45 results about "Microsurgery" patented technology

The invention relates to the technical field of medical equipment, in particular to a short and small penis therapeutic apparatus with a heating function. Comprising a mounting cylinder, a fixing frame, a treatment cylinder, a fixing assembly, a negative pressure pump, a connecting pipe, a first fixing ring, an elastic piece, a moving plate, a second fixing ring and the like. A fixing frame is arranged on the mounting cylinder, a treatment cylinder is slidably arranged on the fixing frame, a fixing assembly is arranged between the fixing frame and the treatment cylinder, a connecting pipe is arranged on the mounting cylinder, the connecting pipe is connected with a negative pressure pump, a first fixing ring and a second fixing ring are fixed in the mounting cylinder, an elastic piece is connected to the first fixing ring, and the elastic piece is connected with a moving plate. The moving plate is attached to the inner wall of the mounting cylinder. Negative pressure is generated through the negative pressure pump, so that a stable negative pressure environment is formed in the treatment cylinder, a mild suction effect is applied to the penis, local blood circulation can be promoted, tissue oxygen supply can be improved, and penis development can be assisted; and the heating wire can heat the treatment cylinder, so that the treatment cylinder is kept at a proper temperature.

The utility model discloses a blood wiping device for ophthalmologic operation, which comprises a suction head, a first cavity is arranged in the suction head, and a plurality of liquid suction holes communicated to the first cavity are arranged on the surface of the suction head; a second cavity is formed in the connecting pipe; a third cavity is formed in the deformation pressing bag, is made of an elastic material, and can shrink and deform under the extrusion effect and recover after the extrusion effect disappears, so that the third cavity can synchronously shrink or recover; and the first cavity, the second cavity and the third cavity are communicated in sequence. Compared with a cotton fiber mode, fibers and chippings cannot fall off, and postoperative foreign matter inflammatory response is avoided; the device does not need to be frequently replaced in the operation, and time can be saved; the surface of the suction head is smooth, the shape is regular, and interference to eye microsurgery operation is avoided.

The utility model belongs to the technical field of medical beauty, and particularly relates to an injection device for lifting the whole face of a medical beauty minice.The injection device for lifting the whole face of the medical beauty minice.The injection device comprises a handle, a waterproof touch switch is fixedly connected to the left side of the handle, and a waterproof battery box is fixedly connected to the inner wall of the handle; a rectangular box body is fixedly connected to the upper surface of the handle, a U-shaped plate is attached to the inner wall of the rectangular box body, and moving mechanisms are fixedly connected to the left side of the inner wall of the U-shaped plate and the inner wall of the rectangular box body. According to the injection device for lifting the whole face of the medical beauty and microsurgery, through cooperation of a C-shaped elastic piece, a positioning block and a connecting plate, an injector can be fixed in a round hole of a left baffle, meanwhile, when a doctor presses a waterproof touch switch on a handle, a needle cylinder on the injector can automatically move rightwards at a constant speed through a moving mechanism, and therefore the whole face of the doctor can be lifted. Therefore, the injection device can uniformly inject fat cells into subcutaneous tissues.

The utility model provides a small animal belly microsurgery retractor capable of being adjusted in four directions, and relates to the technical field of medical instruments, the small animal belly microsurgery retractor comprises two transverse exposure modules and two longitudinal exposure modules, and the two transverse exposure modules and the two longitudinal exposure modules are used in cooperation to form a rectangular frame; a sliding rail penetrating through the transverse exposure module is arranged in the middle of the transverse exposure module in the length direction, and a transverse auxiliary exposure drag hook is arranged in the middle of the bottom; the longitudinal exposure module comprises a cylindrical sliding block, a longitudinal auxiliary exposure drag hook is arranged in the middle of the bottom of the cylindrical sliding block, fixing nuts are arranged at the two ends of the cylindrical sliding block, and movable adjusting nuts are arranged between the longitudinal auxiliary exposure drag hook and the fixing nuts at the two ends. The utility model effectively solves the problem of poor exposure of the surgical field caused by bidirectional distraction of the existing abdomen exposure instrument.

The invention discloses a microsurgery mechanical arm high-precision hand tremor elimination man-machine cooperative control method integrated with electroencephalogram intention prediction, and relates to the technical field of medical robots and surgery auxiliary systems. Electroencephalogram signals and hand action data of doctors are synchronously collected and input into a pre-trained micro-world model, so that the human-machine cooperative control method for eliminating the high-precision hand tremor of the doctors is achieved; a real operation intention vector is generated in a submerged space, and a hand trembling trajectory and an ideal operation trajectory are predicted. The high tremor risk state is judged by calculating emotion and cognitive indexes, in combination with intention deviation and tremor data, efficient elimination of hand tremor is achieved through driving force feedback and a reverse anti-phase compensation mechanism of a mechanical arm controller, and an ideal operation track is executed. The system further comprises an abnormal state security protocol, model federal learning evolution and a data security destruction mechanism. According to the invention, advanced and accurate man-machine cooperative control is realized, and the stability and precision of microsurgery are remarkably improved.

This application provides an intelligent control method and system for a microsurgical robot, belonging to the field of medical robot control technology. The method includes: acquiring visual information and multi-dimensional force information for the surgical instruments when executing each surgical step based on a step-time library; calculating the visual deviation of the instrument tip based on the visual information and calculating force anomaly indicators based on the multi-dimensional force information; using the currently executed surgical step as the decision context, determining whether preset anomaly triggering conditions are met based on the visual deviation and force anomaly indicators; if so, pausing the currently executed surgical step, determining a correction strategy based on the depth confidence level, and determining the correction amount corresponding to the correction strategy under predefined safety space geometric constraints; generating a transition trajectory based on the correction amount, and controlling the surgical instruments to execute the transition trajectory. This application can realize an intelligent decision-making closed loop based on the semantics of the surgical steps and multi-modal perception fusion.

The invention provides an intelligent control method and system for a microsurgery robot, and belongs to the technical field of medical robot control. The method comprises the steps that when each operation step is executed based on a step time sequence library, visual information and multi-dimensional force information for an operation instrument are obtained; calculating visual deviation of the tip of the instrument based on the visual information, and calculating a force anomaly index based on the multi-dimensional force information; taking the currently executed operation step as a decision context, and based on the visual deviation and the force anomaly index, judging whether a preset anomaly triggering condition is met or not; if yes, pausing the currently executed surgical step, determining a deviation correction strategy according to the depth confidence level, and determining a deviation correction amount corresponding to the deviation correction strategy under predefined safety space geometric constraints; a transition track is generated based on the deviation correction amount, and the surgical instrument is controlled to execute the transition track. According to the invention, an intelligent decision closed loop with operation step semantics as a core and multi-modal perception fusion can be realized.

The present application relates to the field of microsurgical auxiliary technology, in particular to a kind of finger pulp micro tissue block amputation replantation repair analysis system on anastomosis arch artery.It includes multimodal data acquisition unit, multimodal data acquisition unit is used to collect and blood vessel state and the multi-source data related to tissue survival, finger pulp tissue block survival analysis unit constructs tissue blood supply adequacy evaluation index, generates tissue state parameter set, repair strategy auxiliary decision unit is based on the constraint condition of different blood vessel anastomosis mode to blood flow carrying capacity requirement, outputs repair strategy parameter set, postoperative microcirculation monitoring and early warning unit is used to receive the postoperative monitoring data of finger pulp micro tissue block after replantation repair is completed, and outputs microcirculation state parameter set.Through the construction of tissue blood supply matching degree index, it is used to predict whether the current blood vessel condition is sufficient to support the metabolic demand of specific volume tissue block, effectively avoid the tissue block delayed necrosis caused by insufficient blood supply.

A surgical device and procedure are provided for smoothly and easily accessing tissue to perform microsurgery, including a capsulotomy of a lens capsule of an eye. The device includes a handpiece with a tip for insertion into an incision in the cornea of the eye. A sliding element is disposed within the handpiece and a suction cup is mounted to the sliding element. The sliding element can be translated to move the suction cup into and out of the handpiece. A compression mechanism associated with the suction cup and the handpiece compresses the suction cup for deployment through the tip of the handpiece. The suction cup can expand inside the anterior chamber into a cutting position on the lens capsule. A cutting element mounted to the suction cup is used to cut a portion of the lens capsule and to remove the portion from the eye. The cutting element may be mounted to a cutting element support structure in a way that prevents heating of the device.

The technical problem to be solved by the utility model is to provide a special needle collection box for ultra-microsurgery, which can conveniently count the number of surgical needles and surgical sutures and ensure that the surgical needles and the surgical sutures are not lost, and comprises a box body with an open top end, a magnet is arranged at the bottom in the box body, and an adhesive layer is arranged around the top of the magnet; the opening of the box body is provided with a cover body, and the cover body is provided with a convex lens through which the interior of the box body can be observed from the outside.

The utility model provides a limb fixing mechanism for hand and foot microsurgery, and belongs to the technical field of hand and foot microsurgery. Comprising a movable supporting frame, a fixed supporting frame and a fixing rod, the movable supporting frame makes contact with the fixed supporting frame, the fixing rod in the horizontal state is arranged on the upper surface, the two ends of the fixing rod are fixedly connected with sliding blocks respectively, and the sliding blocks and the fixing rod are vertically distributed; supporting columns are arranged on the outer wall of the movable supporting frame and the outer wall of the fixed supporting frame in a protruding mode and are vertically arranged, and the sliding blocks slide into the supporting columns along the upper surfaces of the supporting columns. An inner sliding groove is formed in the face, facing the movable supporting frame, of the fixed supporting frame, an inner sliding plate is fixedly connected to the face, facing the fixed supporting frame, of the movable supporting frame, the inner sliding plate and the inner sliding groove are installed in a matched and sliding mode, and the bottom end face of the fixing rod is of an inwards-concave arc-shaped structure and fixedly adheres to a fixing strip. By means of the telescopic arrangement of the movable supporting frame and the fixed supporting frame, the movable supporting frame and the fixed supporting frame are unfolded and fixed in use, and the size and occupied space can be reduced when the movable supporting frame and the fixed supporting frame are not used.

The invention relates to medical technology, in particular to a two-valve antiglaucomatous shunt and can be used in ophthalmologic microsurgery for the surgical treatment of patients with glaucoma.Summary of the invention consists in that the two-valve antiglaucomatous shunt (1) comprises a biocompatible titanium disc (2) with a diameter of 2.5 mm and a thickness of 1 mm, in which are made two perpendicular channels (7), in one of which are placed two valves (5). At the same time, a titanium tube (3) with an outer end bent at an angle of 45° is inserted into one of the channels. Two other channels of smaller diameter start from the other perpendicular channel, into each of which is introduced a silicone tube (4). The disc (2) is covered with a titanium cap (6) with a diameter of 2.5 mm and a thickness of 0.1 mm and fixed by welding.

Surgical instrument (1 ) for a surgical robot (10) comprising an articulated end (2) comprising a first link (3) actuated by one or more tendons and comprising an attachment root (31 ) and an elongated body (32) forming at least one distal free end (33); a second link (4) actuated by one or more tendons and comprising an attachment root (41 ) and an elongated body (42) forming at least one free end (43); said first link (3) and said second link (4) are movable with respect to each other in a closing / opening direction; said elongated body (32) of the first link (3) comprises, in a single piece, its own elastic appendix (34) having its own free end (35) comprising an elastic element to bias the distancing of said first link and said second link; said second link (4) comprises an abutment wall (44) to abut against the appendix (34) of the first link for the purpose of elastically deforming the elastic appendix (34) of the first link (3) by loading it.

The invention provides a tail end anastomat for a microsurgery robot and a replacement control method, and belongs to the technical field of surgery robotics.The tail end anastomat comprises a control handle end installed on a mechanical arm and a plurality of anastomat bodies used for surgery; the anastomat body comprises a butt-joint rod body and a nail cutting board connected with the butt-joint rod body through a joint head, a nail box carrying a nail bin is arranged on the nail cutting board, an operating rod body is arranged at the end of the control handle, and a semi-fixed assembly connected with the butt-joint rod body in a combined mode is arranged at the end of the operating rod body. And the semi-fixed assembly processes the real-time pose data of the tail end of the control rod body and the preset disassembly pose data of the anastomat body to be replaced so as to control the locking state and complete the replacement of the anastomat body. The time interval between two times of anastomosis operation is shortened, automatic replacement is controlled through the robotic arm, operation pause caused by manual instrument replacement is avoided, and the efficiency of complex and multi-vessel anastomosis microsurgery is improved.

The utility model discloses a kind of for microsurgery can be universal bending laryngeal forceps, including welding bending lever and connecting rod, the inner surface of bending lever is equipped with several interval distribution ring grooves, the front end of bending lever is welded with forceps head, connecting rod rear end is welded with handle head pipe, the inside of handle head pipe is provided with placing cavity, the front end of placing cavity is connected with connecting rod rear end, the rear end of handle head pipe is equipped with flushing hole, the front end of placing cavity is installed with piston column, the front end of piston column and the movable forceps tongue of forceps head are jointly connected with traction steel rope, the both ends between the outer surface of piston column are equipped with evenly distributed through slot, the front end of handle head pipe outside is provided with handle assembly. The utility model in the process of application operating personnel can be according to experience to bending lever corresponding radian, angle universal bending, to reduce the difficulty that operating personnel will laryngeal forceps smoothly stretch into to patient's throat, easy to operate, it is convenient to use.

Embodiments of the present disclosure disclose a medical laser suitable for microsurgery. A specific embodiment of the medical laser comprises a mirror, a gain crystal, a prism group, a Q switch and an output coupling mirror. The mirror is located at the starting point of the outgoing laser, and the gain crystal is arranged behind the mirror. The outgoing laser enters the prism group comprising a first prism, a second prism and a translation assembly from the gain crystal. The first prism is installed on the translation assembly and has a triangular prism structure. The second prism has a quadrangular prism structure. The largest side of the first prism is parallel to the largest side of the second prism. The translation assembly is configured to drive the first prism to translate along a direction perpendicular to the direction of the laser beam propagating between the first prism and the second prism. The Q switch and the output coupling mirror are arranged in sequence behind the prism group. By changing the resonant cavity length through the double prisms and the translation assembly, the pulse width is adjusted in a wide range. Thus, the embodiment improves the efficiency of clinical surgery.

The present application relates to the technical field of otological microsurgery instruments, and discloses a cross-shaped round window membrane incision knife with depth control for otological minimally invasive surgery, which comprises a knife rod, a cross-shaped knife head is arranged at the operating end of the knife rod, a detachable depth control mechanism is arranged on the outside of the knife rod behind the cross-shaped knife head, a grip type handle assembly is arranged at the end of the knife rod away from the cross-shaped knife head, and the grip type handle assembly comprises a grip type handle, and a thimble is arranged at the end of the grip type handle close to the knife rod. In the present application, the cross-shaped symmetrical blade edge realizes multi-point stable support, effectively avoids the slippage of the knife head on the surface of the wet round window membrane, and the incision position is accurate; the sharp symmetrical cutting forms a regular cross-shaped incision, there is no disorganized tearing, the incision edge is neat, and this is beneficial to postoperative healing and electrode implantation sealing; the annular flange type depth control mark block forms physical limiting, the cutting depth is locked in a safe range, and overcutting damage to the inner ear is avoided in structure.

The invention discloses a hand and foot microsurgery wound surface negative pressure drainage nursing device, and relates to the technical field of medical apparatus and instruments, the hand and foot microsurgery wound surface negative pressure drainage nursing device comprises a mounting rack and an adjusting assembly; the left end of the upper side of the mounting frame is provided with a negative pressure pump, the right end of the upper side of the mounting frame is provided with a PLC and a storage battery, the left side of the mounting frame is provided with two corresponding gas-liquid separation assemblies, the left side and the right side of each gas-liquid separation assembly are connected with connecting assemblies, and the left ends of the two connecting assemblies on the left side are provided with switching assemblies; a drainage assembly is installed at the left end of the switching assembly, and a fastening assembly is installed on the lower side of the installation frame. And the adjusting assembly comprises a first three-way pipe, a sealing ball, a rotating disc, an L-shaped guide hole and a rubber ring, the airflow path can be accurately controlled through the adjusting assembly so as to ensure the stability of negative pressure, liquid is prevented from entering the pump body through cooperative work of the gas-liquid separation assembly and the connecting assembly, and the cavity can be rapidly replaced.

The utility model discloses a microsurgery robot power mechanism and a setting method for instrument origin initialization thereof, the power mechanism comprises a plurality of driving motors, a plurality of motor turntables, a middle turntable and a connecting turntable, output shafts of the driving motors are connected with the motor turntables, and the motor turntables are connected with the connecting turntable through the middle turntable. The connecting rotary disc is provided with a limiting protruding part, the limiting protruding part is matched with the physical limiting part on the limiting supporting frame, and when the connecting rotary disc rotates to a preset angle, the connecting rotary disc makes contact with the limiting protruding part to prevent rotation. The power mechanism is further provided with a joint judgment mechanism used for judging the joint state of the connecting rotary disc and the motor rotary disc or the middle rotary disc. The utility model has the beneficial effects that the problem of misjudgment caused by tiny force value in a microsurgical instrument in the traditional method is avoided. And the reliability and the operation precision of the system are improved, and the system is suitable for microsurgery environments with extremely high precision requirements.

The invention discloses a multifunctional suction tube for neurosurgery microsurgery, and relates to the technical field of medical instruments, the multifunctional suction tube comprises a suction tube body, a handle and a negative pressure interface, and a suction cavity channel is formed in the suction tube body; a negative pressure control port communicated with the suction cavity channel is formed in the handle; the device further comprises a flushing pipe and a traction mechanism. The flushing pipe is sleeved outside the suction pipe body, a flushing cavity channel is formed between the flushing pipe and the suction pipe body, and the far end of the flushing pipe is arranged at the far end of the suction pipe body, so that the suction head extends out of the far end of the flushing pipe. The traction mechanism comprises a traction column hinged to the suction head, a torsion spring is arranged at the hinged position, and the torsion spring enables the traction column to extend towards the near end in the natural state and be attached to the outer side of the far end of the flushing pipe. The device integrates the functions of suction, flushing and tissue traction, is convenient to operate, can reduce the dependence on an assistant in an operation, and improves the operation efficiency and quality.

1. The name of the design product: needle holder. 2. The use of the design product: the design product is used for clamping microsurgery needle. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view.

The present application relates to an AI-assisted real-time tissue recognition and cutting path planning system for microsurgery, which includes multi-modal acquisition, registration fusion, tissue segmentation, risk assessment and path planning output modules. Microscopic videos, fluorescence images, OCT depth maps, etc. are collected, and heart rate, blood pressure, instrument pose and force feedback are synchronously acquired; after camera calibration, registration and time alignment, a fusion input is formed. The tissue recognition CNN uses spatio-temporal aggregation and cross-modal attention fusion, and sets a differentiable safety distance field layer between fusion and decoding, generates a safety distance field based on instrument embedding and OCT depth gradient, as attention bias and skip-connection gating, outputs class map, boundary map, confidence and uncertainty. Based on the confidence and uncertainty, structure, mis-cut and residual risk maps are generated; under the constraints of kinematics and cuttability, trajectories containing path points, depth and speed are output, and superimposed acoustic and light warnings or robot instructions are output.

A system for performing ophthalmic treatment includes a handpiece configured to be held by a surgeon's hand. An end effector is mounted to the handpiece and is configured to perform an operative treatment on tissue of a patient, such as eye tissue, when performing an ophthalmic treatment. The system includes: a motion sensor configured to sense a movement of the handpiece; and one or more stabilization actuators configured to stabilize movement of the handpiece in response to movement of a surgeon's hand. A controller is coupled to the motion sensor and the one or more stabilization actuators and is configured to instruct the one or more stabilization actuators to compensate for motion detected by the motion sensor. The controller may include a high-pass filter, wherein an output of the high-pass filter is used to control the stabilization actuator. Parameters of the high-pass filter can be adjusted in the whole ophthalmic treatment process.

"Surgical or microsurgical instrument for robotic remote operation comprising a flexible sleeve having at least one electrically conductive passage" A surgical instrument (1) for robotic microsurgery comprising: a proximal portion (2) and a distal portion (3) movable with respect to the proximal portion; at least one motion joint portion (4) between the proximal portion and the distal portion; a flexible sleeve (10) mounted on the at least one motion joint portion (4) - said sleeve comprises a flexible body suitable for deforming to conform to various operational configurations of the at least one motion joint portion -; said flexible sleeve (10) comprises at least one electrical insulating portion (11) and at least one electrically conductive passage (20); and said at least one electrically conductive passage (20) comprises a proximal contact portion (22) located proximal to the at least one motion joint portion (4) of the surgical instrument; a distal contact portion (23) located distal to the motion joint portion (4) of the surgical instrument; and a flexible electrical conductor (21) extending from the proximal contact portion to the distal contact portion; And a flexible electric conductor (21) is located between the electric insulating portion (11) of the flexible sleeve (10) and at least one motion joint portion (4) of the surgical instrument; and a distal contact portion (23) is electrically connected to the distal portion (3) of the surgical instrument, the surgical instrument.

The invention discloses a high-sensitivity ophthalmology microsurgery forceps force sensing system and a calibration method, the system comprises a pair of surgical forceps and a matching tube, the matching tube is sleeved with a fixed outer tube, the matching tube can axially move and rotationally move in the fixed outer tube, and when the matching tube axially moves in the fixed outer tube, the matching tube can rotate in the fixed outer tube. The fixed outer tube can abut against or not abut against the surgical forceps so that the surgical forceps can be closed or opened. A hollowed-out structure groove is formed in the position, close to the surgical forceps, of the fixed outer tube, the fixed outer tube is provided with an optical fiber, the optical fiber is provided with an optical grating with a wavelength change area, the optical grating corresponds to the hollowed-out structure groove, and the optical grating can generate corresponding wavelength change along with deformation of the hollowed-out structure groove. According to the invention, the hollow structure groove is additionally arranged at the tail end of the fixed outer tube, so that the force sensing sensitivity is effectively enhanced; and a calculation model is concentrated at the contact part of the tweezers and the force sensor, so that the method can adapt to the change of an algebraic relationship caused by the change of a physical model, and errors in a transmission process are reduced.

The application relates to the technical field of ophthalmic microsurgery, and discloses an ophthalmic surgery capsule membrane incision system and method. Liquid light-sensitive conductive precursors are injected to the surface of the anterior lens capsule to conformally spread, a composite surgical probe is used to project a structured light spot, and the light-irradiated area is in-situ cross-linked and solidified into a hydrogel electrode ring; a multi-contact microelectrode array establishes physical contact with the hydrogel electrode ring, contact conformal impedance topology mapping is carried out, and a spatial impedance topology map is obtained; the system calculates and generates a spatial energy distribution matrix of multi-channel cutting energy according to the topology map, and finally releases transient high-frequency radio frequency pulses to the hydrogel electrode ring through the multi-contact microelectrode array to cut the anterior lens capsule. The application eliminates solid physical gaps by using material rheological characteristics, combines spatial differential energy distribution based on impedance feedback, and realizes uniform cutting without thermodynamic tearing.

The invention discloses a microsurgery dynamic membrane stripping recommendation system and method based on binocular stereoscopic vision and multi-source feature weighted fusion. The method comprises the steps that a binocular microscopic image sequence is collected, and distortion correction and texture contrast enhancement processing are carried out; reconstructing a depth map for the preprocessed binocular microscopic image based on the compact depth of energy minimization; extracting three-dimensional features based on the depth map, wherein the three-dimensional features comprise a geometric peelability feature, a visual saliency feature and a risk cost feature; and carrying out weighted scoring based on the three-dimensional features to obtain a global suitability matrix, carrying out post-processing on the global suitability matrix to obtain a dynamic valve lifting suitability thermodynamic diagram, and superposing the thermodynamic diagram in an operation view in a semitransparent pseudo-color form to carry out dynamic membrane stripping recommendation. In this way, automatic optimization and dynamic anchoring of the valve starting point can be achieved.

The application discloses a kind of multi-modal wide field microscopic imaging systems for lymphatic-venous anastomosis, to solve the problem of low imaging contrast of micro-vein and near-infrared I region imaging of lymphatic in clinical microsurgery operation, and the positioning accuracy is insufficient.The application adopts upright wide field microscopic imaging system, single silicon-based detector, switchable optical module to realize the near-infrared II region lymphatic fluorescence imaging, vein negative development and bright field imaging under ocular lens.The application is based on the absorption curve of hemoglobin and blood, combined with the characteristics of microscopic objective lens collecting light under the condition of wide field microscopic system, and innovatively introduces the vein negative development of 416-456nm wave band light, significantly improves the contrast of vein and surrounding tissue, and uses near-infrared II region fluorescence imaging to improve the depth and signal background ratio of lymphatic imaging, with low cost, simple principle, suitable for lymphatic-venous anastomosis and other microsurgery, to provide more fine and reliable imaging support for clinic.

A surgical instrument includes an articulated end having a first support link, a second link articulated with respect to the first support link about a rotation axis, and a transmission cable fixed to the second link. The first support link has at least one first convex ruled surface with straight generator lines all parallel to each other, and a second convex ruled surface with straight generator lines all parallel to each other. The transmission cable is configured to slide on both the at least one first convex ruled surface and the second convex ruled surface of the first support link when the second link rotates with respect to the first support link. The straight generator lines of the at least one first convex ruled surface are orthogonal to the straight generator lines of the second convex ruled surface.

A system for performing a microsurgery or ocular surgery including a cannula having an intraocular portion connected to an infusion tube. The intraocular portion includes fenestrations at its distal end. The intraocular portion receives fluid through the infusion tube and dispenses the fluid through the fenestrations lessening the flow at an infusion site in an eye. The surgical apparatus includes a vitreous cutter. The vitreous cutter includes a suction tube at one end and a shaft at another end. The cutting port cuts vitreous into smaller pieces or a laser that liquefies the vitreous. The shaft receives the cut vitreous pieces and the suction tube draws out the cut vitreous pieces from the eye. The surgical apparatus includes a vitreoretinal surgical tool having a vitreoretinal cutter. The vitreoretinal cutter has a scissor-like or forceps-like mechanism. The vitreoretinal cutter holds and / or cuts a membrane in the eye during the ocular surgery.