forming body, the vertebral body forming body comprises a vertebral body forming body head and a plurality of blade parts arranged at the rear end of the vertebral body forming body head in a surrounding manner, the vertebral body forming body head is provided with a needle guide hole penetrating along the axial direction, and the needle guide hole is communicated with the blade parts; a containing cavity is defined by the blade parts; the front end of the threaded guide rod and the head of the cone forming body are integrally formed, the needle guide hole penetrates through the threaded guide rod in the axial direction, and the rear end of the threaded guide rod extends out of the containing cavity; the pedicle screw is provided with a threaded hole penetrating in the axial direction, the threaded hole is in threaded connection with the threaded guide rod, the pedicle screw comprises a screw head and a threaded part arranged at the rear end of the screw head, and the screw head is arranged in the containing cavity and expands the blade part. According to the implant for the percutaneous minimally invasive thoracolumbar vertebral fracture, surgical wounds are reduced, the vertebral restoration effect is good, the stability of a vertebral formed body is guaranteed, and the surgical time can be saved.

The invention relates to the technical field of biomedical engineering, and discloses a tumor minimally invasive surgery risk assessment model construction method and system, and the method comprises the steps: recognizing a potential failure mode of a tumor minimally invasive surgery through employing an intra-operative video image and operation process data; calculating a risk priority index of the potential failure mode in the tumor minimally invasive surgery so as to determine a high-risk failure mode of the tumor minimally invasive surgery; setting a grading risk management layer of the tumor minimally invasive surgery by using the risk score and the high-risk failure mode of the patient in the tumor minimally invasive surgery; a failure correlation analysis network of the patient in the tumor minimally invasive surgery is constructed, and a risk prompt unit of the tumor minimally invasive surgery is generated; and constructing a risk assessment model of the tumor minimally invasive surgery in combination with a risk prompt unit, a hierarchical risk management layer and a failure association analysis network. According to the method, the high-risk failure mode can be accurately positioned, and the accuracy and comprehensiveness of model risk assessment are improved.

The invention belongs to the technical field of medical robots and minimally invasive surgery, and provides a robot control system and method for blue laser vaporization surgery of prostatic hyperplasia. Mapping the nuclear magnetic image volume data to a deformation field under an ultrasonic acquisition coordinate system, and deforming the preoperative nuclear magnetic image to an intra-operative ultrasonic space by using the deformation field to complete image registration; fusing the registered image with a stereoscopic vision system; the spatial depth of the surface of the target tissue is obtained from the endoscopic image so as to supplement navigation information; according to the utility model, the prostate deformation and probe posture change adaptive capacity in an operation is improved, the real-time visual closed-loop regulation and control capacity is improved, and the characteristics of small light spots, shallow heat diffusion, excellent hemostasis and the like of blue laser are combined, so that the vaporization and hemostasis precision in a tiny blood vessel dense area is ensured, and the problems of large tissue trauma and the like are avoided.

A fracture reduction mechanism for minimally invasive pelvic fracture surgery, comprising a support assembly, a drive assembly, a self-rotating clamping assembly, and a healthy side fixation assembly, wherein the drive assembly comprises a synchronous rotation module (21), a first ball screw module (22), a second ball screw module (23), a third ball screw module (24), and an arc guide rail module (33); the mechanism forms a frame-like closed structure through connection with an operating table (1) via bedside rails (2) on both sides of the operating table (1), the support assembly and healthy side fixation assembly are slidably connected with the bedside rails (2). By manually adjusting the linear movement distances and fixed-axis rotation angles of the above mechanism, six degrees of freedom translation and rotation of the pelvic fracture block can be achieved. The mechanism features high rigidity and load-bearing capacity, good portability, simple assembly and operation, high motion precision, and its motion center is a virtual point in space, the position of which can be adjusted according to patient position and fracture type, providing convenience for surgery.

The invention discloses a polyp and surgical instrument segmentation and real-time early warning method and system based on a digestive endoscope video, and belongs to the technical field of computer-aided endoscope image analysis. The problems that an existing method is poor in segmentation performance and the safety of interactive operation of the surgical instrument and the polyp is difficult to accurately evaluate are solved. According to the method, space and time context information is integrated through the built collaborative learning network model, and collaborative precise segmentation of the polyp and the surgical instrument in the endoscopic surgery video is achieved. The polyp area, the polyp area change rate, the surgical instrument speed, the distance between the polyp and the surgical instrument and the overlapping area and the overlapping percentage of the polyp and the surgical instrument are quantitatively analyzed on the basis of the segmentation results, the surgical risk level is evaluated in real time in combination with a preset risk threshold value, the safety of interaction between the surgical instrument and the polyp is guaranteed, and the surgical efficiency is improved. Therefore, the safety and the intelligent level of the digestive endoscopy minimally invasive surgery are improved.

The invention discloses 3mm-level micro rope-driven needle forceps for minimally invasive surgery, and belongs to the technical field of medical instruments, the needle forceps are composed of an instrument tube, an instrument base, an instrument wrist part, a forceps head and a superfine rope, and precise clamping and flexible rotation are cooperatively realized; the instrument tube is a hollow titanium alloy long rod and allows the superfine rope to penetrate through. The instrument base comprises a base connecting part and a forked cavity part, and the forked cavity part is provided with a superfine rope hole, an arc-shaped guide surface and an arc-shaped lug plate and is connected with the wrist part; the instrument wrist part is provided with a lug plate structure, a main body structure and a cross structure, the lug plate structure is provided with an annular groove and a shaft hole, the main body structure is provided with a superfine rope through hole, an additional material protrusion and a limiting swing angle, and the cross structure is provided with a protruding block, a limiting end and a limiting tong head; the clamp heads are two symmetrical clamp bodies, and clamp teeth are meshed in a crossed mode to improve stability. The superfine ropes are three sets of medical stainless steel ropes or tungsten wire ropes and drive the forceps head to be opened and closed and the wrist to rotate. The needle holding forceps are optimized in structure, accurate in operation, high in space adaptability and capable of meeting fine operation requirements of minimally invasive surgery.

The invention discloses an endoscopic soft plasma radiofrequency ablation operation electrode tool bit, and relates to the technical field of minimally invasive medical equipment, the endoscopic soft plasma radiofrequency ablation operation electrode tool bit comprises an electrode assembly, an outer insulation sheath tube and a handle, the electrode assembly comprises an electrode holder, four mounting grooves are formed in the front end of the electrode holder in the circumferential direction of the electrode holder, and an electrode slice is fixedly mounted in each mounting groove; a conductive wire is fixedly arranged at the bottom of each electrode plate, a water outlet hole is formed in the center of the electrode holder in the length direction in a penetrating mode, a slidable cutting electrode is arranged in the water outlet hole, a water outlet gap is reserved between the cutting electrode and the electrode holder, and a ball head is arranged at the front end of the cutting electrode. The ball head is used for lifting tissue in the operation process, and a plurality of water inlets are formed in the rear end of the electrode holder in the circumferential direction. By means of the arranged electrode assembly, minimally invasive operation can be achieved through an endoscope channel under endoscope visibility, and vaporization, cutting, ablation shrinkage and hemostasis can be carried out on pathological tissue parts such as digestive tract mucosa, respiratory tract mucosa and polyp.

The invention discloses a spherical pair locking mechanism and a medical instrument, and relates to the field of medical instruments. The ball pair locking mechanism comprises a ball joint and a locking assembly. The locking assembly comprises a transmission structure, an elastic piece, a locking gear and a force application driving piece. The rigid meshing locking mode of the locking gear and the meshing tooth edge of the inner ball head replaces traditional friction braking, locking force reduction and looseness caused by long-term use and abrasion can be avoided, the locking reliability is greatly improved, and the minimally invasive surgery positioning precision is guaranteed; a user can directly drive the transmission structure through the force application driving part to achieve switching between locking and unlocking of the ball joint, the mechanism is kept in a preset locking or unlocking state in a non-operation state by adjusting the locking gear and the meshing tooth edge and providing automatic reset force through the elastic part, manual intervention is reduced, and the rapid operation requirement of an operation scene is met. The mechanism is compact in structural layout, can adapt to the limited space of minimally invasive surgical instruments, and meets the requirements for locking strength and miniaturization.

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 relates to the technical field of image recognition, in particular to a gynecological operation navigation method and system based on the minimally invasive technology, and the method comprises the steps: carrying out the feature recognition operation of a three-dimensional focus region structure diagram, and obtaining a focus surrounding tissue feature set; performing minimally invasive surgery scheme identification operation on the focus surrounding tissue feature set to obtain a predicted channel number; performing minimally invasive surgery path recognition operation based on the predicted channel number on the tissue feature set around the focus to obtain a minimally invasive path set, and acquiring necessary avoidance tissue sequences in a preset range region on each minimally invasive path in the minimally invasive path set to obtain a necessary avoidance tissue sequence set; according to the necessary avoiding tissue sequence set, the real-time instrument position information, the minimally invasive path set and the path distribution purpose type set, cutting operation is conducted on the target treatment area, and a minimally invasive channel set is obtained. The navigation accuracy of the minimally invasive surgery can be improved, and the safety of the minimally invasive surgery is improved.

The invention relates to an interaction method of a head-mounted doctor console and the head-mounted doctor console. The method comprises the following steps: displaying an intraoperative picture and a plurality of candidate controls of different control types to a user through a display component of a head-mounted doctor console, obtaining an eye image when the user watches the display component, generating an operation pointer according to the eye image, and when the operation pointer moves to a target control in the plurality of candidate controls, displaying the target control in the plurality of candidate controls. And according to the control type corresponding to the target control and the eye movement information of the user watching the target control, executing an interaction event which corresponds to the target control and is pre-stored in the head-mounted doctor console. According to the embodiment of the invention, the difficulty degree of minimally invasive surgery of a user is greatly reduced, and the surgery efficiency is improved.

The invention discloses a twistable flexible mechanical arm and a robot, and belongs to the technical field of robots. The mechanical arm comprises a single-section continuum framework composed of a supporting disc and an elastic pipe, a torsional deformation driving mechanism used for driving the far-end supporting disc to rotate, and a bending driving mechanism composed of at least three driving ropes. The supporting discs except the far-end supporting disc are provided with guide holes allowing the driving rope to slide in the circumferential direction, and therefore decoupling of twisting and bending motion is achieved. The torsional deformation driving mechanism can adopt a central elastic hose mechanical driving scheme or an external magnetic field magnetic driving scheme. According to the invention, the single-section structure can simultaneously realize two bending degrees, one stretching degree and one independent active torsion degree of freedom, so that the tail end flexibility is obviously improved, and the single-section structure is suitable for narrow and small space operations such as medical minimally invasive surgery and precise assembly.

The invention discloses an unsupervised monocular endoscope depth estimation method combined with a segmentation large model. A network framework comprises a depth prediction network phi D, a pose estimation network phi T, an intrinsic decomposition module phi I and a synthesis reconstruction module phi L. Wherein the depth estimation network adopts a deep large model fine tuning technology, is combined with rich semantic prior information in a segmentation large model, and is comprehensively trained by using decomposition synthesis loss, reflection loss, mapping synthesis loss and an edge perception depth smoothing loss function guided by a segmentation mask. The semantic enhancement branch network adopts a network architecture of a segmented large model, image semantic information is accurately extracted, structures such as different tissues and organs are distinguished, and a semantic cognition system for an operation image is established. And obtaining semantic features of a target image through a fine tuning encoder, and after the semantic features are fused with depth features, enabling a depth estimation model to be combined with context semantics to optimize depth prediction. Meanwhile, an automatic segmentation mask graph generated by a segmentation large model is utilized to calculate depth smooth loss guided by a mask, and the rationality of a depth estimation result is further constrained. According to the scheme, the encoder and the automatic segmentation mask in the large model are segmented, semantic prior information in the large model is fully combined, the depth estimation effect is improved, and the operation precision and the safety performance of the endoscope minimally invasive surgery are further enhanced.

A composite suture needle configured for passing through a smaller cannula used in minimally invasive surgery includes a curved elongated body made of stainless steel. The curved elongated body has a proximal end and a distal end with a pointed tip. The composite suture needle includes a sheath covering the curved elongated body. The sheath is curved so as to conform to the shape of the curved elongated body. The sheath is made of a more flexible material than the curved elongated body. The pointed tip of the curved elongated body extends distally beyond a distal end of the sheath. The curved elongated body is made of stainless steel and the sheath is made of a more flexible material such as nitinol than the elongated body.

1. The name of the design product: medical endoscope camera. 2. The use of the design product: the product is used for ear, nose and throat outpatient and minimally invasive surgery. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The invention provides a preoperative incision positioning device for spine minimally invasive surgery aiming at different fracture types, and belongs to the technical field of medical equipment. Comprising a mounting box, a notched gear ring is slidably connected into the mounting box, an adjusting mechanism used for adjusting the position of the notched gear ring is arranged in the mounting box, the two ends of the notched gear ring are fixedly connected with mounting bases respectively, and the lower end face of the mounting base on the upper side is fixedly connected with a detector; through the detector, the X-ray source and the positioning mechanism, real-time imaging of the spine of a patient is achieved, laser indication can be automatically conducted on an incision positioning point, medical staff can accurately position and mark the incision position, accurate positioning of the spine minimally invasive surgery incision is achieved, the positioning error is reduced, and the accuracy of the spine minimally invasive surgery incision is improved. The success rate and safety of the operation are improved, and the problems of poor positioning efficiency and precision in the prior art are solved.

The invention discloses a double-end endoscope robot for lung tumor nodule minimally invasive surgery, and relates to the technical field of medical instruments. The system comprises a header pipe, a first endoscope robot and a second endoscope robot are arranged in the header pipe, the first endoscope robot is composed of a first semicircular flexible inner pipe, a first mechanical arm and a first surgical head connector, and the second endoscope robot is composed of a second semicircular flexible inner pipe, a second mechanical arm and a second surgical head connector. And the overall outer diameter of the second endoscope robot is the same as the inner diameter of the first semicircular flexible inner tube. According to the double-headed robot, the two semicircular flexible inner tubes are arranged, the semicircular flexible inner tubes on the double-headed robot can be converted into whole round tubes after separation, the whole round tubes are kept stable in respective bronchus, double headed operation can be conducted at the same time, physical conflicts cannot be generated, the needed space is small, the double-headed robot is suitable for lung minimally invasive surgery, and the surgery time can be greatly shortened.

The utility model discloses a kind of visual microinvasive injectors for living body cultivation gall, belong to the technical field of pharmaceutical manufacturing.A kind of visual microinvasive injector for living body cultivation gall, including upper shell, lower shell, limit ring, sealing plate, bottom plate, sealing ring, buckles and support block, the upper shell is sleeved in the surface of lower shell and limit ring, the limit ring is sleeved in the surface of injector barrel, limit ring one end extends to the outside of upper shell, and the other end is penetrated to the inside of lower shell.The utility model is designed as integrally-formed injector, minimally invasive surgery and visualization technology are integrated, simplify surgical procedure, even non-professional technical personnel can quickly master operation method.Integrally-formed design reduces different tools needed to switch or use in cooperation in surgery, reduces surgery time, reduces operation complexity, improves surgery efficiency and safety.

Embodiments of the present disclosure are directed to stents, valved-stents, and associated methods and systems for their delivery via minimally-invasive surgery.

1. Name of the designed product: instrument trolley (ST-T). 2. Use of the designed product: used in minimally invasive surgery, providing surgical information for doctors and / or providing space for surgical auxiliary tools. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

The invention discloses a minimally invasive surgery taking-out device and a minimally invasive surgery taking-out system. The minimally invasive surgery taking-out device can comprise a passage assembly, a clamping assembly and a snare assembly. The access assembly is used for establishing a surgical access for surgical operation and comprises a first sheathing canal provided with an operation window, a first handle connected with the near end of the first sheathing canal, a first bending adjusting piece, a first locking piece and a first drawing wire. The first bending adjusting piece and the first locking piece are located on the first handle. The first drawing wire is pre-buried in the first sheath tube, one end of the first drawing wire is connected with the first bending adjusting piece, the other end of the first drawing wire extends to the far end of the first sheath tube, and the first bending adjusting piece is used for driving the far end of the first sheath tube to bend through the first drawing wire and fixing the first drawing wire through the first locking piece; the clamping assembly and the snare assembly can be used for extending into the operation passage and extending out of the operation window of the first sheath tube; the clamping assembly is used for clamping a cut target extraction object, and the snare assembly is used for cutting the target extraction object and taking out the target extraction object through the clamping assembly.

The present application relates to the technical field of medical apparatus, and discloses a multifunctional ligation and cutting device for single-hole completion of appendicitis minimally invasive surgery, which comprises a sleeve, a plurality of operators for completing ligation and cutting work movably arranged in the sleeve, a plurality of operation driving parts corresponding to the plurality of operators respectively for controlling the operation of the operators, a linear driving part connected with the plurality of operation driving parts respectively for controlling linear reciprocating movement of each operation driving part, and a connecting rod connecting the sleeve with a fixed end of the linear driving part. The operators for completing ligation and cutting of the appendix are integrated in the sleeve, the linear driving part and the operation driving part for controlling the operation of the operators are integrated outside the sleeve, the single-hole minimally invasive surgery of the appendix of a patient without obvious adhesion can be completed, the linear driving part and the operation driving part can be used to control the operation of the plurality of operators, and the operation is convenient; the operation is simpler, and the trauma of the patient is smaller.

A modular access medical system configured to enable a surgeon to conduct a medical procedure in fluid contained within a defined space is disclosed. As such, the system increases visibility to an operating surgeon by eliminating smoke and other vapors formed during use of a medical instrument at the surgical site. The modular access medical system may be formed from a distal end of a cannula configured to be placed into contact with tissue such that fluid can be administered within the cannula and retained therein to facilitate a surgical procedure to be conducted via one or more instruments extending through fluid contained within the cannula.

The present invention relates to a robotic system (100) for laparoscope (6) manipulation during minimally invasive surgeries. The system comprises a movable base (1), a vertical column (3) with a curved configuration to shift the centre of mass for stability, and a SCARA system (4) that cooperates to align the Remote Center of Motion (RCM) (5). The system provides seven degrees of freedom, including vertical motion (7), horizontal motion (8, 9), and RCM-based pitch (11), yaw (10), roll (13), and zoom (12). At the distal end, a clamp securely holds the laparoscope (6) while allowing controlled roll, and an actuated cleaning module (19) enables in-situ cleaning without removal. A guiding ring (20) assists linear alignment, while interchangeable clamps permit use with various surgical tools. The foldable design reduces volumetric space by up to 50%, enhancing portability, precision, and efficiency in surgical operations.

The invention belongs to the technical field of image processing, and discloses a hepatobiliary calculus surgery image navigation and positioning system, which is configured to realize non-rigid registration of adaptive multi-stage fusion, dynamically adjust registration weights of surface and deep features according to environmental changes in surgery, and realize image navigation and positioning of the hepatobiliary calculus surgery. It is ensured that a continuous high-precision dynamic three-dimensional model is provided in the whole process; predictive virtual tactile feedback based on biomechanical simulation is realized, and tissue tension perception and damage early warning beyond real tactile sense are provided for doctors by calculating stress and strain of a tissue model in real time; the intelligent quantification of the stone residual risk based on multi-source information fusion is realized, and the stone residual risk is quantified and visualized with high confidence by fusing the surgical operation history and the intraoperative fluorescence function image. According to the invention, a closed-loop navigation platform integrating high-precision environment perception, predictive process control and intelligent result quality control is constructed, and the precision and safety of auxiliary tools for minimally invasive surgery of hepatic duct calculi are improved.