844 results about "Laparoscopic treatment" patented technology

The invention relates to the technical field of medical instruments, and discloses a laparoscope and digestive endoscope combined positioning measurement system and method.The method comprises the steps of positioning mark initialization, image feature analysis, instrument path planning, dynamic positioning calibration, operation integrity evaluation and the like. Spatial matching is realized by setting multiple types of positioning marks and utilizing optical reflection signals, noise reduction and feature extraction are performed on endoscope imaging data to generate a measurement area boundary, an operation path is planned in combination with anatomical path information, the tail end position of an instrument is calibrated in real time, and operation integrity is evaluated. The system comprises a positioning module, an analysis module, a correction module and an integration module which are respectively used for realizing the functions of positioning mark setting, image processing and path generation, offset correction and operation evaluation. According to the system, the operation positioning precision and the operation safety are improved, intellectualization and precision of minimally invasive surgery are achieved, and the system is suitable for minimally invasive treatment of digestive system diseases.

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.

Co-manipulation robotic systems are described herein that may be used for assisting with surgical procedures, including laparoscopic surgery. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

The invention relates to the technical field of data acquisition, and discloses a laparoscopic postoperative rehabilitation data acquisition method and system based on a traditional Chinese medicine home platform. The method comprises the following steps: collecting multi-source rehabilitation data and carrying out traditional Chinese medicine syndrome differentiation analysis to obtain a rehabilitation index; inputting the rehabilitation index into an ARIMA model to predict a rehabilitation trend; discretizing the rehabilitation index to obtain a symbol, constructing a patient specificity matrix, calculating a Hamming distance to identify a rehabilitation mode, calculating an early warning index in combination with doctor intervention time, and generating a personalized rehabilitation risk assessment report. The technical problems that in existing laparoscopic postoperative rehabilitation monitoring, monitoring parameters are single, traditional Chinese medicine theoretical guidance is lacked, and rehabilitation schemes are insufficient in individuation are solved. Through multi-source rehabilitation data acquisition, traditional Chinese medicine syndrome differentiation analysis, ARIMA prediction model and patient specificity matrix construction, comprehensive monitoring, scientific prediction and personalized guidance of the rehabilitation condition of a patient are realized.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

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.

Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integratable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and / or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.

The invention relates to the technical field of biomedical engineering, in particular to an automatic disinfection system for a laparoscope. The invention provides an automatic disinfection system for a laparoscope. The automatic disinfection system comprises a control module; the disinfection module is in communication connection with the control module and is used for implementing a preset disinfection function according to a first instruction of the control module after an operation; the disinfection cabin module is in communication connection with the control module, the disinfection module is arranged in the disinfection cabin module, and the disinfection cabin module is used for automatically disinfecting surgical instruments after an operation; the positioning module is bound with a surgical instrument and is in communication connection with the control module, and the positioning module is used for positioning the surgical instrument and transmitting positioning information to the control module; and the transmission module is in signal connection with the control module and is used for transmitting the surgical instruments into the disinfection cabin module according to a second instruction of the control module.

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.

This disclosure describes an interactive augmented reality system for improving surgeon's view and context awareness during laparoscopic and video assisted surgeries. Instead of purely relying on computer vision algorithms for image registration between pre-operation (or intra-operation) images / models and later intra-operation scope images, the system can implement an interactive mechanism where surgeons may provide supervised information in initial calibration phase of the augmented reality function, thus achieving high accuracy in image registration. Besides the initialization phase before operation starts, interaction between surgeon and the system can also happens during the surgery. Specifically, patient tissue might move or deform during surgery, caused by for example cutting. The augmented reality system can re-calibrate during surgery when image registration accuracy deteriorates, by seeking additional supervised labeling from surgeons. The augmented reality system can improve surgeon's view during surgery, by utilizing surgeon's guidance sporadically to achieve high image registration accuracy.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Co-manipulation robotic systems are described herein that may be used for assisting with surgical procedures, including laparoscopic surgery. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

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 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.

Systems and methods for performing surgery are provided, which permit multiple tool tips to be interchanged within an instrument shaft during a minimally invasive procedure. The surgical device holds a plurality of interchangeable tool tips such that a selected tool tip from a chamber of a magazine can be mounted at the distal end of an elongated shaft for a laparoscopic surgery. In this manner, multiple tool types can be interchanged within a shaft without having to remove the instrument from the patient for tool changes, thereby increasing surgical efficiencies and reducing the number of tools needed for a procedure.

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 relates to the technical field of system integration of minimally invasive surgery simulation training equipment, and discloses a multi-module linkage control and multi-dimensional synchronous evaluation first-aid minimally invasive simulation training system which integrates a laparoscope, anesthesia monitoring, a dummy and a control acquisition evaluation unit. The control unit realizes full-process control based on a finite-state machine: executing anesthesia parameter and instrument interlocking verification before an operation, and unlocking an operation permission after passing the verification; during an operation, the simulation person is driven in real time according to instrument operation to generate physiological changes, a critical value is triggered by misoperation to automatically switch an emergency mode, operation response is paused, and resuscitation examination is activated. The acquisition unit marks millisecond-level timestamps for videos, tracks and physiological data by using a unified clock source, and the evaluation unit generates a multi-dimensional report according to the millisecond-level timestamps. Real-time coupling of physiological parameters and operation is achieved through software and hardware closed loops, the clinical process is restored, the problem of module isolation is solved, and cooperation and evaluation accuracy is improved.

A user interface for a surgical robotic system includes a plurality of handles, each removably attachable to a user interface assembly by a quick release connector. The selection of handles can include handles of varying size, degree of complexity, handles adapted for laparoscopic motion, handles adapted for true cartesian motion or handles customized to surgeon anthropometric data, etc.

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.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

The invention relates to the technical field of medical instruments, and discloses a multifunctional laparoscopic gynecological surgical instrument which comprises a handle assembly, a forceps rod connected with the handle assembly, a forceps head assembly arranged at the end, away from the handle assembly, of the forceps rod and a suction assembly. The forceps rod is of a slender tubular structure, and a first channel and a second channel are arranged in the forceps rod side by side. The forceps head assembly comprises a fixed forceps seat, a movable forceps flap and a transmission connecting rod, one end of the transmission connecting rod is hinged to the middle rear portion of the movable forceps flap through a first rotating shaft, and the other end of the transmission connecting rod extends to the end, close to the handle assembly, of the forceps rod. The suction assembly comprises a suction tube and a suction head, the suction tube is arranged in the first channel, and the suction head is telescopically arranged at the far end of the forceps rod and communicated with the far end of the suction tube. The problems of low efficiency and operation risk caused by single instrument function and frequent replacement in a traditional laparoscopic gynecological operation are solved. The instrument realizes seamless fusion and rapid switching of three functions of suction, separation and clamping.

The invention belongs to the field of laparoscopes, and particularly relates to an integrated multi-modal image fusion laparoscope system which comprises a laparoscope body, a multi-modal image acquisition module, an image fusion processing module, a display control module and an energy supply module. The laparoscope body is integrally designed, and a plurality of image acquisition probes are arranged at the front end of the laparoscope body and used for acquiring image information in different modes; corresponding optical conduction and signal transmission lines are integrated in the lens body, so that acquired image information can be stably and efficiently transmitted to a rear-end module; the multi-mode image acquisition module comprises a white light imaging unit, a fluorescence imaging unit, an ultrasonic imaging unit and a photoacoustic imaging unit which are respectively used for acquiring image data of different modes. The system is reasonable in design, provides comprehensive operation area information for doctors by integrating various image modalities and realizing efficient fusion, improves the operation precision and operation efficiency, and is high in expandability.

The invention relates to a kidney lump benign and malignant analysis method and device based on a laparoscopic ultrasound image, and belongs to the technical field of medical image processing.The method comprises the steps that radiomics characteristics of the laparoscopic ultrasound image are obtained, and radiomics scores of lump malignant risks are calculated according to the radiomics characteristics; determining an independent risk factor corresponding to the patient clinical variable, and constructing a clinical prediction model according to a mapping relationship between the patient clinical variable and the independent risk factor; and according to the radiomics score and the clinical prediction model, constructing a kidney lump benign and malignant analysis model. The technical problem that in the prior art, massive quantitative image features cannot be efficiently and accurately mined from medical images, and the most valuable iconography features cannot be screened out for analyzing clinical information is solved.

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 present teaching relates to estimating 3D pose of an ultrasound probe. An ultrasound image is acquired by an ultrasound probe deployed at a three-dimensional (3D) probe pose during a medical procedure directed to a target organ. A mask for each two-dimensional (2D) anatomical structure is identified and a corresponding label is estimated from the ultrasound image to generate an ASM / label pair. If a sequence of prior 3D probe poses does not exist, an ASM / label representation for the ultrasound image is generated based on the ASM / label pairs from the ultrasound image and used to estimate the 3D pose of the probe via an ASM-pose mapping model. If the sequence of prior 3D probe poses exists, the 3D probe pose is predicted based on the sequence of prior 3D probe poses and an ASM / label representation is generated based on a virtual ultrasound image created based on the predicted 3D probe pose.

The utility model discloses an indocyanine green precise puncture and injection device under a laparoscope, which belongs to the field of medical instruments and comprises a needle tube outer cylinder, a middle propelling device arranged in the needle tube outer cylinder, an internal propelling device arranged in the middle propelling device, a negative pressure drainage piece arranged at the head of the needle tube outer cylinder, and a negative pressure drainage piece arranged at the tail of the needle tube outer cylinder. An outer hose is arranged at the other end of the negative pressure drainage piece, a suction cup head is arranged at the other end of the outer hose, an inner hose is arranged at the head of the middle propelling device, the inner hose penetrates through the negative pressure drainage piece and then extends into the outer hose, an injection needle is arranged at the head of the inner hose, and an electrocoagulation wire is arranged in the suction cup head and connected with the injection needle. According to the utility model, an operator can accurately complete puncture and injection operations under a laparoscope; the problem that when indocyanine green is injected, a needle is withdrawn and after the needle is withdrawn, the medicament overflows to pollute the tissue surface is solved; electric coagulation hemostasis can be implemented in the whole operation process; and the medicine injection dosage can be controlled more accurately.