416 results about "Laparoscopic surgery" patented technology

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 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 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, 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 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 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 discloses a laparoscopic surgery skill assessment method based on surgical instrument movement and a related device, and the method comprises the steps: obtaining a to-be-assessed laparoscopic surgery video, and carrying out the frame extraction processing, and forming a to-be-assessed video frame sequence image; inputting the to-be-evaluated video frame sequence image into a medical instrument motion feature extraction model to carry out motion feature extraction processing corresponding to the plurality of medical instruments in the laparoscopic surgery process, and obtaining multi-modal motion features corresponding to the plurality of medical instruments; performing cross-modal feature construction processing on the multi-modal motion features and preoperative clinical indexes of the patient to obtain cross-modal feature data; and inputting the cross-modal feature data into the XGBoost-SHAP combined framework, and performing evaluation processing to obtain an evaluation result corresponding to each feature in the cross-modal feature data. In the embodiment of the invention, the interpretability of instrument motion feature-surgical skill evaluation is realized, and the clinical applicability of the final scoring model can be improved.

The invention discloses an intraperitoneal supporting device in a newborn laparoscopic surgery, and relates to the technical field of laparoscopic surgery auxiliary instruments, the intraperitoneal supporting device comprises a positioning sleeve and an outer tube, the outer tube is fixedly connected to the bottom of the positioning sleeve, an inner tube is connected to the upper portion of the positioning sleeve in a penetrating mode, and the inner tube penetrates through the outer tube and extends to the lower portion of the outer tube; an expansion mechanism and a driving mechanism are installed on the outer side of the inner pipe, the expansion mechanism is located below the outer pipe, and the driving mechanism is located above the positioning sleeve; the three upper expansion arms and the three lower expansion arms in the expansion mechanism can be driven by the driving mechanism to be opened at the same time, a three-dimensional space can be opened after the six expansion arms are opened in the vertical direction, the visual field in the space is clear, subtle operation of the laparoscopic surgery is more convenient, and compared with single planar supporting, the three-dimensional supporting effect is better, and use is more convenient.

The present application relates to the field of image processing technology, and discloses a 3D laparoscopic surgical camera posture estimation method, apparatus, device and storage medium. The method comprises: obtaining an image set of the abdominal cavity; determining a depth image, a third optical flow map, and a fourth optical flow map based on the image set and a preset structural similarity index formula, and then performing posture estimation based on the depth image, the third optical flow map, the fourth optical flow map and a trained UNet network. While maintaining high accuracy, it does not require the support of a high-performance CPU, GPU and high-quality sensors (such as RGB-D cameras, lidars, etc.), reduces the complexity of the equipment, makes better use of surgical data acquired by the binocular system, improves the accuracy of feature extraction, and achieves more accurate camera posture estimation in different surgical scenarios, thereby enhancing the accuracy and comprehensiveness of surgical navigation, improving the accuracy and safety of surgery, optimizing the surgical process and improving the quality of postoperative evaluation.

The present invention provides a three-dimensional mesh model registration and fusion system for laparoscopic surgery navigation, which relates to the technical field of laparoscopic surgery navigation. The mesh data introduced by the three-dimensional mesh model registration and fusion system provided by the present invention takes into account the connection relationship between the vertices of the model compared with the traditional point cloud, improving the accuracy of subsequent multi-modal fusion; and can present the internal information of the tissue to the doctor, assisting the doctor to make clinical decisions, reducing the surgical risk and improving the surgical efficiency at the same time. Among them, the system generates training data through manual annotation and interpolation based on real data, trains a multi-modal registration and fusion network in a supervised manner, and finally further improves the registration accuracy through unsupervised fine-tuning. In addition, the introduced online self-supervised learning depth estimation method based on a binocular endoscope, the binocular depth estimation network used by which has the ability of fast overlearning, can continuously adapt to new scenarios by using self-supervised information, and thus ensure the accuracy of the intraoperative tissue mesh model.

A combined endoluminal robotic (ELR) and laparoscopic surgical robotic system includes a control tower and a surgeon console operatively connected to the control tower. The surgeon console includes a display screen for visualizing surgical sites, a user interface device for receiving input commands, and a processor configured to process the input commands into movement commands. The system also includes a first laparoscopic robotic arm having a laparoscopic surgical instrument and a laparoscopic arm controller and an endoluminal robotic (ELR) arm including a flexible, steerable ELR surgical instrument and an ELR arm controller. The system also includes a communication network and a processor running software configured to: receive user inputs from the surgeon console; process the user inputs to generate movement commands; transmit the movement commands to the laparoscopic arm controller and the ELR arm controller; provide switching control between the laparoscopic robotic arm and the ELR arm; and provide coordinated control of the laparoscopic and ELR surgical instruments during surgical procedures.

The embodiment of the invention relates to a medical instrument, and discloses a puncture outfit which comprises a main body, the rotating assembly is detachably connected with the main body and can rotate relative to the main body; wherein the rotating assembly comprises a rotating disc and balls arranged on the rotating disc, the rotating disc sleeves the main body, and the balls are in rolling contact with the outer surface of the main body, so that the rotating disc rotates relative to the main body under the rolling action of the balls. The balls are arranged between the main body and the rotating assembly, traditional sliding friction is changed into rolling friction, the rotating resistance between the rotating disc and the main body is remarkably reduced, and the operation safety is improved; the rolling contact mode of the balls ensures that the turntable can flexibly rotate around the central shaft of the main body, and the circular motion requirements of instruments and an endoscope in a laparoscopic surgery robot single-hole surgery are met; in addition, the rotating assembly is detachably connected with the main body, so that assembly and maintenance are facilitated.

The invention relates to an adjustable claw-type retractor for an abdominal surgery and an operation method. The adjustable claw-type retractor comprises a handle, a mounting disc, at least five retractor parts and an adjusting assembly, a cavity with an opening in the upper end is formed in the handle in the Z-axis direction. According to the adjustable claw-type drag hook for the abdominal surgery and the operation method, the connecting plate is moved up and down to drive the fastener and the buckle in the connecting plate to move, and when the fastener moves downwards, the two adjacent drag hook pieces can be expanded, so that the distance between the two adjacent drag hook pieces is increased; when the buckle moves upwards, the two adjacent draw hook pieces are close to each other under the action of elastic force, and the distance between the two adjacent draw hook pieces is reduced, so that the coverage range of the draw hook pieces can be effectively adjusted according to the taking-down of an incision, and the problems that more medical personnel are required to participate when a plurality of S-shaped draw hooks are used, and the operation is inconvenient are effectively solved. Certain inconvenience is brought to an operation, and normal operation of a surgeon is affected.

The utility model relates to a magnetic anchoring auxiliary stop lever used under a laparoscope, which belongs to the field of medical instruments and comprises an outer magnet positioned outside an abdominal cavity and an inner magnet positioned in the abdominal cavity, the inner magnet can be attracted with the outer magnet, and a telescopic stop lever used for stopping organ tissues is fixedly arranged on one side of the inner magnet far away from the outer magnet. The telescopic end of the telescopic stop lever is provided with a fixing part used for being connected with tissues in the abdominal cavity. The device has the advantages that one end of the telescopic stop lever is fixed on the abdominal cavity tissue, the other end of the telescopic stop lever is controlled to move in vitro through the outer magnet, the organ tissue is blocked and pushed to adjust the position through the telescopic stop lever, the operation view is exposed, and operation is easy; meanwhile, the telescopic stop lever is passively telescopic to adapt to abdominal cavity spaces with different distances, so that the flexibility is higher.

The invention relates to the technical field of mechanical supports, and discloses a laparoscopic surgery laparoscopic holding mechanical support which comprises a supporting rod and an arc-shaped supporting frame on one side of the supporting rod, a limiting installation buckle is installed on the side, away from the arc-shaped supporting frame, of the supporting rod, and an installation ring piece is movably connected to the side, away from the supporting rod, of the arc-shaped supporting frame. An arc-shaped sliding groove is formed in the side, close to the mounting ring piece, of the arc-shaped supporting frame, and a sliding rod is movably connected to the side, away from the arc-shaped supporting frame, of the arc-shaped sliding groove. Limiting mounting buckles are mounted on the sides, away from the arc-shaped supporting frame, of the supporting rods, extrusion plates are arranged on the sides, away from the supporting rods, of the limiting mounting buckles, and the overall volume of the device should be reduced to the minimum in the actual mounting process; the device can be stably fixed on one side of an operating bed or any rod-shaped object, so that the overall convenient use effect of the device is improved.

The utility model belongs to the field of medical instruments, and particularly relates to a laparoscope aspirator flushing device connector which comprises a soft connector used for being connected to a flushing device connector in a sleeved mode and further comprises a first hard connector connected to the end of the soft connector in a sealed and sleeved mode, and the end, away from the soft connector, of the first hard connector is movably connected with at least two second hard connectors. One end of each second hard connector is detachably and hermetically connected with the end, away from the soft connector, of the first hard connector, the other end of each second hard connector is used for being hermetically connected with a soft flushing pipe, and the outer diameters of the ends, used for being connected with the soft flushing pipe, of at least two second hard connectors are different. The flushing device can be matched with flushing pipes of different specifications, parts are not prone to being lost, dismounting is convenient, and the flushing device is suitable for connection between the aspirator flushing device and the flushing pipe in the laparoscopic surgery.

This invention relates to the field of medical device technology and discloses a surgical instrument, particularly a malleable surgical instrument suitable for single-port laparoscopic surgery, comprising 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), which can be hand-shaped and maintain a bent shape; the inner rod is made of nickel-titanium alloy multifilament or stranded rope, enabling low-resistance rotation in a bent state. The inner rod is rotated by a handle wheel, and in conjunction with the axial push-pull of the rear handle, 360° real-time angle adjustment and opening / closing of the working part (clamps / scissors) can be achieved with one hand, without the need for removal from the body. This invention solves the problems of traditional straight rod instruments being unable to reach narrow areas, pre-bent instruments not being able to be adjusted intraoperatively, and existing malleable instruments requiring two hands for external angle adjustment, thus improving surgical efficiency and shortening cleaning and sterilization time.

The invention relates to a force feedback device, in particular to a rope differential driving type four-degree-of-freedom force feedback mechanism for laparoscopic surgery operation, which comprises a static platform, a working rotating shaft, a supporting shaft, a left torque motor, a detection torque motor and a movable platform, and is characterized in that the detection torque motor comprises the left torque motor and a right torque motor; a first base and a second base are fixedly installed on the static platform, the first base and the second base are rotationally connected with a first crankshaft and a second crankshaft respectively, one side of the movable platform is fixedly connected with a short shaft, the other side of the movable platform is rotationally connected with an offset shaft, and the first crankshaft is connected with the movable platform through the offset shaft. And the second crankshaft is connected with the movable platform through a short shaft. According to the invention, large-range three-direction centering rotation motion and longitudinal sliding motion can be realized, and a parallel structure is adopted, so that the mechanism is high in constraint rigidity, small in mass of moving parts and good in force sense feedback input and output effect.

1. The name of the design product: double cavity laparoscope with LED light source. 2. The use of the design product: the product is used for laparoscope in laparoscopic surgery. 3. The design points of the design product: the shape of the product. 4. The picture or photo that best shows the design points: partial enlarged view. 5. Other circumstances that need to be explained: the partial enlarged view is a perspective view, and the LED light source details of the end head are enlarged.

This invention relates to the field of medical device technology, specifically to a tissue protection shielding device for laparoscopic surgery. The device includes a shielding assembly and a pull cord. The shielding assembly comprises several shielding plates; each shielding plate has a perforation, and an elastic element connects adjacent shielding plates. The elastic element provides elastic force to allow the shielding assembly to roll into a cylindrical shape when no external force is applied, at which point the shielding assembly is in its initial state. The pull cord has a limiting element. When the shielding assembly is in its initial state, pulling the pull cord reduces the length of the cord that is threaded through the shielding assembly, causing adjacent shielding plates to rotate relative to each other. This allows the shielding assembly to bend in the opposite direction into an arc shape, and the elastic element is compressed by the corresponding two shielding plates, resulting in a protruding structure protruding from the inner surface of the shielding assembly. This tissue protection shielding device for laparoscopic surgery can improve the protection of the liver, preventing injury or cuts to the liver.

The utility model discloses a laparoscopic surgery nursing auxiliary device, and relates to the field of postoperative nursing, the laparoscopic surgery nursing auxiliary device comprises a swing mechanism and two mounting racks, the swing mechanism can swing the two mounting racks, and rollers are rotatably arranged on the mounting racks; two connecting plates are fixed in the roller, connecting sleeves are fixed on the connecting plates, and the two connecting sleeves are rotationally connected with the mounting frame; a massage assembly is arranged in the roller and comprises a plurality of massage heads capable of reciprocating in the radial direction of the roller. The device has the beneficial effects that the mounting frame is swung upwards through the swing mechanism, the mounting frame can lift up the legs of a patient through the roller to promote exhaust, the mounting frame is driven to swing back and forth through the swing mechanism, the roller rotates along the legs of the patient, and in the rotating process of the roller, the massage assembly can be triggered through the transmission assembly to massage the legs of the patient. The massage assembly is used for massaging the legs of the patient, massage is carried out while the legs are lifted for exhausting, and the patient can recover quickly after an operation.

This invention relates to the field of medical device technology, and discloses a composite yaw control device and a laparoscopic surgical instrument. The composite yaw control device includes: a first tube; a second tube, the inner peripheral wall of which is radially spaced from the outer peripheral wall of the first tube to form a receiving gap; a yaw control mechanism disposed at the proximal end of the first tube, one end of which is provided with a plurality of first yaw control lines; a flexible motion joint disposed at the distal end of the second tube, one end of which is provided with a plurality of second yaw control lines; and a plurality of transmission rods movably disposed within the receiving gap, each transmission rod having one axial end connected to a first yaw control line and the other end connected to a second yaw control line. This invention not only avoids the yaw control lines from being stretched and / or sag due to their own tension during operation, improving the force application accuracy, but also ensures the directionality and correspondence of the assembly of the transmission rods and the first and second yaw control lines at both ends.