810 results about "Invasive surgery" patented technology

An end effector state estimation system for use in minimally invasive surgery (MIS) applications performs sensing and prediction algorithms to determine and visualize the state of an implantable therapeutic device during deployment. The end effector state estimation system includes a flexible elongate member, a therapeutic device coupled to a distal portion of the flexible elongate member, a sensor that measures at least one parameter related to the deployment state of the therapeutic device, and a processor. The processor receives image data from an imaging system representative of the therapeutic device positioned within the body cavity of the patient and the at least one parameter from the sensor, determines the deployment state of the therapeutic device based on the image data and the at least one parameter, outputs a graphical representation of the deployment state of the therapeutic device.

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 medical instruments, and discloses a minimally invasive surgery system based on artificial intelligence. Comprising a target identification and positioning module, a multi-mode sensing module, a self-adaptive control module, a man-machine interaction module and a scene adaptation module. The target recognition and positioning module positions an operation target in real time through image recognition and a deep learning algorithm; the multi-mode sensing module collects the stress and movement track of an instrument and physiological signals of a patient. The self-adaptive control module adjusts movement parameters of the instrument according to the data; the man-machine interaction module displays data and provides an operation interface; the scene adaptation module adjusts the instrument form and function according to the operation type. In addition, the system also comprises an operational stability evaluation module, an instrument life prediction module and a biological signal fusion module. The system can achieve precise positioning, real-time monitoring and intelligent control, and the precision, safety and operation convenience of minimally invasive surgery are improved.

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 tail end instrument for minimally invasive surgery, and relates to the technical field of surgical robots. A bearing groove is formed in the top of the bottom base, two wrapping posts are arranged at a port of the bottom base, threading holes are machined in the bottom face of the groove and the bottom ends of the outer sides of the wrapping posts respectively, two connecting arms at the bottom of the middle connecting piece are fixedly connected with the bottom base, and forward and reverse spiral wire grooves are machined in the side wall of a rotating shaft part of the top rotating piece and rotationally connected with the bottom base and the middle connecting piece. A threading hole is machined in the bottom face of an inner cavity, a sliding block is assembled in the inner cavity of the barrel-shaped part, two rope threading channels are machined, a clamp is installed at the top ends of the two supporting arms through a pin shaft, a wire guide wheel is arranged between the two supporting arms, the bottom ends of clamp arms are hinged to the sliding block through a transmission connecting rod, and two driving ropes control opening and closing of the clamp and rotation of a top rotating piece. Only two driving ropes are adopted, one driving rope achieves opening and closing actions of the clamp at the same time, the other driving rope controls the shaft rotation action, and the structural complexity and the operation difficulty of a tail end instrument are reduced.

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.

Systems and methods for eye tracking and content tagging in minimally invasive surgical videos are described herein. Minimally invasive surgical videos may be captured while performing robotic surgeries. Robotic surgical systems described herein include robotic arms with interchangeable surgical tools. An endoscope at the end of one of the robotic arms captures video of the surgical procedure. The video is displayed on a display of the surgical system and an eye tracking device captures data corresponding to a gaze direction of the user on the display. Content tags are automatically generated in the image data based on areas of focus of the user. Information within the content tag may be generated based on surgical procedure steps derived from the image data, a log of current surgical procedures, and image data of previous surgical procedures.

A system, includes a first screw mechanism including: a first block; a first screw threaded through the first block and including a first skin-interfacing portion; and an intramedullary (IM) member extending from and attached to the first block and including an end portion configured to be inserted into an intramedullary canal of a first bone fragment, wherein a first lateral force is generated between the first skin-interfacing portion against a second bone fragment, adjacent to the first bone fragment, and a holding force provided by the end portion when the first screw is rotated and the end portion is located in the intramedullary canal.

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 provides an instrument force feedback and man-machine cooperative control method and system for minimally invasive surgery, and relates to the technical field of man-machine collaboration.The instrument force feedback and man-machine cooperative control method comprises the steps that a force sensor arranged at the tail end of a minimally invasive surgery instrument is used for collecting three-dimensional torque data, and the surgical operation safety state is recognized through a mixed deep learning model; and when risks exist, early warning is triggered, an active constraint mechanism is started, and real-time correction is carried out through reverse force feedback generated by a robot auxiliary system. A safety force domain range is calculated according to the torque data change, and trajectory optimization and acting force adjustment of the surgical instrument are achieved. The safety and accuracy of the minimally invasive surgery can be effectively guaranteed, and the medical risk is reduced.

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 relates to the technical field of medical instruments, and discloses an interventional ultrasound method and system for minimally invasive surgery, and the method comprises the steps: obtaining ultrasound image data and operation state parameters; a three-dimensional ultrasonic image model is constructed through multi-layer scanning, and an initial tissue feature evaluation model is analyzed and generated; dynamic blood vessel data and operation constraint conditions are loaded, a comprehensive evaluation model is generated, and puncture point dynamic simulation is carried out; constructing a dynamic blood vessel prediction model, training to obtain a puncture point adjustment model, and generating initial adjustment parameters; obtaining dynamic adjustment simulation information based on the parameters and the model; constructing a multi-path optimization model, and carrying out iterative optimization to obtain an optimal path planning parameter; the safety puncture probability is inferred in combination with real-time images, and a real-time puncture strategy is adjusted to achieve dynamic matching. The system comprises a data acquisition module, an image modeling and analysis module and the like. The safety and accuracy of minimally invasive surgery puncture are improved, and the method is suitable for interventional ultrasound guided minimally invasive surgery scenes.

Described here are systems, devices, and methods useful for minimally invasive surgical procedures performed by a single operator. A robotic surgery system may include a robotic arm having a coupling mechanism for releasably coupling to an end effector connector. Methods for removably coupling the robotic surgery system may include coupling the end effector connector to the coupling mechanism, actuating the coupling mechanism to release the end effector connector, and receiving the end effector connector. The coupling, actuating, and receiving may be performed with a single hand of an operator. Additionally, devices for performing minimally invasive surgery may include a robotic arm input device having independently controllable foot-actuated switches. Methods for using the input device may include receiving a robotic arm control signal based on single-footed operation of the input device and controlling a movement of the robotic arm accordingly.

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.

Improved methods and devices for performing an endoscopic surgery including a system for performing minimally invasive procedures including a flexible catheter having a first lumen, a first flexible tube positioned in the first lumen, and a second flexible tube positioned in the first lumen. The first lumen defines a first space configured and dimensioned to receive an endoscope. The first flexible tube and second flexible tube are fixed at a proximal portion and configured to float within the first lumen of the catheter. First and second flexible guides are slidably positioned within the first and second flexible tubes and dimensioned to receive a first instrument for axial movement therein, the first and second flexible guides movable to an angled position with respect to a longitudinal axis. A working space expanding system positioned at a distal portion of the flexible catheter, the working space expanding system movable from a non-expanded insertion position to an expanded position forming an expanded region to expand the working space within the body lumen.

The present invention relates to a soft robotic arm, and specifically to a variable stiffness soft robotic arm for minimally invasive surgery and a method for using the same. The variable stiffness soft robotic arm for minimally invasive surgery includes a variable stiffness support arm and a sleeve mounted on the variable stiffness support arm. The sleeve includes a bending section and a torsion section. The bending section and the torsion section are respectively wrapped with multiple wire loops and spiral wires. The bending section and the torsion section are respectively provided with at least two or more chambers distributed radially along the variable stiffness support arm and connected to a charging and discharging module. The chambers are charged and discharged with medium to achieve bending and torsion of the robotic arm. The overall variable stiffness support arm, bending section and torsion section of the present invention have the same structure. The type of bending and torsion can be changed by simply changing the wire loops or spiral wires wrapped around the outer wall. This greatly simplifies the structural design and arrangement of the robotic arm, making it convenient to combine different bending sections and torsion sections according to actual needs, and has good compliance.

The utility model discloses a parallel detachable concentric tube robot for minimally invasive surgery. The parallel detachable concentric tube robot comprises an abdominal sheathing canal, a plurality of single-arm driving systems and flexible instrument arms, the multiple single-arm driving systems are connected in parallel, the single-arm driving systems are connected with the flexible instrument arms, the multiple flexible instrument arms are arranged in instrument arm channels formed in the abdomen entering sheathing canal respectively, and each flexible instrument arm comprises a plurality of concentric tubes; the single-arm driving system comprises a single-tube driving module, a guiding device and a concentric tube are arranged in the single-tube driving module, a driving mechanism, a linear transmission mechanism and a rotary transmission mechanism are arranged in the guiding device, the linear transmission mechanism and the rotary transmission mechanism are both connected with a driver in the driving mechanism, and the linear transmission mechanism is connected with the rotary transmission mechanism. The concentric pipe is installed on the rotary transmission mechanism, and the anti-collision device is arranged on the rotary transmission mechanism. The parallel type design is adopted, each guide device independently controls the corresponding concentric tube, and surgical instruments are convenient to replace.

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.

An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

The invention provides a flexible surgical robot for removing deep cerebral hematoma through transcranial window ultrasonic oscillation. The flexible surgical robot comprises a feeding driving mechanism, an endoscope sheath, a suction arm mechanism and an ultrasonic arm mechanism. The flexible continuum robot composed of the feeding mechanism, the suction arm mechanism connected in parallel and the ultrasonic arm mechanism can achieve six-degree-of-freedom precise operation, and in addition, when a six-degree-of-freedom mechanical arm is applied in vitro, an endoscope sheath can smoothly enter the brain as soon as possible; the maneuverability of the structure is further improved through the rough operation of the six-degree-of-freedom mechanical arm and the six-degree-of-freedom fine operation of the flexible robot, the requirement for flexibility of the intracerebral hematoma minimally invasive surgery is met, the positioning capability is precise, the operation mode is flexible, the repeatability is high, and the practicability is high. The efficiency is high; the operation time of a patient is reduced; the damage to a human body is extremely low; compared with an existing surgical tool, surgical difficulty is lowered, surgical efficiency is improved, patient wounds are reduced, and patient safety is further guaranteed.

This application relates to the field of image processing technology and discloses a method and system for processing surgical minimally invasive surgery data based on AR technology. The method includes: performing three-dimensional reconstruction and lesion segmentation on medical imaging data and extracting feature points; using feature point data to acquire the position of surgical instruments and perform spatial mapping; reconstructing the light field based on feature point and position data and generating an augmented reality scene; performing trajectory analysis and path planning based on augmented reality; performing real-time monitoring of the surgical path and risk warning; and finally extracting surgical rules and establishing knowledge mapping relationships. This application implements the correlation analysis and fusion processing of multi-source heterogeneous data during surgery, establishes a complete technical chain from data acquisition to knowledge extraction, and improves the safety and intelligence level of 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.