47 results about "Laparoscopic surgery" patented technology

A chronic and / or acute system and methods of minimally invasive ablation with wire structure devices dispensed through a needle without open cut downs or laparoscopy and using energy forms including radiofrequency, microwave and direct current.

The application provides a laparoscopic surgery stage automatic identification method and system based on deep learning, and the method specifically comprises the following steps: defining the start and end points and key anatomical landmarks of each stage of laparoscopic surgery; collecting continuous video data in the surgery process through a laparoscopic imaging system, wherein the video data completely covers the whole surgery process; pre-processing the collected video data; constructing a double-branch deep neural network model, fusing short-time scale features and long-time scale features in a multi-time scale feature fusion module to generate joint feature representation, which simultaneously reflects local operation state and overall process semantics; and identifying each surgery stage by using the trained double-branch deep neural network model. The technical scheme of the application overcomes the problems of insufficient surgery stage identification granularity, insufficient long-range context utilization, and insufficient real-time performance, robustness and cross-patient generalization capability in clinical application in the prior art.

The present invention provides an end tool for surgical instruments and a surgical instrument equipped therewith. [Solution] The present invention relates to an end tool 100 for a surgical instrument, which is attached to a robotic arm for use in laparoscopic surgery or various other surgeries, or which is manually operable, and which is rotatable in two or more directions and operates in a manner that is intuitively consistent with the operation of the control unit, and to a surgical instrument equipped therewith.

The article to which this design relates is a handle assembly for surgical instruments used to operate laparoscopic surgical instruments.

This teaching relates to estimating 3D camera pose based on 2D features detected from 2D images. A virtual 3D camera pose is generated relative to a 3D model of a target organ and associated anatomical structures. Virtual 2D images are created by projecting the 3D model from a viewpoint determined based on the virtual 3D camera pose. Each virtual 2D image includes the 2D structure of the target organ and / or some 3D anatomical structures visible from the corresponding viewpoint. A 2D feature / camera pose mapping model is then obtained based on the 2D features extracted from the virtual 2D images and the corresponding virtual 3D camera pose, where the 2D features include 2D ridge lines projected from 3D ridges on the target organ represented in the 3D model.

A reinforcement learning method for path marking and automatic planning for a personalized virtual laparoscopic surgical robot, comprising: defining a state space and an action space of the virtual laparoscopic surgical robot in an abdominal cavity environment (S1), wherein the state space is used for describing current configurations of a surgical environment, and the action space is used for defining actions that can be executed by a robotic arm in the abdominal cavity environment; designing a reward function mapping the state space and the action space to a real-valued evaluation index, for representing an immediate reward obtained by executing action a in state S (S2); constructing a hierarchical DQN architecture, for decomposing a surgical path planning task into two levels: high-level policy planning and low-level action execution (S3); and performing reinforcement learning training on a path marking and automatic planning task of the virtual laparoscopic surgical robot on the basis of the hierarchical DQN architecture (S4). The method is a learning method capable of optimizing surgical path planning under the uncertainty of virtual laparoscopic surgery by incorporating systematic considerations of surgical safety.

The application discloses an organ non-rigid deformation processing method and system for laparoscope augmented reality navigation and a medium. The method comprises the following steps: acquiring an organ preoperative surface mesh model and converting the organ preoperative surface mesh model into a solid mesh model containing mesh units; generating an editable cage-shaped framework based on the solid mesh model, and optimizing a framework sparsity factor by using a loss function combining similarity and sparsity; establishing a physical constraint system covering distance, area and volume preservation on line, surface and tetrahedron units of the solid mesh model, and constructing an internal and external structure coupling deformation mechanism; and in response to an interactive displacement instruction for a control vertex of the cage-shaped framework, iteratively solving new positions of each node in the solid model according to a physical constraint relationship. Through cage-shaped framework driving and physical consistency constraint, the application realizes real-time synchronous deformation of internal and external structures of an organ, effectively solves the problem that a model and a real shape are inconsistent in laparoscopic surgery, and significantly improves navigation precision.

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.

This invention discloses a device for continuous self-expansion of the surgical field under closed-view visualization in transvaginal laparoscopic surgery. It comprises a control sheath rod, a traction lifting plate, a telescopic bowel pressure plate, a directional elastic ring, a sealing sheath bag, and a counterweight. The sealing sheath bag is annularly connected to the directional elastic ring. The traction lifting plate is mounted on the upper side of the directional elastic ring and on the lower side within the rotating groove of the main locking hook at the front end of the control sheath rod. The telescopic bowel pressure plate is installed in a flat sheath tube penetrating the control sheath rod and is adjusted and fixed by bolts and nuts. Pulling the sealing sheath bag rotates the directional elastic ring to a horizontal and vertical angle, the traction lifting plate automatically horizontally lifts the uterus, and the telescopic bowel pressure plate adjusts and controls bowel interference. During the operation, it automatically expands to isolate and form an independent and safe surgical operating area within the pelvic cavity, avoiding mutual interference, reducing surgical risks, and improving surgical efficiency.

This utility model provides a surgical clip specifically for gynecological laparoscopy, relating to the field of surgical clip technology. The clip includes a lower handle on its lower rear side and an upper handle on its upper rear side. A rear iron ring connects the rear ends of the upper and lower handles. A right clamp is located at the front end of the upper handle, and a left clamp is located at the front end of the lower handle. The left and right clamps are opposite each other and have identical structures. The upper front surface of the lower handle has a concave surface, and the front part of the upper handle is located within this concave surface. The upper and lower handles are staggered vertically. An arc-shaped opening is located in the middle of the right clamp. This utility model facilitates stable clamping of blood vessels or intra-abdominal tissues, preventing displacement or rupture, and easily fixes blood vessels and tissues. It is safer, more stable, and reliable, helping to ensure the rapid and stable execution of gynecological laparoscopic surgery.

This invention discloses an adaptive smoke control method and system for laparoscopic surgery. The method includes: continuously and in real-time acquiring laparoscopic video streams, energy instrument operating parameters, and smoke removal equipment operating status parameters; inputting the video streams into a spatiotemporal dual-branch smoke state network to obtain smoke density values, field-of-view occlusion rates, and smoke change rates; retrieving reference control groups from a historical record database based on surgical type, surgical steps, and smoke status; matching candidate control rules according to a multi-dimensional rule base; generating control instructions including target negative pressure, valve opening, and filtration mode by a rule base intelligent agent through fusion decision-making; executing the smoke removal operation by an embedded controller and writing the control data back to the historical record database. The method and system of this application construct a closed-loop control link of "identification-decision-execution-feedback," which can adapt to different surgical scenarios, improve the smoke removal response speed and accuracy, and ensure surgical safety and equipment stability.

This invention belongs to the field of laparoscopic surgery technology for hepatobiliary and pancreatic tumors, specifically relating to a variable-diameter flexible robotic arm clamping device for laparoscopic surgery of hepatobiliary and pancreatic tumors. It includes a main controller, and a variable-diameter clamping unit and a drive unit electrically connected to the main controller. Current flowing through the drive unit generates Joule heating, which drives the drive unit to independently bend multiple flexible joints. A sensing unit is embedded between the multiple flexible joints and the flexible outer sleeve. The sensing unit has multiple grating points at each flexible joint, which are used to detect the bending angle and position information of the multiple flexible joints and feed this information back to the main controller. This invention utilizes the Joule heating actuation characteristics of shape memory alloy strips to achieve independent bending of the multiple flexible arm segments. The bending angle and position information can be fed back to the main controller in real time through the sensing unit, thereby achieving precise control of the flexible arm and enabling stable clamping at room temperature in conjunction with the variable-diameter clamping unit.

This invention provides a traditional Chinese medicine composition and a hot compress for postoperative rehabilitation after gynecological laparoscopic surgery, belonging to the technical field of traditional Chinese medicine hot compresses. The traditional Chinese medicine composition of this invention comprises the following raw materials by weight: 4-6 parts of Artemisia argyi, 6-10 parts of vinegar-processed Corydalis yanhusuo, 12-18 parts of Clematis chinensis, 20-30 parts of processed Evodia rutaecarpa, and 6-10 parts of stir-fried Atractylodes macrocephala. The traditional Chinese medicine composition can be further mixed with 250-350 parts of coarse salt to prepare a hot compress. When applied to patients after gynecological laparoscopic surgery, the traditional Chinese medicine composition and hot compress of this invention can significantly shorten the time to the first bowel sound and first flatus, reduce the incidence of postoperative abdominal distension, especially reducing the risk of severe abdominal distension; at the same time, it effectively relieves shoulder and neck pain, improving postoperative comfort and patient satisfaction.

This invention relates to the field of surgical instruments, and particularly to a pneumoperitoneum needle for laparoscopic surgery and its control method. The pneumoperitoneum needle and its control method provided by this invention, during the puncture phase, activate the electromagnet cylinder for forward operation. The electromagnet cylinder drives the puncture needle tube forward and the inner core backward, ensuring the inner core does not obstruct the puncture needle's insertion. After puncture, the resistance to the puncture needle tube decreases, the pressure sensor's data increases, and the control unit activates the electromagnet cylinder for reverse operation. The electromagnet cylinder drives the puncture needle tube backward and the inner core forward, causing the puncture needle tube to retract instantly and the inner core to extend out, avoiding damage to organs. This method is rapid and efficient, while the interaction between the puncture needle tube and the inner core creates redundancy. When the control unit or the electromagnet cylinder fails to operate, the elastic element can control the inner core in a conventional manner, ensuring a safe puncture process for the pneumoperitoneum needle in laparoscopic surgery.

The utility model discloses a laparoscopic operation is with hole towel, including hole towel body, the central part of hole towel body is provided with the rectangular operation hole, the upper surface of hole towel body is located the left and right sides symmetry of operation hole and is provided with the first hem, the upper surface of hole towel body is located the upper and lower sides symmetry of operation hole and is provided with the second hem, the lower surface of first hem is provided with a plurality of first sponge pad, the lower surface of second hem is provided with a plurality of second sponge pad, the upper surface of first hem is provided with a plurality of second magic tape hook face, the upper surface of second hem is provided with a plurality of third magic tape hook face. In the utility model, the blood that flows out from operation incision can be adsorbed by a plurality of first sponge pad and second sponge pad when spreading towards the periphery, so that the random flow of blood from operation incision can be avoided, and the position outside the first sponge pad and second sponge pad can be kept clean.

The present invention relates to a laparoscopic surgical instrument without a cannula, comprising a first part which is inserted into the abdominal cavity of a body and which is provided with a surgical instrument, a second part which is located outside the abdominal cavity of the body and which is coupled to the first part to operate the operating state of the surgical instrument, wherein the first part and the second part are coupled to each other mainly by magnetic force while the first part is inserted into the body.

1. The name of the design product: laparoscope simulation training box. 2. The use of the design product: for medical students or clinicians to do simulation laparoscopic surgery training and teaching. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

The application discloses a kind of laparoscopic surgery smoke self-adaptive control method and system, the method includes: continuous real-time acquisition laparoscopic video stream, energy instrument operating parameter and smoke removal equipment operating state parameter;Video stream is input into space-time double-branch smoke state network, obtains smoke density value, field obscuration and smoke change rate;Based on the type of operation, operation step and smoke state, retrieve reference control group from historical record library;According to multidimensional rule base, match candidate control rule;By rule base intelligent agent fusion decision, generate control instruction including target negative pressure, valve opening, filter mode;By embedded controller, execute smoke removal operation, and write this control data back to historical record library.The method and system of the application construct the closed-loop control link of "recognition-decision-execution-feedback", can be adapted to different operation scene, improve smoke removal response speed and accuracy, guarantee the safety and equipment stability of operation.

An adaptive force feedback method based on individualized virtual laparoscopic surgery, a device, and a medium, relating to the technical field of adaptive force feedback computation. The adaptive force feedback method comprises: detecting whether a virtual surgical instrument stylus tip is in contact with an abdominal tissue / organ model, wherein the outermost layer of the abdominal tissue / organ model is coated with a surface membrane, and when the virtual surgical instrument stylus tip is in contact with the surface membrane, it is determined that the virtual surgical instrument stylus tip is in contact with the corresponding abdominal tissue / organ model; if the virtual surgical instrument stylus tip is in contact with the abdominal tissue / organ model, identifying the type of the abdominal tissue / organ model in contact, and switching to force feedback parameter settings of the corresponding abdominal tissue / organ model to perform force feedback computation; and detecting whether the virtual surgical instrument stylus tip penetrates the surface membrane and enters the abdominal tissue / organ model, and if yes, performing force feedback computation on the basis of the switched force feedback parameter settings, and performing scene rendering. The present application designs a method capable of adaptively switching force feedback parameters for the types of different tissues and organs, thereby improving the quality and realism of virtual surgery.

The utility model belongs to single -hole laparoscopic surgery hemostasia technical field, especially, it is single -hole laparoscopic surgery hemostasia device. The technical includes the pasting board, the left and right sides of pasting board all are connected with the bandage, and the connecting end of two bandages is connected each other through first connecting component, and the mounting hole that passes up and down is seted up on pasting board, and the medicine bag that can be put into human belly button is installed in mounting hole, the bottom of pasting board is provided with two pasting skin boards that are left and right distribution, and all are connected with the pulling belt on pasting skin board, and the through slot that passes inside and outside is seted up on the bandage of corresponding pulling belt, and the second connecting component that connects both is seted up between the pulling end of pulling belt and the outer surface of bandage. The utility model sets up pasting skin board twice through in belly button, and the belly button is opened by pulling the pulling belt and using the friction between pasting skin board and skin, reduces the discomfort brought by object support, thereby the support of belly button is more comfortable to complete, and the marks of pressing are reduced which are produced by the setting of object convex.

This utility model proposes a trocar for laparoscopic surgery, relating to the field of trocar technology. It includes a trocar cone and a trocar cannula assembly. The trocar cone penetrates the trocar cannula assembly. The trocar cannula assembly includes a ventilation connector and a positioning cannula. One end of the positioning cannula is fixedly connected to and communicates with one end of the ventilation connector. The other end of the ventilation connector is detachably connected to the trocar cone. The other end of the positioning cannula is provided with an inflation-expansion blocking part, which communicates with the positioning cannula. This trocar for laparoscopic surgery can flexibly block the abdominal wall, effectively improving the airtightness of the trocar cannula fixed to the patient's abdominal wall.

A seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery belongs to the field of medical devices. It includes a clamp, a six-dimensional force / torque sensor, a clamping force detection unit, a wrist mechanism, an instrument shaft and connecting mechanism, a transmission mechanism, a quick-connect mechanism, and a drive unit. The six-dimensional force / torque sensor and clamping force detection unit are installed at the rear end of the clamp and the front end of the wrist mechanism. Accurate sensing of six-dimensional external forces / torques and clamping forces is achieved through decoupling pulleys in the clamping force detection unit and signal compensation from the host computer software output. The instrument shaft and connecting mechanism are installed at the rear end of the wrist mechanism and the front end of the transmission mechanism. The rear end of the transmission mechanism is installed at the front end of the quick-connect mechanism, and the rear end of the quick-connect mechanism is installed at the front end of the drive mechanism. This invention achieves four degrees of freedom—roll, pitch, yaw, and clamp opening / closing—through wire transmission.

The utility model relates to a kind of multi-degree-of-freedom operation controllers for minimally invasive surgical robot, using the rotating shaft structure of non-coplanar orthogonal layout, and integration dynamic proportional mapping, biological load perception and multistage safety protection mechanism. Overload protection circuit and electromagnetic brake module are built-in controller, through real-time acquisition rotating angle, displacement and load data, optimize mechanical arm movement precision, realize sub-millimeter level positioning. Its function button has dual-mode pressure sensing and tactile feedback, improve interaction efficiency. The utility model effectively reduces motion coupling, improves force feedback capability, and significantly reduces brake delay, suitable for laparoscopic surgery and interventional therapy and other scenes.

This application provides an AR navigation method and related device for laparoscopic surgery based on patient-specific knowledge graph activation and deformation perception registration. The method includes: S1. Constructing a patient-specific surgical knowledge graph based on preoperative images, and dynamically activating relevant subgraphs according to surgical stage labels; S2. Extracting a set of anatomical priority structures; S3. Solving K·u=f using pneumoperitoneal pressure, instrument contact force, and gravity as boundary conditions; S4. Correcting the initial solution of rigid body registration based on the deformation prediction field u to obtain T_deform; S5. Performing color-coded AR overlay rendering to display the anatomical structure outline and safety boundary; S6. Real-time monitoring of the distance between the instrument tip and the safety boundary, triggering hierarchical navigation warnings. This application also provides related devices corresponding to the method, including devices, electronic devices, computer-readable storage media, and computer program products.

According to at least one aspect of the present disclosure, there is provided an imaging agent comprising a dye compound conjugated to an antigen-specific targeting vehicle, which can be particularly advantageous as its behavior in vivo can contribute to superior optical imaging properties, for example by significantly increasing the solubility of the dye and / or the targeting vehicle, increasing the target-to-background ratio of the imaged tissue, yielding higher resolution imaging, and ultimately providing better identification of malignant tissue for resection and margin assessment, as well as improved visualization, for example during minimally invasive laparoscopic surgery. A method of imaging tumor cells in a subject can comprise: administering an imaging effective amount of an imaging agent according to at least one embodiment of the present application; irradiating a region in the subject where tumor cells are expected to be found with a wavelength absorbed by the imaging agent; and detecting a signal from the imaging agent.

The application discloses a method and system for identification of blood vessels, lymph nodes and nerves in surgery, and relates to the technical field of computers, which comprises the following steps: S1, acquiring a surgery video, marking and establishing a blood vessel sample database, a lymph sample database and a nerve sample database; S2, constructing an initial identification model; S3, training the initial identification model to obtain a blood vessel identification model, a lymph identification model and a nerve identification model; S4, collecting the surgery video, and identifying and outlining the contours of blood vessels, lymph and nerves; and S5, visually displaying the surgery video and the contours to a surgeon; the system comprises a collection module, a central processing unit and a display module; the blood vessels, lymph and nerve structures under the laparoscopic surgery visual field are identified in real time by using an artificial intelligence computer model, and the visual display function is combined, so that the surgeon is provided with guidance for resection and avoidance of corresponding blood vessels, lymph nodes and nerves, the surgeon is guided to reasonably identify and resect blood vessels and lymph nodes, the blood vessels and lymph nodes that do not need to be resected are avoided, and the surgery is smoothly assisted.

1. Name of the product in this design: Gastric tube / intestinal tube guidewire device (visible and guideable end). 2. Purpose of this design: This product is used for intraoperative placement of gastric tubes and intestinal tubes during laparoscopic surgery. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

This utility model discloses a malleable laparoscopic specimen retrieval bag, including a bag body with an internal chamber for holding the specimen. The upper end of the bag body is open, and the side wall of the bag body has a spiral channel with a pull rope inside. One end of the pull rope is fixed to the bottom of the bag body, and the other end of the pull rope extends through the upper end of the bag body to the outside. The side wall of the bag body has multiple recesses and protrusions. In this utility model, after the lesion tissue in the patient's body is removed during laparoscopic surgery, the retrieval bag is placed into the abdominal cavity via a trocar, and the lesion tissue is placed into the chamber of the bag body. Due to the strong malleability of the bag body, the bag body can be contracted by pulling the pull rope, and the bag body can completely wrap the lesion tissue, making it easy to remove the retrieval bag from the incision and avoiding secondary damage to the patient caused by enlarging the incision. At the same time, the side wall of the bag body has recesses and protrusions, so the bag body can be compressed and folded, and has a certain degree of shrinkage performance.

This invention discloses a steerable radiofrequency ablation and plasma ablation surgical forceps for laparoscopic surgery, relating to the field of medical device technology. It includes a proximal component for manipulation, a slender main body component that enters the body cavity, and a distal working component. The main body component includes a hollow sleeve, a pull rod slidably connected within the sleeve, and a gripping portion fixed to the outside of the sleeve. The segment of the sleeve near the gripping portion has an upper notch structure, at which a drive component for steering the working component is provided. By integrating a bipolar radiofrequency electrode and a localized liquid spray system on the same jaw structure, structural integration of both radiofrequency ablation and plasma ablation energy action modes is achieved. A unique sliding key joint structure decouples the axial sliding and circumferential rotation of the pull rod, allowing independent control of jaw opening and closing and working component steering without interference.