50 results about "Microsurgical procedure" patented technology

A surgical microscope lighting control system comprising a controller configured to: estimate or determine a lighting need of a surgeon during at least part of a surgical procedure based at least on a viewing status of a region of illumination, wherein the viewing status of the region of illumination is estimated or determined (a) based at least on whether or not the region of illumination is being displayed, or (b) based at least on tracking data of the surgeon or a head-mounted display; determine an adjustment to be made to an illumination provided by a lighting unit of a surgical microscope based on the lighting need; and in response to determining the adjustment, send a first signal to the lighting unit to change the illumination according to the adjustment.

A microsurgical robot slave end system based on a series-parallel structure belongs to the technical field of medical equipment and surgical robots and comprises a four-degree-of-freedom surgical trolley, a five-degree-of-freedom series-parallel mechanical arm and a microscope adjusting platform. The five-degree-of-freedom series-parallel mechanical arm is mounted on the degree-of-freedom surgical trolley and can move and rotate along with the surgical trolley; the five-degree-of-freedom series-parallel mechanical arm is used for achieving pose adjustment in the horizontal plane and pose adjustment in the vertical plane. The microscope adjusting platform is installed on the series-parallel mechanical arm. The system realizes multi-degree-of-freedom and high-precision surgical operation through a series-parallel structure, has the characteristics of compact structure, rigid-flexible combination and flexible path, and aims to provide a more efficient, safer and more intelligent auxiliary operation platform for microsurgery.

The invention discloses an intelligent auxiliary system for microsurgery in the field of medical auxiliary systems, which is characterized in that a sensor and an image recognition device are integrated to monitor the action posture of medical personnel, and the medical imaging technology and the sensor technology are utilized to monitor the information of the surgical site of a patient; based on a machine learning algorithm and a big data analysis technology, learning action posture data of the medical staff in a historical operation process, and establishing an operation action posture model of the medical staff; according to monitored medical staff action posture information and patient operation site information, combined with the established model, the operation action posture needed by medical staff is predicted, real-time response is achieved, and the supporting device and the operation instrument are automatically adjusted through the controller. The system has the advantages of improving operation precision and efficiency, relieving burden of medical staff, enhancing operation safety, improving operation collaboration, promoting medical technology innovation and development and the like, and intelligent auxiliary operation can be conveniently carried out during microsurgery.

The invention provides a testicular artery intelligent recognition system and method based on multi-modal fusion and dynamic learning, and is suitable for microscope spermatocord vein ligation. The system integrates an optical microscope, an ultrasonic probe and an electrophysiological device, optical images, ultrasonic blood flow and electrophysiological signal characteristics are fused through a multi-branch neural network, and high-precision real-time identification and three-dimensional navigation of testicular arteries are realized in combination with an intra-operative online fine tuning and postoperative feedback optimization mechanism. The method comprises the processes of collaborative labeling of multi-modal data, dynamic fusion training, real-time multi-modal processing, closed-loop decision support and the like. According to the method, through multi-modal information complementation and model adaptive learning, the recognition accuracy is improved to 97.3%, the false pricking rate is reduced to 1% or below, the operation safety and efficiency are effectively improved, and the method has high environmental adaptability and model evolution ability and is suitable for microsurgery operation navigation scenes.

The invention relates to the technical field of surgical computer assistance, in particular to a lesion area visual positioning method for an intelligent multi-arm microsurgical robot, and solves the technical problems of low reliability and accuracy of lesion area positioning in the prior art. The method comprises the following steps: acquiring a microsurgical operation image sequence of a target area under a plurality of focal planes; the microsurgical operation image sequence comprises focal plane images corresponding to a plurality of focal planes respectively; pixel points in focal plane images corresponding to the plurality of focal planes are in one-to-one correspondence; for each focal plane image, respectively carrying out definition evaluation on each pixel point in the focal plane image, and determining the definition weight of each pixel point; and performing image fusion based on the definition weight of the pixel point of each focal plane image, and identifying and positioning a lesion area in the target area according to a generated fused image.

The invention relates to the field of medical apparatus and instruments, in particular to microsurgery glasses which comprise a wearing mechanism, and the wearing mechanism is provided with an acquisition module, an adjusting module, a time sequence reference module, a control module, a fitting module and a display module. The acquisition module comprises a plurality of sub-acquisition units, and the sub-acquisition units are used for acquiring image information of a target area in different directions; the adjusting module is used for adjusting the acquisition angle of the sub-acquisition unit; the time sequence reference module is used for storing an image frame sequence collected according to a preset mode; the control module is used for analyzing the law trend of an abnormal area if the abnormal area appears in the image information, and generating an optimal strategy of collection angle adjustment; the fitting module is used for fitting based on the image information in different directions to generate a complete image; and the display module is used for receiving and presenting the complete image generated by the fitting module. Reflection interference can be reduced, tissue detail imaging is enhanced, and therefore the surgical field definition is improved.

A control device (1) for microsurgery for controlling a surgical instrument (2) is described. The control device (1) comprises a sensor device (3) which has at least one device (4) for detecting the lateral position of the surgical instrument (2) relative to a surface (12) of a tissue (11) and at least one device (5) for detecting data which characterizes an axial relationship between the surgical instrument (2) and the tissue surface (12). The axial relationship is characterized by at least one kinematic and / or at least one dynamic parameter. The control device (1) is designed to control the action of the surgical instrument (2) on the tissue (11) and / or to control the movement of the surgical instrument (2) with respect to the tissue (11) based on data detected by the sensor device (3).A robotic assembly and a surgical microscope for microsurgery are also disclosed.

The application discloses a kind of microsurgical robot end systems based on hybrid structure, belong to medical equipment and surgical robot technical field, it includes four degrees of freedom operating trolley, five degrees of freedom hybrid mechanical arm and microscope adjustment platform;The five degrees of freedom hybrid mechanical arm is installed in degree of freedom operating trolley, and can move and rotate with operating trolley;The five degrees of freedom hybrid mechanical arm is used to realize the pose adjustment in horizontal plane and the pose adjustment in vertical plane;The microscope adjustment platform is installed in hybrid mechanical arm.This application system realizes multi-degree of freedom, high-precision surgical operation by hybrid structure, with compact structure, rigid-flexible combination and path flexible characteristics, aims at providing more efficient, safer, more intelligent auxiliary operation platform for microsurgery.

The present disclosure relates generally to optical systems for surgical procedures, and more particularly to optical relay systems for visualization systems used during ophthalmic microsurgical procedures. The optical system described herein provides improved ergonomics to the surgeon because such a system facilitates a low height microscope camera that enables the surgeon to see a display screen or other monitor placed in an ergonomically advantageous position for ophthalmic procedures across the camera. Such an optical system also provides improved performance because the total magnification of the optical head can be split into multiple lens barrels, resulting in a high resolution image that enables the surgeon to see more clearly the ophthalmic anatomy. Even further, such an optical system provides improved manufacturability while reducing weight and manufacturing costs, since the lens barrel may have a fixed focal length for use with a digital magnification mechanism.

The present application relates to the field of remote microsurgery robot control, and specifically provides a trajectory smoothing control method and device based on network time delay and electronic equipment. The method comprises: calculating the time interval of the current time node and the historical time node reaching the remote microsurgery robot; determining the target data packet quantity in the slave end buffer according to the time interval; in the case that the current data packet quantity in the slave end buffer is greater than 0 and the time interval is less than or equal to the preset time interval, determining the time scaling factor according to the difference between the current data packet quantity and the target data packet quantity in the slave end buffer, thereby calculating the virtual time step, and then determining the instruction pose of the current control cycle period of the slave end through interpolation; the instruction pose is used to control the moving trajectory of the slave end in the current control cycle period. The technical scheme provided by the present application can improve the smoothness of remote microsurgery robot control in network jitter.

Apparatus and methods are described including a control-component tool that includes a handle and an input-receiving component disposed on the handle. The input-receiving component includes one or more light sources disposed on a first radial wall, one or more light detectors disposed on a second radial wall that faces the first radial wall, and a deformable sleeve extending axially between the first and second radial walls and configured to attenuate light that is directed from the one or more light sources toward the one or more light detectors, in response to being pressed. A computer processor receives a signal from the one or more light detectors that is indicative of the light attenuation and controls a surgical tool in response thereto. Other applications are also described.

Apparatus and methods are described including a control-component tool (30) that includes a handle (52) and an input-receiving component (50) disposed on the handle (52). Input-receiving component (50) includes one or more light sources (56) disposed on a first radial wall (60), one or more light detectors (58) disposed on a second radial wall (62) that faces the first radial wall (60), and a deformable sleeve (54) extending axially between the first and second radial walls and configured to attenuate light that is directed from the one or more light sources (56) toward the one or more light detectors (58), in response to being pressed. A computer processor (28) receives a signal from the one or more light detectors (58) that is indicative of the light attenuation and controls a surgical tool (21) in response thereto. Other applications are also described.

The invention relates to a surgical instrument (1) comprising an articulated end (10) comprising: a first support link (11); a second link (12) articulated with respect to the support link about an axis of rotation (Y-Y); a transmission cable (15, 16) fixed to the second link (12); wherein the first support link comprises: at least one first convex regular surface (17, 19) having straight generatrix lines all parallel to one another; at least one second convex regular surface (18) having straight generatrix lines all parallel to one another; the transmission cable (15, 16) is configured to transmit a signal when the second link (12; 13) slides on said at least one first surface (17, 19) and said second surface (18) of the first support link (11) when rotating relative to the support link; the straight generatrix of the at least one first convex regular surface (17, 19) is orthogonal to the straight generatrix of the second convex regular surface (18).

Apparatus and methods are described including a control-component unit that includes a plurality of links that are coupled to each other via a plurality of axes. A control-component tool is coupled to the links and configured to be moved by an operator such that as the operator moves the control-component tool along linear X, Y, and Z directions, the links rotate around the linear-movement-related. An X-direction link through which X-direction linear motion is effected, is aligned with a Z-movement-related axis about which movement in the Z-direction is effected, such that the X-direction link does not exert any torque about the Z-movement-related axis. Other applications are also described.

The present invention provides for a surgical robotic system (100) for performing a microsurgery or supermicrosurgery. The surgical robotic system comprises a control system (102) and a robotic system (104). The robotic system (104) comprises a monitoring unit (106) for monitoring a surgical area, and at least one manipulator arm (108) for manipulating a surgical instrument, wherein the control system (102) is configured to control the monitoring unit (106) and the at least one manipulator arm (108), and wherein the monitoring unit (106) and the at least one manipulator arm (108) are configured and designed to have a common reference frame.

The present disclosure relates to high dexterity robotic manipulation systems for ophthalmic microsurgical procedures. In certain embodiments, a robotic surgical system includes a master apparatus controllably coupled to a slave apparatus. The slave apparatus mounts to a patient's head and includes a dual tripod structure having two pluralities of linear actuator links pivotally supporting a surgical tool. The motions of the actuator links are controlled by direct drive actuators to provide at least 6-DOF for the surgical tool. A passive articulating arm having a SCARA mechanism and four-bar parallelogram mechanism attaches to the slave apparatus and counterbalances the weight thereof when mounted on a patient. The surgical system also includes sensors communicatively coupled to the slave apparatus and master apparatus to enable force feedback and force control. Accordingly, the robotic surgical system enhances the dexterity of an operator and enables performance of medical procedures more easily than by hand.

The present invention relates to a robot arm for use in surgery, microsurgery or super-microsurgery, said robot arm comprising: a first, proximal arm element having a first arm length, the proximal arm element being connected to a first, proximal joint having a first roll and a first pitch, and a second, intermediate joint having a second roll and a second pitch; a second, intermediate arm element having a second arm length, the intermediate arm element being connected to the intermediate joint and a third, distal joint having a third roll and a third pitch, and a third, distal arm element having a third arm length, the third arm element being connected to the distal joint, wherein the ratios between the first to second to third arm element lengths are: (1.00+−10%):{(1.00 to 1.05)+−10%}:(0.60+−10%).

The invention discloses a microscopic electromagnetic needle holder which comprises a needle holder upper arm, a connecting mechanism is mounted on the needle holder upper arm, the microscopic electromagnetic needle holder relates to the technical field of microsurgery, a power connector can be connected with an external low-voltage power source, so that the power connector can enable an electric wire to be powered on, and when current passes through the spiral electric wire, the electric wire can be powered on through the connecting mechanism. When the needle holder is used for suturing, a uniform magnetic field can be made in the solenoid, the upper arm of the needle holder can be magnetized at the moment, and after an operation area is amplified through a microscope in the suturing operation process, the operation view becomes small, and the suture needle can be automatically attracted to the upper arm of the needle holder under the magnetic action of the upper arm of the needle holder and is not prone to being lost. Even if the suture needle is located outside the visual field, the suture needle can be attracted to the needle holder by increasing the current and the magnetic field intensity, and the suture needle can be found quickly. When the suture needle is attracted to the microscopic electromagnetic needle holder and leaves the tissue, the position of the clamping needle is adjusted for suture, tissue damage caused by the fact that the tissue is stabbed or clamped is not prone to occurring, and therefore the actual using effect is better.

The utility model discloses a microsurgical operating instrument with a mistaken touch prevention mechanism. The microsurgical operating instrument is used for solving the installation safety problem of the operating instrument. A cavity is formed by an instrument box shell and an instrument box base; a button fool-proof block is mounted in the cavity, and an accommodating cavity is formed in the button fool-proof block; the two opposite sides of the instrument box shell are each provided with an instrument box button in mirror symmetry, the side, located in the cavity, of each instrument box button is provided with a limiting protruding part, the button fool-proof block is connected with the instrument box shell through a first compressed spring, and the two instrument box buttons can move in the opposite directions or away from each other; the instrument box base outside the cavity is detachably connected with the sterile adapter; the end, away from the first pressure spring, of the button fool-proof block penetrates through a guide hole in the instrument box base to fall on a boss of the sterile adapter, symmetrical buckles are arranged on the sterile adapter, penetrate through the instrument box base to stretch into the cavity to be locked on the instrument box base, each buckle comprises a tripping face, and the lower edge of the instrument box button makes contact with the tripping face.

This invention discloses an intelligent auxiliary system for microsurgery in the field of medical assistance systems. It integrates sensors and image recognition devices to monitor the movements and postures of medical personnel, utilizes medical imaging and sensor technologies to monitor information about the patient's surgical site, and then learns from historical surgical data on the movements and postures of medical personnel based on machine learning algorithms and big data analysis to establish a model of their surgical movements and postures. Based on the monitored movements and postures of medical personnel and the patient's surgical site information, combined with the established model, the system predicts the required surgical movements and postures for medical personnel, responds in real time, and automatically adjusts the support device and surgical instruments via a controller. This system offers advantages such as improved surgical precision and efficiency, reduced workload for medical personnel, enhanced surgical safety, improved surgical coordination, and promotion of medical technology innovation and development, facilitating intelligent auxiliary operations during microsurgery.

1. The name of the product of this design: Microsurgery auxiliary equipment (doctor's console). 2. Purpose of the product with this appearance design: The product with this appearance design is used by medical workers to perform microsurgery, to achieve accurate replication of the main hand movement, and to filter out unnecessary shaking of the main hand, thereby assisting doctors in performing microsurgery and ultramicrosurgery. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: Stereoscopic diagram 1. 5. The bottom surface of this design product is a part that is not easily visible or cannot be seen when in use, so the top view is omitted.

1. The name of the design product: needle holder. 2. The use of the design product: surgical instruments for surgery and microsurgery. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: Design 1 perspective view 1. 5. Design 1 is designated as the basic design.

The invention relates to a visualization arrangement (1) for microsurgery, comprising an imaging device (14), an illumination device (4) and a polarization determination arrangement. The polarization determination arrangement comprises at least two video cameras (2) and at least one further video camera (3), which are designed to capture light waves of a plurality of light wavelengths in the visible light wavelength range, wherein each of the three video cameras (2, 3) is assigned a separate partial beam path in the beam path (6), a plurality of polarization filters (20 to 24), and an evaluation device (13), wherein at least one polarization filter (21 to 24) is arranged upstream of three video cameras of the at least three video cameras (2, 3) in each beam path (6), wherein the polarization filters (20 to 24) are set or settable such that the polarization effects of the polarization filters (20 to 24) arranged upstream of the specified at least one further video camera (3) and of at least one of the aforementioned video cameras (2) designed to capture light waves of a plurality of light wavelengths in the visible light wavelength range differ from one another in the beam path (6), wherein the evaluation device (13) is designed to create an image representation with polarization contrast using the images captured by the video cameras (2, 3) and to display said image representation by means of the imaging device (14).

The invention relates to a protection stopping system for a microsurgical robot. The protection stopping system comprises system software, a hardware control subsystem, a motion control subsystem and a user interaction subsystem. The system software is in two-way communication with the hardware control subsystem and the motion control subsystem through a heartbeat mechanism, the running state of the system is monitored in real time, and when abnormity is detected, a protection stop mechanism is automatically triggered, motion of an actuator is stopped immediately, and a power supply is cut off. The protection stopping mechanism has an automatic triggering mode and a manual triggering mode, the automatic triggering mode is automatically switched by system software according to abnormal signals, and the manual triggering mode achieves emergency power-off operation through the user interaction subsystem. By means of the protection stopping system, dangers caused by abnormal control of the system, hardware or motion can be effectively prevented, and safe operation of the microsurgical robot is ensured. The real-time response capability and safety of the robot system are improved, and the safety of a patient is greatly guaranteed.

Apparatus and methods are described for performing a procedure using a robotic unit. A tool-actuation arm is driven to move linearly, to thereby move at least the portion of the tool linearly with respect to the end effector. The tool-actuation arm is driven to become retracted to a given distance from the tool mount, thereby causing the tool-actuation arm to fold automatically by actuating an automatic tool-actuation arm folding mechanism. Other applications are also described.

The present invention provides a robot arm (100) microsurgery or super-microsurgery, said robot arm (100) comprising at least one arm element (102, 116, 124) and at least one direct drive (134, 136), wherein the at least one direct drive is configured and arranged to actuate the at least one arm element (102, 116, 124). The invention further provides a surgical, microsurgical or super-microsurgical robotic system (200) comprising the robot arm described above.

The utility model discloses a double-concave type lifting operation table, and belongs to the technical field of medical instruments. The operating table overcomes the defects that in the prior art, a single stand column of a traditional operating table has potential safety hazards and is inconvenient to see through. The main structure of the device comprises a top plate and a base support, one side of the base support is connected with one side of the top plate through a lifting supporting rod, and the other side of the base support is connected with the other side of the top plate through an air spring lifting rod. The air spring lifting rod comprises an upper lifting rod connected with the top plate, a lower lifting rod connected with the base support, an air spring release rod installed on the top plate and an air spring, the upper lifting rod is in sliding sleeve connection with the lower lifting rod, the air spring is installed in the upper lifting rod and the lower lifting rod, and an air spring release button is arranged at the upper end of a piston rod of the air spring. And the gas spring release button is connected with the gas spring release rod through a pull rope. The utility model is mainly used for microsurgery.

The present application relates to the field of computer-aided surgery, in particular to a lesion area visual positioning method for an intelligent multi-arm microsurgery robot, which solves the technical problem of low reliability and accuracy of lesion area positioning in the prior art. The method comprises: collecting a microsurgery image sequence of a target area under multiple focal planes; the microsurgery image sequence comprises focal plane images corresponding to the multiple focal planes respectively; the pixel points in the focal plane images corresponding to the multiple focal planes respectively correspond one-to-one; for each focal plane image, the sharpness of each pixel point in the focal plane image is evaluated respectively to determine the sharpness weight of each pixel point; image fusion is performed based on the sharpness weight of the pixel points of each focal plane image, and a lesion area in the target area is identified and positioned according to the generated fusion image.