14724 results about "Medical instruments" patented technology

A recombinant humanized collagen and a preparation method therefor. The recombinant humanized type III collagen can be efficiently and stably expressed in three expression systems of yeast, Escherichia coli, and CHO cells, and has the biological activity superior to that of a commercially available collagen product. The recombinant humanized type III collagen has structural characteristics and functional activity similar to those of a natural collagen, and thus has wide application prospects in biomedical materials, tissue engineering products, cosmetics, foods, health care products or drugs, medical instruments, medical cosmetology and the like.

The invention relates to the technical field of medical instrument control, in particular to a lung biopsy sampling needle stabilizing method and system based on dynamic respiration compensation. The stabilizing method comprises the following steps: acquiring a respiratory movement signal of a patient in real time through a multi-source biosensor, wherein the multi-source biosensor comprises an optical fiber strain sensor array, a diaphragm myoelectricity sensor and a respiratory airflow sensor which are deployed at the chest and abdomen. According to the method, millimeter-microsecond-level accurate and stable control over the lung biopsy sampling process is achieved by establishing a cooperation mechanism of a breathing phase-displacement nonlinear mapping model and a macro-micro composite driving framework. The biological rationality of displacement prediction is improved through deep coupling of multi-mode breathing signals, and the chest wall non-uniform deformation gradient is analyzed in space based on cross topology deployment of an optical fiber strain sensor in an intercostal space area in combination with cross-scale feature fusion of myoelectricity and airflow sensing.

The invention discloses a laser cutting method for cutting complex shapes, and particularly relates to the field of laser cutting. A three-dimensional curved surface model of a to-be-cut workpiece is obtained, and a surface normal tensor field is constructed; extracting a driving point set based on the curvature derivative and generating a sliding path network; constructing a laser power density mapping model in combination with the thermal diffusion response model and the thermophysical parameters of the material; thermal feedback images are collected in the cutting process, an energy offset function is constructed, laser focus displacement and the scanning rate are dynamically adjusted through fuzzy control, and closed-loop control over power, paths and thermal feedback is achieved; according to the method, self-adaptive adjustment of laser power distribution, curved surface adaptation of a cutting path and thermal field real-time compensation in the machining process can be achieved under a complex geometric structure, the cutting precision, stability and energy efficiency are effectively improved, and the method is suitable for laser machining application of high-requirement complex structures such as aerospace, mold manufacturing and medical instruments.

Systems and methods for automatically populating a post-operative report of a surgical procedure are disclosed. A system may include at least one processor configured to implement a method including receiving an identifier of a patient, an identifier of a healthcare provider, and surgical footage of a surgical procedure performed on the patient. The method may include analyzing frames of the surgical footage to identify phases of the surgical procedure based on interactions between medical instruments and biological structures and, based on the interactions, associate a name with each phase. The method may include determining a beginning of each phase and associating a time marker with the beginning of each phase. The method may include populating a post-operative report with the patient identifier, the names of the phases, and time markers associated with the phases in a manner that enables the health care provider to alter the post-operative report.

The invention discloses a human body intravascular positioning support, and relates to the field of medical instruments. Comprising a metal wire support which is used for expanding in a blood vessel of a human body to dilate the blood vessel, a plurality of positioning units are arranged on the metal wire support, and each positioning unit comprises a spring and a penetrating type positioning head fixedly connected with the far end of the spring; the near end of the spring is fixedly connected with the metal wire support, and the penetrating type positioning head is used for penetrating into the inner wall of a blood vessel to achieve positioning when the metal wire support is unfolded. Through the design that the spring is combined with the positioning unit of the piercing type positioning head, the unification of stable fixing and safe taking-out of the intravascular positioning stent is achieved.

The invention discloses an insertion part, an endoscope and a negative pressure suction assembly, and relates to the technical field of medical instruments, the insertion part comprises a first section and a second section, the first section is provided with a front end assembly, and the first section is further provided with a first channel. The insertion part can be inserted into the sheath tube, and a fluid cavity channel is formed between the sheath tube and the insertion part. The blocking area of the first section can be matched with the inner wall of the sheathing canal so as to block a fluid cavity channel between the sheathing canal and the insertion part. Negative pressure suction force is formed in the fluid cavity channel through an external suction device and the like. As the blocking area blocks the fluid cavity channel, the negative pressure suction force can be transmitted to the first opening or the second opening and then extends to the position near the far end of the insertion part through the first channel. Negative pressure suction force in the sheath tube can be transmitted to the distal end of the negative pressure suction fitting to extend the suction range of the introducer sheath to the distal end of the insertion portion. Therefore, stone fragments in the deep position of the affected part can be sucked out, stone fragment residues are avoided, and the using effect is improved.

The invention relates to the technical field of medical instruments, in particular to a bendable minimally invasive surgery electric hook with a smoke suction function. Comprising a smoke suction pipe, a handle assembly, an electrode pipe, a multi-stage bending assembly and an electric hook. The smoke suction pipe is fixedly connected to an outer smoke suction pipe of the handle assembly, an adjusting part is movably connected to the end of the handle assembly, the electrode pipe is arranged on the adjusting part in a penetrating mode and fixedly arranged in the handle assembly, and a control module is arranged in the handle assembly and electrically connected with the electrode pipe; the multi-stage bending assembly is fixedly arranged at the end of the electrode tube, a movable part is further arranged in the electrode tube and fixedly connected with the steel wire set, and the electric hook is fixedly arranged at the end of the extending end of the electrode tube and extends out. The adjusting piece is controlled to drive the movable piece to move in the electrode tube, and then the steel wire set is driven to pull the multi-stage bending assembly to conduct bending movement. The bending electric hook can integrate a real-time smoke suction function in a flexible bending scene, and the cooperation problem of bending operation and smoke removal in minimally invasive surgery is solved.

The invention relates to the technical field of medical instruments, and discloses a minimally invasive surgery system based on artificial intelligence. Comprising a target identification and positioning module, a multi-mode sensing module, a self-adaptive control module, a man-machine interaction module and a scene adaptation module. The target recognition and positioning module positions an operation target in real time through image recognition and a deep learning algorithm; the multi-mode sensing module collects the stress and movement track of an instrument and physiological signals of a patient. The self-adaptive control module adjusts movement parameters of the instrument according to the data; the man-machine interaction module displays data and provides an operation interface; the scene adaptation module adjusts the instrument form and function according to the operation type. In addition, the system also comprises an operational stability evaluation module, an instrument life prediction module and a biological signal fusion module. The system can achieve precise positioning, real-time monitoring and intelligent control, and the precision, safety and operation convenience of minimally invasive surgery are improved.

The invention relates to medical instruments, in particular to a peritoneal dialysis device which comprises a dialysate management unit, a sensor unit, a processor, a storage device, a peritoneal transfer model, an intelligent alarm management unit and a communication unit, and the dialysate management unit is configured to be used for perfusion of dialysate into the abdominal cavity of a patient and drainage of the dialysate from the abdominal cavity of the patient; the sensor unit is configured to be used for monitoring physiological parameters of a patient and dialysate characteristic parameters and receiving symptom information and comfort level scores input by the patient, the storage stores instructions executed by the processor, and the instructions enable the processor to be capable of dynamically adjusting treatment parameters of the dialysate management unit in real time in combination with a pre-trained peritoneal transfer model. The perfusion speed, the drainage speed or the dialysate temperature of the dialysate management unit are dynamically adjusted, so that the comfort level score of the patient is maintained to be above a preset threshold value, treatment parameters can be dynamically adjusted in real time to optimize the treatment effect, peritonitis risks are early warned, and the comfort level of the patient is improved.

The invention relates to an application of metformin in preparation of skin anti-photoaging drugs or medical instruments. Through verification, the metformin has the effects of promoting the formation of autophagosome, recovering the patency of autophagy flow and remodeling an autophagy-ECM metabolism regulation network. After the composition is applied to the skin (such as a corium layer), the effect of resisting skin photoaging is achieved by adjusting an AMPK signal channel. The metformin is used as an active ingredient to prepare a medicine or a medical instrument, and is beneficial to clinically anti-photoaging application of the skin.

The invention discloses a double-nail type nailing control assembly and a valve ring repair system, and relates to the technical field of medical instruments, and the double-nail type nailing control assembly comprises a mounting shell, a nailing bending adjusting pipe, a nailing spring pipe and a positioning needle; the positioning needle is arranged in the nailing spring tube, the nailing spring tube is arranged in the nailing bending adjusting tube, the nailing bending adjusting tube is in circumferential limiting connection with the mounting shell, the positioning needle axially penetrates through the mounting shell, and the positioning needle is used for positioning a nailing position; two first through holes axially penetrating through the mounting shell are formed in the mounting shell, the nailing devices pass through the first through holes, and the nailing bourdon tube is in transmission connection with the nailing devices and used for controlling the two nailing devices to synchronously and axially move. According to the device, through one-time operation of rotating the nailing bourdon tube, the two nailing devices are simultaneously controlled to nail the valve ring tissue, and the nailing efficiency is improved; meanwhile, the multiple nailing control devices are close to one another in the circumferential direction in the mode that the locking wires are tensioned at the two ends at the same time through the wire locking assemblies, and the annulus tissue contraction is achieved.

The present invention relates to the field of biomedical materials. Particularly provided is a DNA-silk fibroin composite hydrogel microsphere. The DNA-silk fibroin composite hydrogel microsphere is prepared from DNA and silk fibroin on the basis of the micro-fluidic technology by means of combination of self-assembly physical crosslinking and photo-crosslinking. The introduction of a silk fibroin network into the composite hydrogel microsphere can provide mechanical performance for a DNA hydrogel network and reduce the production cost. RGD can remarkably improve the cell loading capability of the microsphere. The hydrogel microsphere can simulate a microenvironment of cartilage tissue by means of three-dimensional loading of high-density cells, so as to enhance substance exchange and signaling between cells, and more effectively promote the proliferation and adhesion of bone marrow mesenchymal stem cells and regulating the chondrogenic differentiation, thus promoting cartilage regeneration and repair, and providing an available material for preparing medicaments or medical instruments for cartilage defect repair.

The invention discloses a medical instrument sealing performance detection device with an intelligent sensor, and relates to the technical field of sealing, the medical instrument sealing performance detection device comprises a sealing tank, a detection device and a pressure reduction device, and the top of the sealing tank is provided with a sealing cover; wherein the detection device comprises a conveying pipe, an air exhaust box, an air exhaust machine, a first sliding groove, an air pressure rod, an L-shaped short rod, a spiral rod and an activated carbon plate, the output end of the air exhaust machine moves downwards to evacuate air in the sealing tank, when the air in the sealing tank is evacuated, the air pressure rod is driven to move towards the interior of the sealing tank, and whether the air pressure rod moves or not is observed; the air pressure rod moves towards the interior of the sealing tank, the sealing performance is good, and no leakage is generated, the conveying pipe fixedly penetrates through the surface of the sealing tank, the air exhaust box is fixedly installed at the bottom of the conveying pipe, a conveying belt of the air exhaust box is provided with a groove, through rotation of the activated carbon plate, the surface area between contact harmful gas and activated carbon can be increased, and the adsorption efficiency is improved.

The invention provides a real-time positioning and puncture track control method and system in a breast duct endoscope operation, and relates to the technical field of medical instruments, and the method comprises the following steps: establishing a real-time coordinate system by collecting an endoscopic image sequence and electromagnetic position data, obtaining lumen three-dimensional depth information by using a light field reconstruction algorithm, and adjusting and calculating stress field distribution by using a grid form. And determining an optimal track based on the puncture safety coefficient, and adjusting compensation parameters in real time by using the optical fiber strain sensing array. Accurate positioning and track control of the puncture instrument in the breast duct endoscope operation are achieved, and operation safety and accuracy are improved.

The invention belongs to the technical field of medical instruments, and particularly relates to an integrated plugging balloon suction catheter. The suction catheter comprises a woven mesh tube, the near end of the woven mesh tube is connected with a handle, and the far end opening of the woven mesh tube is used for being close to the thrombus position; the balloon is arranged on the periphery of the woven mesh tube in a sleeving mode, and the balloon is arranged at the far end of the woven mesh tube; the handle comprises a catheter suction port and a filling port, the catheter suction port is communicated with the far port of the woven mesh tube, and the filling port is communicated with the balloon. The aspiration catheter can effectively reduce the occurrence rate of thrombus escape, so that the risk of far-end embolism is reduced, and good prognosis of a patient is achieved through efficient thrombus extraction; and the extra cost of using other instruments can be reduced, so that the comprehensive cost of the operation is reduced, the thrombus extraction success rate is greatly improved, manpower and material resources are saved, and a patient is benefited.

The invention discloses an intelligent medical instrument retrieval system and method based on a knowledge graph, and relates to the technical field of information retrieval of medical instruments, and the method comprises the following steps: S1, constructing a dynamic term network: extracting terms from registration data, clinical literatures, specifications and industrial standard codes of the medical instruments, and mapping the multi-source terms to a unified vector space through a heterogeneous term dynamic projection module. According to the intelligent medical instrument retrieval system and method based on the knowledge graph, the problems of semantic segmentation and information lag of multi-source heterogeneous terms in the field of medical instruments are effectively solved by constructing a dynamic term network and a dual-drive knowledge graph updating mechanism. The adversarial alignment network realizes accurate semantic mapping of cross-source terms, ensures differential expressions of commodity names, learning names, industry codes and the like, and accords with medical consensus in a unified vector space.

The invention discloses an insertion tube and a manufacturing method thereof, an insertion part and an endoscope, and relates to the technical field of medical instruments, the insertion tube comprises an insertion body and an elastic tube, a first reinforcing layer and a second reinforcing layer are arranged in the insertion body, the second reinforcing layer is arranged outside the first reinforcing layer in a surrounding mode, and the first reinforcing layer is provided with a concave part. The first reinforcing layer and the second reinforcing layer can form double limiting and wrapping supporting on the elastic pipe, the concave shape of the concave part of the first reinforcing layer is utilized to be attached to the outer wall outline of the elastic pipe, and the outer side of the second reinforcing layer is matched for enclosing and restraining, so that the installation stability of the elastic pipe in the first channel can be greatly improved; bending moment generated by self-gravity, external force and the like of the elastic tube is effectively counteracted, the elastic tube is prevented from being bent under the action of self-gravity, external force and the like, the whole insertion tube is prevented from deforming along with bending of the elastic tube, and the form stability of the insertion tube in the cavity in the propelling process is guaranteed. And the straightness of a traction rope transmission path and the accurate conduction of a control instruction are ensured.

The invention relates to a high-precision self-adaptive temperature regulation and control system for a medical instrument. The system comprises a feature analysis module which collects a multi-dimensional temperature information set with a timestamp and deduces a temperature space-time change trend; and the temperature prediction module generates an optimized temperature distribution diagram by using a Kalman filtering algorithm based on the trend. The temperature deviation value of each area is compared with a preset threshold value, if the deviation exceeds the standard, a dynamic parameter configuration table is generated, and an adaptive power regulation scheme is formulated. And the regulation and control execution module regulates and controls the equipment power according to the regulation scheme to obtain an updated temperature monitoring data set. By analyzing the relevance between the data set and the multi-dimensional temperature information set, a stability optimization parameter is generated, so that a control rule of a fuzzy logic algorithm is adjusted, and a self-adaptive temperature regulation and control scheme is formed. According to the system, accurate prediction, regulation and control of the temperature are realized. The adaptive capacity of the system is improved, and the stability and reliability of temperature regulation and control can be improved by dynamically optimizing the control rule.

The invention provides a multi-source heterogeneous data processing method in the field of medical apparatuses and instruments based on a multi-modal large model, and relates to the field of intelligent monitoring of medical apparatuses and instruments, and the method comprises the steps: collecting apparatus images, audio and parameter data, inputting the data into the multi-modal large model, and fusing to generate multi-dimensional feature representation; constructing a component operation mode library for state matching; analyzing a state evolution chain to identify an abnormal propagation path and locate a fault; calculating task migration cost to generate a scheduling scheme; and lossless conversion of the system is realized. The medical instrument fault diagnosis accuracy is effectively improved, the system interruption risk is reduced, and the clinical application safety is guaranteed.

The invention discloses a shock wave forming device with a valve blood perfusion function, which relates to the technical field of medical instruments and comprises a catheter sheath, a shock wave forming balloon group, a shock wave generating component, a handle and a magnetic flexible net opening and closing structure. A guide wire is slidably arranged in the catheter sheath; the shock wave forming balloon set comprises a plurality of shock wave balloons, one ends of the shock wave balloons are connected with the end of the guide wire through flexible net-shaped structures, and the other ends of the shock wave balloons are connected with the end of the catheter sheath through flexible rod-shaped structures. The shock wave generating assembly comprises an axial shock wave generating electrode pair and a circumferential shock wave generating electrode pair; and the magnetic type flexible net opening and closing structure is arranged between the guide wire end part and the flexible net-shaped structure. The blood vessel can be mechanically supported or loosened; through the axial shock wave generation electrode pair and the circumferential shock wave generation electrode pair, the blocking plaque can be opened in the forward direction, and shock waves can be emitted in the circumferential direction to crack or crush calcium deposits; in addition, broken calcified plaques or aortic plaques, thrombus and the like can be captured.

The invention relates to the technical field of medical instruments, and discloses an anesthetic waste gas purification device which comprises a confluence shell and a water collection tank, a support is arranged on the inner side of the water collection tank, and a water collection cavity is formed between the support and the water collection tank; the bottom of the confluence shell is connected with an air outlet pipe through a guide part; an activated carbon filter plate capable of floating up and down in the axial direction is mounted on the inner side of the guide part; a condensation cover is installed on the top of the confluence shell and comprises a top cover, an air inlet pipe is installed on the top cover, a bottom plate is connected to the lower portion of the top cover, and a refrigeration module is installed below the bottom plate. Waste anesthetic gas penetrates through the purification device from top to bottom to be purified, condensate formed in the condensation cover converges to the water collection tank under the action of gravity and airflow blowing, and collection is convenient; the activated carbon filter plate can float in the axial direction, pressure balance can be achieved through automatic downward movement when the up-down pressure difference is large, and the risk that the pore structure of the activated carbon filter plate is damaged is reduced.

A multi-directional bending adjustment delivery device (100) and a valve delivery system. The present invention relates to the technical field of medical instruments and devices. The multi-directional bending adjustment delivery device (100) comprises a catheter assembly (200). The catheter assembly (200) comprises a bending adjustment tube (210). The bending adjustment tube (210) comprises a bending adjustment portion (211) and a straightening portion (212) that are rotatably connected to each other. The bending adjustment portion (211) comprises a plurality of snake bone units (2111) connected end to end. One end of each of the snake bone units (2111) is provided with a pair of first connecting lugs (2113), and the other end is provided with a pair of second connecting lugs (2114). Adjacent snake bone units (2111) are pivotally connected to each other by means of the first connecting lugs (2113) and the second connecting lugs (2114). The included angle between the line connecting the centers of the two first connecting lugs (2113) and the line connecting the centers of the two second connecting lugs (2114) of the same snake bone unit (2111) is 0-90°.

The invention relates to the technical field of intelligent medical instruments, and discloses a closed-loop electro-acupuncture therapeutic apparatus based on heart and brain coupling information feedback. The device comprises a forehead electroencephalogram signal acquisition module, a single-lead electrocardio acquisition module, a Bluetooth transmission module, a signal preprocessing module, an ECG and EEG feature extraction module, a dynamic coupling analysis module, an embedded XGBoost classifier and an electroacupuncture control module. According to the system, collected EEG and ECG signals are wirelessly transmitted through Bluetooth, HRV indexes and EEG frequency band power spectral density are extracted after preprocessing, and frequency domain coherence analysis is carried out to obtain heart and brain bidirectional coupling characteristics. The embedded XGBoost classifier outputs optimal electroacupuncture stimulation parameters based on the characteristics, and the electroacupuncture control module generates corresponding bidirectional pulse waves for stimulation. According to the therapeutic apparatus, closed-loop feedback control is achieved, therapeutic parameters can be dynamically optimized, the individuation and precision level is improved, and meanwhile safety is ensured through impedance monitoring and electrical isolation.

The invention discloses a volume reduction valve, and relates to the technical field of medical instruments, the volume reduction valve comprises a valve core and a buffer structure, the valve core is provided with a one-way through flow cavity, the buffer structure has elasticity, the buffer structure is connected with the valve core, and under the action of a flow medium in the flow cavity, the buffer structure is connected with the valve core. The valve element can extrude the buffering structure so that the buffering structure can deform. When a patient moves violently or coughs violently, the buffering structure can buffer part of impact, and the situation that the impact is too strong, and safe use of the volume reduction valve is affected is avoided. Meanwhile, impact can directly act on the valve element, the valve element can extrude the buffering structure, and the buffering structure can deform. For example, the extruded buffer structure can protrude towards the periphery, so that the pressure between the buffer structure and the cavity of the patient can be increased, the friction force is further improved, the fixing effect of the buffer structure in the cavity is further improved, and the impact resistance of the volume reduction valve is improved.

The invention discloses a sealing structure, a negative pressure suction sheath and an endoscope assembly, and belongs to the technical field of medical instruments. The sealing structure is used for the negative pressure suction sheath and comprises a first cover body detachably connected with the near end of a sheath base of the negative pressure suction sheath, a first through hole is formed in the middle of the first cover body, and a first air hole is formed in the radial outer side of the first through hole; the second cover body is arranged on the outer side of the first cover body in a sleeving mode and detachably connected with a sheath base of the negative pressure suction sheath, a second through hole is formed in the middle of the second cover body, and a second air hole is formed in the radial outer side of the second through hole; the second cover body and the first cover body are in sliding fit, and the overlapping opening degree of the first air hole and the second air hole is adjusted through relative sliding; the second cover body axially limits the first cover body and provides support when the endoscope is inserted, so that the first cover body is prevented from collapsing. The sealing structure is used for the negative-pressure suction sheath, the branch switch is prevented from additionally occupying the operation space, and the operation safety is improved.

The invention relates to a device and a method for assisting in detecting depression degree by utilizing emotional picture cognitive deviation, and relates to the technical field of biomedical engineering and medical instruments, and the device comprises an emotional picture library module which is used for storing a pre-selected emotional picture set; the display interaction module is used for displaying pictures to the user and recording classification selection and reaction time of the user; the data acquisition module is used for acquiring user facial micro-expressions and synchronously storing the facial micro-expressions and classification results; the data processing module is used for calculating positive picture error rate related features and normalizing behavior features and micro expression features into feature vectors; the depression index calculation module is used for outputting depression indexes; and the result output module is used for generating a visual report. The depression index is calculated based on behavior data, deviation is avoided, multi-modal features are fused to improve quantization precision, low-cost non-intrusive screening is achieved through a touch screen and a camera, and an embedded processor is integrated to improve the integration level and generalizability.

The invention provides an auxiliary liver puncture detection device under the guidance of a medical image, belongs to the technical field of medical instruments, and aims to solve the technical problems that a liver puncture detection method in the prior art highly depends on manual operation of a puncture needle by a doctor, and the technical requirement on the doctor is extremely high. Comprising an outer shell, a puncture needle and a sleeve. The interior of the outer shell is divided into a first sliding cavity on one side of the tail end and a second sliding cavity on one side of the head end by a separation ring; the puncture needle is slidably arranged in the sleeve, the tail end of the puncture needle penetrates through the separation ring and then is provided with a first piston, the first piston is in sliding fit with the first sliding cavity, the tail end of the sleeve is provided with a second piston, and the second piston is in sliding fit with the second sliding cavity; the first sliding cavity and the second sliding cavity are connected with control pipelines used for controlling the first piston and the second piston correspondingly. The rear end of the puncture needle tip is provided with a sampling notch. The safety and accuracy of liver puncture detection are remarkably improved, and the puncture sampling operation threshold is lowered.

The invention discloses a hemostasis device and a hemostasis method for an anorectal lacuna operation, and belongs to the technical field of medical instruments. The hemostasis device for the anorectal lacuna operation comprises a fixed tube, a movable tube is arranged in the fixed tube, the movable tube is connected with the fixed tube in a rotating and sliding mode, an expansion structure used for expanding anorectum is arranged on the upper portion of the movable tube, and an expander driving the expansion structure to expand or contract is arranged in the movable tube. The anorectum is expanded through the expansion structure, and hemostasis operation can be conveniently conducted on the anorectum; the inner tube and the outer tube are rotationally and slidably connected, so that the adaptability of the hemostasis device is improved; the hemostatic effect is improved through the hemostatic powder and the compression air bag. Therefore, by adopting the hemostasis device and the hemostasis method for the anorectal lacuna operation, the problems that an existing device is poor in adaptability and cannot effectively stop bleeding can be solved.

The invention provides a control method of an intestinal tumor resection robot combining preoperative images and intraoperative navigation, and relates to the technical field of medical instrument control. The method comprises the following steps: acquiring preoperative multi-modal image data of the intestinal tract of a patient, and performing three-dimensional reconstruction on the image data to generate an initial three-dimensional model; dividing a navigation area in the enteric cavity according to the initial three-dimensional model; based on the core area, collecting a dynamic image of the intestinal tract inner cavity in real time through intraoperative navigation equipment, extracting anatomical mark points in the dynamic image, registering the dynamic image with the initial three-dimensional model, updating tissue deformation parameters in the three-dimensional model, and obtaining an updated three-dimensional model; on the basis of the updated three-dimensional model, obstacles in the intestinal tract are recognized, and the minimum space distance between the obstacles and the robot tail end instrument is calculated; and according to the spatial distribution and the minimum spatial distance of the obstacles, an initial motion path of the robot tail end instrument is planned. According to the invention, the efficiency and accuracy of the intestinal tumor resection operation can be improved.

The invention discloses a parallel imaging OCT (Optical Coherence Tomography) system based on a metasurface area array, which relates to the technical field of medical instruments, is small in size and can realize intraocular single-shot area array imaging and a three-dimensional position depth perception function by using metasurface and optical coherence tomography imaging information in a sample tissue with a limited size. According to the technical scheme, a light beam emitted by a laser is divided into two paths through a beam splitter, and the two paths enter a sample arm module and a reference arm module respectively; the sample arm module is a probe and comprises a multi-core optical fiber and a first metasurface; the reference arm module comprises a collimator, a motor and a right-angle reflector; the probe enters a sample tissue, a light beam is focused on the sample tissue and then is backscattered, the backscattered light beam reversely passes through the first metasurface, the multi-core optical fiber, the beam splitter, the second metasurface, the third lens, the grating and the focusing lens and then forms a spectral line beam on the CCD sensor, and the computer reads a signal from the CCD sensor and performs three-dimensional reconstruction imaging on the sample tissue.