1064 results about "Laparoscopic treatment" patented technology

The invention discloses a multi-modal large model assisted laparoscope soft tissue registration surgical navigation method and system. The method comprises the following steps: acquiring a preoperative CT (Computed Tomography) or MRI (Magnetic Resonance Imaging) image and an intraoperative laparoscope image, and converting to obtain a multi-modal feature sequence; inputting the obtained multi-modal feature sequence into a large model for fusion to obtain a cross-modal matching matrix; random sampling is carried out by using an RANSAC random sampling consensus algorithm, an error between corresponding point sets of two data is measured by using an Euclidean distance, an analytical solution is obtained through SVD decomposition, and a feature matching error is introduced to obtain an optimal rigid body transformation pose; performing non-rigid deformation local fitting adjustment on the optimal rigid body transformation pose residual error by adopting a parameterized deformation model in combination with learning prediction deformation, and performing loop execution to obtain a soft tissue organ real-time registration image; automatic, high-timeliness and high-precision real-time registration of soft tissues is realized under the multi-mode and multi-variable conditions, and reliable navigation and positioning support is ensured to be provided in a complex operation environment.

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.

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 instruments while providing benefits associated with surgical robotics. 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 or a desired force applied by the instrument using the robot arm. For example, the robot arm may be moved automatically to maintain a constant tension force on an anatomical structure via the instrument in a constant tension mode.

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 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.

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.

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

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

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

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 utility model relates to a medical probe, in particular to a laparoscope probe device, a probe device and a laparoscope system. The laparoscope probe device comprises a handle part, an insertion part and a handle connecting line. The at least one handle connecting line comprises an outer skin, a first wire and a second wire, the first wire and the second wire are arranged in the outer skin, and the first wire and the second wire are respectively connected with different functional modules of the laparoscope probe device; the probe connector is connected to the handle connecting wire, the probe connector connected with the handle connecting wire provided with the first wire and the second wire is provided with an insertion part used for being connected with adaptive equipment, and the probe connector is further provided with at least one branch wire leading-out part; one end of the branch connecting line is connected with the branch lead-out part, and one end, far away from the probe connector, of the branch connecting line is connected with a branch connector. The utility model mainly solves the technical problem that the operation of a doctor is easily influenced when the number of connecting wires of the probe device is large.

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

The invention 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.

A laparoscopic medical device includes an oximeter sensor at its tip, which allows the making of oxygen saturation measurements laparoscopically. The device can be a unitary design, wherein a laparoscopic element includes electronics for the oximeter sensor at a distal end (e.g., opposite the tip). The device can be a multiple piece design (e.g., two-piece design), where some electronics is in a separate housing from the laparoscopic element, and the pieces (or portions) are removably connected together. The laparoscopic element can be removed and disposed of; so, the electronics can be reused multiple times with replacement laparoscopic elements. The electronics can include a processing unit for control, computation, or display, or any combination of these. However, in an implementation, the electronics can connect wirelessly to other electronics (e.g., another processing unit) for further control, computation, or display, or any combination of these.

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.

A co-maneuvering robotic system that can be used to assist laparoscopic surgical procedures is described herein. The co-manipulated robotic system allows a surgeon to use commercially available surgical tools while providing benefits associated with surgical robots. Advantageously, the surgical tool can be seamlessly coupled to the robotic arm using a disposable coupler while the reusable portion of the robotic arm remains in the sterile drape. Further, the co-manipulated robotic system may operate in multiple modes to enhance availability and safety while allowing a surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robotic arm.

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.

The utility model relates to the technical field of medical instruments, in particular to an air inlet channel and a single-hole multi-channel puncture outfit. According to the air inlet channel and the single-hole multi-channel puncture outfit, the shapeable or prefabricated smoke exhaust device is arranged, the position of the smoke exhaust hole is transferred to the position over an operation area from the position under a single-hole protector, an opening of the air inlet connector faces upwards or inclines upwards, and the air inlet channel and the single-hole multi-channel puncture outfit are lifted at the same time in the air inlet dimension and the smoke exhaust dimension. The smoke exhaust effect of the whole single-hole multi-channel laparoscope protector is guaranteed, the influence of smoke on the operation view of a doctor in an operation is reduced, and the operation safety is improved.

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 discloses a deep learning-based laparoscopic image kidney tumor segmentation method and system, and relates to the technical field of deep learning, and the method comprises the following steps: constructing a laparoscopic kidney tumor data set RT-AMU, and dividing the RT-AMU data set into a training set and a test set according to a preset proportion; the method comprises the following steps: designing a CNN-Transform hybrid network PEEA-Net of a parallel structure, and taking the CNN-Transform hybrid network PEEA-Net as a kidney tumor initial segmentation model; inputting the training set into a kidney tumor initial segmentation model for model training until the loss function converges, and obtaining an optimized kidney tumor segmentation model; and inputting the test set into the optimized kidney tumor segmentation model to obtain a kidney tumor segmentation result of the laparoscopic image. According to the method and the system, the prediction of finer granularity can be realized when the position of the kidney tumor is accurately positioned, so that a doctor is assisted in treating the kidney cancer in the process of partial renal resection, and the complexity of the doctor in surgical operation is reduced.

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 relates to the technical field of laparoscope image labeling, in particular to a laparoscope real-time recognition method for ovarian endometriosis cyst. The method comprises the following steps: firstly, analyzing the possibility that suspected cyst areas divided by a preset segmentation model have false boundaries in combination with the position and structural features of the false boundaries, and determining a boundary correction coefficient of each suspected cyst area in each frame of image; further dividing each suspected cyst area in each frame of image into a plurality of local areas, performing fine analysis on the suspected cyst areas in combination with instrument traction and breathing influence, evaluating the cyst confidence coefficient of each local area as a micro cyst, and finally comprehensively adjusting segmentation parameters of the segmentation model to obtain a micro cyst segmentation result. Therefore, the real cyst area is accurately segmented and marked, and the recognition effect of the ovarian endometriosis cyst focus is improved.

The utility model relates to the technical field of medical equipment, and discloses an electromagnetic navigation sensor suite, an ultrasonic probe assembly and a puncture system, which comprise a mounting piece, an electromagnetic navigation sensor and a protective tube, wherein the mounting part is provided with a mounting part, the electromagnetic navigation sensor is sleeved and mounted in the protection tube, and the protection tube is mounted in the mounting part; the mount is for attachment to a front end of an intraoperative ultrasound probe. According to the utility model, the technical effects of being capable of determining the position of the puncture suite in the puncture process, facilitating the puncture operation of a doctor and improving the puncture success rate in the laparoscopic ultrasound-guided puncture operation are realized, and further the technical problems that the position of the puncture suite is difficult to determine and the puncture success rate is low in the laparoscopic ultrasound-guided puncture operation in the related technology are solved. And puncture is difficult.

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.