767 results about "Laparoscopic surgery" patented technology

The invention discloses a generation and evaluation method for acquiring long text description from a laparoscopic surgery image, which comprises the following steps of: constructing a cue word containing the laparoscopic surgery image, short text description, a target bounding box and surgery knowledge, and constructing long text description data by utilizing a large language model based on the cue word; constructing an image long text description generation model which comprises a pre-trained visual encoder, a visual feature query converter, a language decoder and an external operation concept vector database; performing supervised training on the image long text description generation model by using the long text description data; constructing a long text description evaluation method to evaluate the trained model; the method comprises the following steps: acquiring an input laparoscope image video stream through a laparoscope image system, and screening a key frame as a to-be-processed image; and inputting a to-be-processed image into the trained and evaluated model to obtain an image long text description result. According to the method, the ability of understanding operation details in the image can be enhanced, and more comprehensive operation image description can be generated.

Disclosed are a method, system, and device for removing smoke from laparoscope images based on a conditional diffusion model. The method includes: segmenting a video of a laparoscopic surgery according to the number of frames to form a data set; performing smoke rendering on the obtained laparoscope smokeless images, and synthesizing paired smoky images to obtain a synthetic data set containing the smokeless images and the smoky images; inputting the smokeless images into the conditional diffusion model for forward noise addition, and continuously adding noise until the smokeless images are completely noised; inputting the smoky images into a smoke sensing module to obtain smoke concentration and position information, then training a neural network, and continuously performing reverse denoising on the completely noised images using the trained neural network until clear smokeless images are outputted; and optimizing a smoke removal model through a multi-loss function fusion strategy.

In accordance with at least one aspect of this disclosure, there is provided an imaging agent, a including dye compound conjugated to an antigen specific targeting vector which can be particularly advantageous because their behavior in vivo can contribute to superior optical imaging properties, for example, by significantly increasing the target-to-background ratio of imaged tissues, leading to higher resolution imaging, and ultimately providing for better recognition of malignant tissue for resection and margin assessment and improved visualization during minimal invasive laparoscopic surgery, for example. A method of imaging tumor cells in a subject, can include, administering an imaging effective amount of an imaging agent according at least one embodiment of the invention; 2-4 hours after administration of the imaging agent, irradiating a region in the subject in which tumor cells are expected to be found with at a wavelength absorbed by the imaging agent; and detecting a signal from the imaging agent, thereby imaging the tumor cells, wherein the target-to-background ratio 2-4 hours after administration is from about 2.75 to about 15.

The invention is applicable to the technical field of medical image processing and mixed reality, and provides a laparoscopic surgery mixed reality navigation method based on deep learning and dynamic point tracking, which comprises the following steps: dynamically registering a three-dimensional model containing kidney, tumor and vessel with an initial frame of a laparoscope through a mixed reality alignment technology; the method comprises the following steps: constructing an operating forceps motion sensing model based on a time sequence deep neural network, realizing real-time control and parameter locking of a three-dimensional model pose, dynamically updating a two-dimensional feature point set by adopting a multi-feature-point combined tracker, constructing a candidate feature combination through a cross-quadrant sampling strategy, and constructing an operating forceps motion sensing model; a candidate feature combination is generated through a four-quadrant division and cross-regional sampling strategy, an optimal camera pose parameter is generated in combination with a re-projection error and pose continuity constraint, and an operation video is dynamically covered with a semitransparent three-dimensional model. The method can significantly enhance the spatial perception capability of the kidney anatomical structure, reduce the registration error of the kidney in the three-dimensional integrated kidney structure model and the laparoscope video, and improve the navigation precision.

The invention discloses a laparoscopic instrument real-time detection method. The laparoscopic instrument real-time detection method specifically comprises the following steps: S1, acquiring an image data set; S2, constructing an SH-YOLO network model; and S3, training and detecting. Wherein the SH-YOLO network model comprises three main parts: a StarNet feature extraction network, an HAM-PAFPN feature fusion layer and a target detection head. Compared with YOLOv5, the model training method SH-YOLO has the advantages that the model training method SH-YOLO is obviously improved, and the model training method SH-YOLO is obviously superior to YOLOv5 in the aspect of real-time performance especially in the aspect of processing non-central objects, unobvious features, false alarms, unconventional postures and motion blur. The SH-YOLO better meets the working requirements of high precision and real-time performance of a laparoscopic surgical instrument identification task, and provides a reliable basis for subsequent surgical step identification, surgical quality control and surgical operation evaluation.

Described here are systems, devices, and methods for providing remote manipulation or traction to tissue using one or more graspers, delivery devices, and magnetic control assemblies. The graspers may be configured for insertion into the patient during a minimally-invasive procedure, such as a laparoscopic operation. The graspers may be configured to releasably connect to tissue. In some embodiments, the grasper may comprise a clip, a clamp, a suction device, a coil, or the like, and may be configured to connect to any suitable tissue. Delivery devices may be configured to releasably engage a grasper to deliver the grasper, remove it from the patient, or reposition it. The delivery devices may additionally be configured to actuate the grasper to attach it to tissue and / or detach it from tissue. The magnetic control elements may be configured to be positioned externally of the body to move, reposition, and / or hold the grasper.

An access device for a minimally invasive procedure can include a port body defining an instrument channel for a medical instrument, a radial extension extending at least partially outward from the body in a radial direction. The radial extension can extend from a distal end of the port body. The radial extension can define an imaging device cavity defined therein spaced from the port body and opening distally from the radial extension. The imaging device cavity can be configured to receive an imaging device therein for providing images within a field of view that is at least partially distal of the port body.

The invention discloses a sliding table motion control method and device for a laparoscopic surgical robot, and relates to the technical field of surgical robos.The method comprises the steps that a lesion three-dimensional model is established based on a lesion CT image, a target area and boundary coordinates of the target area are obtained, and a coordinate transformation matrix is calculated for space registration to obtain a unified coordinate system; selecting a moving mode according to the user control instruction; recording operation data of users, classifying the users to obtain corresponding force speed curves, force displacement sequences and habitual force, and establishing a comprehensive control model and an error compensation model; when entering a fine adjustment mode, inputting a real-time distance, a user type and a force displacement sequence into a comprehensive control model, determining a regulation and control scheme, and reversely correcting output displacement according to a real-time positioning error, so that the auxiliary surgical instrument reaches a target position; high-precision motion control over the sliding table (2) of the laparoscopic surgery robot is achieved, the surgery time is remarkably shortened, the target position of an auxiliary instrument is accurately and rapidly positioned, and the surgery efficiency is improved.

The invention relates to the technical field of robot tactile perception, in particular to a laparoscopic surgery robot tactile interaction system and method, and the system comprises an F / T sensor which is used for obtaining and detecting sensor information of contact force between a tail end surgical instrument and patient tissue; the data processor is used for detecting the contact force between the tail end surgical instrument and the tissue of the patient according to the information of the sensor, converting the contact force into feedback force which can be sensed by an operation object, converting the feedback force into control parameters of the force feedback device, and smoothly optimizing the control parameters; and the force feedback device is used for controlling and driving a force feedback type main manipulator of the laparoscopic surgery robot according to the control parameters after smooth optimization so as to transmit feedback force to an operation object for sensing. According to the invention, an operator can sense the contact force between the end surgical instrument and the tissue of a patient, the operator can be prevented from sensing abrupt change, the smoothness of tactile sensing is ensured, and a basic guarantee is provided for accurate tactile judgment of the operator.

The invention provides a laparoscopic surgery fetching bag with a fascia expansion function, and relates to the technical field of laparoscopic surgery instruments.The laparoscopic surgery fetching bag comprises a main pipe arranged on the outer side of the fetching bag in a sleeving mode, at least two guide shells, a connecting rod and a traction rod, and the at least two guide shells are located on the two opposite sides of the main pipe respectively; the lower end of the main pipe is rotationally connected with the guide shell, the interior of the guide shell is rotationally connected with one end of the connecting rod, and the other end of the connecting rod is connected with the traction rod. The traction rod is installed on the outer side of the main pipe and slides in the central axis direction of the main pipe. When the traction rod slides towards the side away from the guide shell along the main pipe, the connecting rod drives the guide shell to unfold, the expansion range of a muscle layer incision can be accurately controlled, the problem that a traditional fetching bag is difficult to penetrate through the incision due to expansion is solved, meanwhile, when the fetching bag is closed, the storage cavity formed by the guide shell can tightly wrap the fetching bag body, and the fetching bag is convenient to use. And the guide shell can be directly taken out, so that the friction damage of the fetching bag to the muscle layer is reduced.

The invention discloses a gastrointestinal surgery laparoscopic surgery anti-fog device, relates to the technical field of laparoscopic instruments, and provides the following scheme that the gastrointestinal surgery laparoscopic surgery anti-fog device comprises a laparoscope, the front end of the laparoscope is fixedly connected with a lens connecting assembly, and the front end of the lens connecting assembly is connected with a lens anti-fog assembly; a lens negative pressure anti-pasting assembly is arranged on the left side wall of the laparoscope. The temperature control system is arranged in the laparoscope instrument, the temperature sensing device is arranged at the head end, preheating is conducted according to the body temperature of a patient, the temperature difference between the laparoscope and the body temperature of the patient is reduced, and fogging is avoided; the laparoscope instrument is designed in a split mode, all the sections are connected through the clamping structures, on one hand, the laparoscope can be in butt joint with different laparoscope lenses, and on the other hand, the detachable laparoscope is convenient to clean.

The utility model relates to the technical field of medical instruments, in particular to a pair of anti-slip rotatable bent three-blade forceps with a suction function for laparoscopic surgery, which comprises a forceps seat, blades, an opening mechanism, a forceps tube, a rotating mechanism, an inner tube, a rotating wheel, a pull rod, a pull wire, a handle and a suction tube, the blade is connected with the clamp seat through an opening mechanism, a rotating opening is formed in the head end of the clamp pipe, the clamp seat is installed on the rotating opening, the inner pipe is located in a pipe cavity of the clamp pipe, a rotating hole is formed in the tail end of the clamp pipe, the inner pipe penetrates through the rotating hole, the head end of the inner pipe is connected with the clamp seat through a rotating mechanism, and the rotating axis of the clamp seat is perpendicular to the rotating axis of the inner pipe. The utility model has the advantages that the front end of the blade is provided with the arc-shaped hook claw, so that deep pelvic tissues can be firmly grasped, and slipping can be effectively avoided; the rotating wheel is operated to adjust the angle of the clamp seat at the rotating opening through the inner pipe and the rotating mechanism, so that the traction effect of the blades is improved; a special suction channel is arranged in the forceps tube and used for sucking smoke, blood and interstitial fluid generated in the operation process.

An embodiment of the present invention discloses an electrocoagulation surgical instrument, which uses a pulling portion and a first operating arm to form a first electrical path, and uses a sheath portion and a second operating arm to form a second electrical path, so as to apply a coagulation current to biological tissue. Thus, on the one hand, the electrocoagulation surgical instrument is configured as a detachable electrocoagulation component and a drive component, which fully utilizes the multiple incisions of laparoscopic surgery, so that the electrocoagulation component and the rod can be respectively inserted into the cavity from different incisions, reducing the size of the wound corresponding to the rod and improving the patient's postoperative recovery speed. On the other hand, during the assembly process of the electrocoagulation component and the drive component, the pulling portion can pull the electrocoagulation component and the drive component toward each other to facilitate the assembly of the two. At the same time, the pulling portion can further pull the first operating arm and the second operating arm closer to each other, so as to realize the electrocoagulation operation of the first operating arm and the second operating arm on the biological tissue, thereby simplifying the surgical operation.

The invention relates to the technical field of medical instruments, and discloses a pair of angle-adjustable laparoscope bipolar electrocoagulation forceps which comprises a bipolar electrocoagulation forceps body, a first forceps handle and a second forceps handle, the first forceps handle is fixed to one side of the bipolar electrocoagulation forceps body, the second forceps handle is hinged to the end, away from the bipolar electrocoagulation forceps body, of the first forceps handle, and the second forceps handle is fixed to the other side of the bipolar electrocoagulation forceps body. An electrocoagulation forceps head is mounted on one side of the second forceps handle, and a traction block is fixed to the middle of the surface of the second forceps handle; the pair of bipolar electrocoagulation forceps for the laparoscope has an angle adjusting function, the pair of bipolar electrocoagulation forceps for the laparoscope can adjust the angle of a patient according to the condition of the patient in the operation process of medical personnel, the right uterine artery of an internal cervix is subjected to electrocoagulation by crossing right uterine fibroid to adjust the angle, the practicability of the pair of electrocoagulation forceps is effectively improved, and the pair of bipolar electrocoagulation forceps for the laparoscope is worthy of popularization. The pair of bipolar electrocoagulation forceps for the laparoscope also has a positioning function, and can position the angle after the angle of the pair of bipolar electrocoagulation forceps is adjusted, so that convenience is provided for the subsequent laparoscopic surgery of medical personnel.

The invention relates to the technical field of medical instruments, discloses a surgical instrument, and particularly relates to a shapeable surgical instrument suitable for single-port endoscopic surgery, which comprises an inner rod assembly, an outer rod assembly and a handle assembly. The outer rod assembly is made of annealed metal (such as pure copper or copper alloy), can be shaped by hands and is kept in a bent form; the inner rod is a nickel-titanium alloy multifilament or a stranded rope, and low-resistance rotation in a bending state is achieved. The handle rotating wheel drives the inner rod to rotate and is matched with the axial push-pull of the rear handle, so that the 360-degree real-time angle adjustment and opening and closing actions of the working part (forceps piece / scissors) are controlled by a single hand, and the forceps piece / scissors do not need to be taken out of a body. The problems that a traditional straight rod instrument cannot reach a narrow area, a pre-bending instrument cannot be adjusted in an operation, and an existing shaping instrument needs in-vitro angle adjustment of two hands are solved, the operation efficiency is improved, and the cleaning and sterilizing time is shortened.

Disclosed are a method, system, and device for removing smoke from laparoscope images based on a conditional diffusion model. The method includes: segmenting a video of a laparoscopic surgery according to the number of frames to form a data set; performing smoke rendering on the obtained laparoscope smokeless images, and synthesizing paired smoky images to obtain a synthetic data set containing the smokeless images and the smoky images; inputting the smokeless images into the conditional diffusion model for forward noise addition, and continuously adding noise until the smokeless images are completely noised; inputting the smoky images into a smoke sensing module to obtain smoke concentration and position information, then training a neural network, and continuously performing reverse denoising on the completely noised images using the trained neural network until clear smokeless images are outputted; and optimizing a smoke removal model through a multi-loss function fusion strategy.

The present invention relates to a disposable multi-channel single-hole laparoscopic surgical puncture device, which is suitable for puncturing human abdominal wall tissue during laparoscopic examination and surgery to establish a working channel for abdominal surgery. It consists of a multi-channel puncture device assembly and an incision protection sleeve with an elastic pad, and the lower part of the multi-channel puncture device assembly is equipped with an incision protection sleeve with an elastic pad; the multi-channel puncture device assembly includes a sleeve one, a sleeve two, an injection valve assembly and a puncture device; the puncture device has a puncture device body, and a sleeve one and a sleeve two are arranged on the cover, and an injection valve assembly is arranged on the cover; the injection valve assembly consists of an injection joint, an injection sleeve, an injection switch, and an injection valve; the incision protection sleeve with an elastic pad includes an outer ring, an inner ring, a high elastic gasket, a pull ring and a pull rope; the outer ring is connected to the inner ring, the outer ring is connected to the inner ring, the outer ring and the inner ring are provided with a surgical instrument channel in the inner cavity, and the high elastic gasket is installed at the connection between the outer ring and the inner ring; the pull ring is connected to the lower end of the inner ring through a pull rope.

The invention discloses a self-adaptive force feedback method and device based on individualized virtual laparoscopic surgery and a medium, and belongs to the technical field of self-adaptive force feedback calculation. The self-adaptive force feedback method comprises the following steps: detecting whether a touch pen point of a virtual surgical instrument is in contact with an abdominal cavity tissue / organ model or not; wherein the outermost layer of the abdominal cavity tissue / organ model is coated with a surface film, and when the touch pen point of the virtual surgical instrument is in contact with the surface film, it is judged that the touch pen point is in contact with the corresponding abdominal cavity tissue / organ model; if the touch pen point of the virtual surgical instrument is in contact with the abdominal cavity tissue / organ model, identifying the type of the contacted abdominal cavity tissue / organ model, and switching to force feedback parameter setting of the corresponding abdominal cavity tissue / organ model for force feedback calculation; and detecting whether a touch pen point of the virtual surgical instrument penetrates through the surface film and enters the abdominal cavity tissue / organ model or not, if so, performing force feedback calculation based on the switched force feedback parameter setting, and performing scene rendering. According to the method, the force feedback parameters can be adaptively switched according to the types of different tissues and organs, and the quality and authenticity of a virtual operation are improved.

The invention discloses a laparoscopic surgery suture device, which relates to the technical field of medical instruments, and comprises a shell, a forceps seat arranged at the front end of the shell, a forceps clip assembly arranged on the forceps seat, and a movable handle, a fixed handle and a reset reed which are arranged at the rear end of the shell, the forceps clip assembly comprises a rotating shaft rotationally mounted on the forceps seat, and a first forceps clip arm and a second forceps clip arm which can be relatively rotationally mounted on the rotating shaft; the forceps clip assembly is provided with a squeezing assembly used for squeezing a notch, and the squeezing assembly comprises a driving part which is installed on the arc-shaped outer wall of the first forceps clip arm and the arc-shaped outer wall of the second forceps clip arm in a mirror image mode; and the driven piece is slidably connected to the first forceps clip arm and the second forceps clip arm, and the bottom surface of the driven piece is fixedly connected with a supporting spring. Effective extrusion of an incision can be achieved in the suturing process, the situation that the incision is sutured only through the pulling force of a suture line is avoided, and therefore the wound closing stability and the healing effect are remarkably improved, and tissue damage is reduced.

A laparoscopic ultrapolar electrosurgery device having both active and return electrodes that reduces potential injury to patients during laparoscopic surgery by eliminating capacitive coupling when employing an electrosurgical handpiece device for cutting and / or coagulating tissue.

The invention provides an intracavity gas self-circulation filtering device for laparoscopic surgery, which comprises a first filtering part (1) provided with a first filtering part gas inlet (102) and a first filtering part gas outlet (103), and the first filtering part gas inlet is communicated with the abdominal cavity of a human body; the power part (2) is connected with the first filtering part and is provided with a power part air inlet (203) and a power part air outlet (202), the power part air inlet is communicated with the first filtering part through the first filtering part air outlet, and the power part air outlet is communicated with the human body abdominal cavity; a housing (5) having an opening and an internal space communicating with the outside and accommodating the first filter part and the power part in the internal space; and the at least one second filtering part (1005) is communicated with at least one of the first filtering part air inlet and the power part air outlet. The technical scheme provided by the invention has the advantages of avoiding pollution and being high in durability.

The present disclosure relates to an end tool of a surgical instrument and a surgical instrument including the same, and more particularly, to an end tool of a surgical instrument that may be mounted on a robotic arm or operable manually to be used in laparoscopic surgery or other various surgeries, wherein the end tool is rotatable in two or more directions and is moved in a way that intuitively matches a motion of a manipulation part, and a surgical instrument including the same.

The invention discloses a laparoscopic surgery image enhancement and real-time auxiliary system, and relates to the technical field of medical image processing and intelligent auxiliary surgery. According to the laparoscopic surgery image enhancement and real-time auxiliary system, a laparoscopic image flow is obtained and cleaned through the video input and preprocessing module, image enhancement processing is carried out through a deep learning model, then spatial position features of a tissue structure and an instrument are extracted, and a structure recognition index and a spatial safety index are analyzed; according to the invention, through cooperative work of the image preprocessing module and the depth image enhancement model, brightness compensation, edge enhancement, denoising, smoke suppression and other operations are performed on the laparoscope image stream, the depth model is utilized to extract multi-scale image features and reconstruct details, and an enhanced video image stream is generated; therefore, the intraoperative abdominal cavity structure and instrument boundary is clearer, the positioning judgment precision of a doctor is remarkably improved, and the misjudgment risk caused by image blurring is reduced.

The invention belongs to the technical field of medical information processing, and relates to a laparoscopic surgery full-granularity recognition system and method based on feature extraction and task segmentation. Firstly, a video stream composed of multiple frames of images of an endoscope is input into the system, and then the spatial feature of each frame of image is obtained through a multi-frame spatial feature extraction module; the spatial features of all the frames are then input into a multi-frame time feature fusion module to obtain time features fused with different time lengths, and then the time features are used for outputting operation stages, operation steps and operation ternary body labels; meanwhile, only the spatial features of the current frame are extracted from the spatial features of all the frames, and an operation scene segmentation label is output through a single-frame feature restoration module. According to the laparoscopic surgery full-granularity recognition system and method based on feature extraction and task segmentation, computing resources can be greatly reduced, and compared with an existing single-granularity surgery scene technology, the laparoscopic surgery full-granularity recognition system and method based on feature extraction and task segmentation can output surgery scene information of multiple granularities at a time by means of the mutual coordination effect of multiple tasks.

Provided in the present disclosure is a laparoscopic surgical instrument having a detachable forceps head. The laparoscopic surgical instrument comprises: a forceps head assembly, which comprises a forceps head, a fixed base, a deflection base, a deflection sliding block, a connecting rod and a forceps base, wherein the forceps head is mounted on the forceps base, the deflection base is detachably connected to the forceps base, two ends of the connecting rod are rotationally connected to the deflection base and the deflection sliding block by means of rotating shafts, the deflection base is rotationally connected to the fixed base, the deflection sliding block is slidably arranged in a slot in the fixed base, and the sliding of the deflection sliding block in the slot is transmitted by means of the connecting rod to control the deflection base to rotate around the fixed base, thereby driving the forceps head to deflect; an instrument shaft, the fixed base being fixed at one end of the instrument shaft; a push rod, which is arranged in the instrument shaft, has one end fixed to the deflection sliding block, and can slide relative to the instrument shaft; an opening and closing driving rod, which is arranged in the push rod, has one end connected to the forceps head, can slide relative to the push rod, and is driven by an acting force in the direction of length of the opening and closing driving rod to control the opening and closing of the forceps head; and a control mechanism detachably connected to the opening and closing driving rod.

The invention relates to a self-supervised monocular depth estimation method for a laparoscopic surgery video, which is applied to medical engineering. The method specifically comprises the following steps: acquiring an initial video frame sequence corresponding to a laparoscopic surgery video; identifying a target filling area in the initial video frame sequence through a gated convolutional network, and filling the target filling area to obtain a filled video frame sequence; inputting the filled video frame sequence into a preset depth estimation model, obtaining a multi-scale depth map through a depth network included in the preset depth estimation model, and obtaining a relative pose matrix of adjacent frames in the filled video frame sequence through a pose network included in the preset depth estimation model, and generating a depth estimation result and a corresponding target depth map according to the multi-scale depth map and the relative pose matrix.

The utility model belongs to the technical field of medical instruments, and particularly relates to a pair of efficient smoke exhaust laparoscope operating forceps which comprises a forceps head, a hollow forceps tube, a mounting seat, a movable handle and a fixed handle, the movable handle and the fixed handle are mounted on the mounting seat and hinged with each other, a plurality of smoke suction holes are formed in the hollow forceps tube, one end of the hollow forceps tube is connected with the forceps head, and the other end of the hollow forceps tube is connected with the mounting seat. A negative pressure channel communicated with an inner cavity of the hollow forceps tube is arranged in the mounting seat, and the tail end of the negative pressure channel is connected with air exhaust equipment; the movable handle is connected with the forceps head through a pull rod assembly and controls the forceps head to be opened and closed, the pull rod assembly comprises a core rod, a core rod head and a pull rod, and the core rod is of a spiral structure and is arranged in the hollow forceps tube. Through the design of the smoke suction hole, the negative pressure channel, the smoke exhaust switch assembly and the air extractor, smoke generated by cutting of an energy instrument in the operation process can be rapidly exhausted through negative pressure air suction, the operation speed is increased, the operation risk is reduced, and the problem that the smoke influences the operation visual field is solved.

The invention discloses a pair of air bag type push-stripping operating forceps used in a laparoscopic surgery. The pair of operating forceps comprises forceps, a first rod body, a second rod body, a handheld piece, a knob, a fillable balloon and an air pipe, wherein the pliers are connected with the first rod body, the first rod body is rotationally connected with the second rod body, and the first rod body is connected with the handheld piece; the handheld piece is connected with the pliers through an opening and closing control structure; the fillable balloon is integrally connected with the second rod body and is connected with an external air source through an air pipe; the end, close to the first rod body, of the handheld piece is in threaded connection with the rotary knob, so that the rotary knob does linear movement relative to the first rod body when rotating, the rotary knob is connected with the second rod body through a traction assembly and an eccentric rotating assembly which are inserted into the first rod body in a penetrating mode, and the rotary knob drives the fillable balloon to do bending movement within a certain angle range. The operating forceps can achieve multiple purposes, the structure is simple, operation is convenient and fast, after the balloon is inflated, the liver or other organs can be pushed in a lossless mode, the organs are not damaged, and surgical operation can be efficiently carried out.

The invention relates to the field of medical imaging, and discloses a method for determining a laparoscope auxiliary identifier. The method comprises the following steps: determining a fluorescence labeling area according to a first image; determining an identifiable area according to the second image and the fluorescence labeling area; generating a differential surface associated with the fluorescence intensity interval based on the identifiable region; determining an auxiliary identifier based on the difference surface; the first image is obtained based on near-infrared fluorescence intensity, a green image signal of a pixel in the first image is in positive correlation with the fluorescence intensity, when the fluorescence intensity is lower than a first fluorescence intensity threshold value, the green image signal of the pixel is 0, and when the fluorescence intensity is higher than the first fluorescence intensity threshold value, the value of the green image signal of the pixel is 0-255; the values of the red image signal and the blue image signal are 0; the second image is a visible light image; the first image and the second image are collected through a laparoscope, and the collection positions are consistent. According to the method, the image navigation capability in the laparoscopic surgery is improved, and the accuracy of tissue identification is enhanced.

The invention relates to a laparoscopic surgery puncture trocar. The laparoscopic surgery puncture trocar comprises a trocar body, an air bag and a clamping piece. The air bag sleeves one end of the tube body and is used for expanding in the diameter direction of the tube body after being inflated; the clamping piece is movably mounted on the pipe body; a clamping face is arranged on the side, close to the air bag, of the clamping piece, and the clamping face and the air bag are matched with each other and used for being clamped on the two opposite sides of an operation puncture opening, so that the tube body is fixed to the operation puncture opening. The expansion degree of the air bag is adjusted, the clamping piece on the outer side of the human body is matched to help the puncture trocar to be fixed, the distance between the clamping piece and the air bag can be adjusted at will, and the puncture trocar can still be applied to people with different weights or patients with different abdominal wall thicknesses; and the fixing firmness of the puncture trocar is ensured.