598 results about "Minimal invasive surgery" patented technology

An end effector state estimation system for use in minimally invasive surgery (MIS) applications performs sensing and prediction algorithms to determine and visualize the state of an implantable therapeutic device during deployment. The end effector state estimation system includes a flexible elongate member, a therapeutic device coupled to a distal portion of the flexible elongate member, a sensor that measures at least one parameter related to the deployment state of the therapeutic device, and a processor. The processor receives image data from an imaging system representative of the therapeutic device positioned within the body cavity of the patient and the at least one parameter from the sensor, determines the deployment state of the therapeutic device based on the image data and the at least one parameter, outputs a graphical representation of the deployment state of the therapeutic device.

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 provides a remote motion center device and a robot system for minimally invasive surgery. A remote center of motion device for minimally invasive surgery, comprising: a support arm; the telecentric movement mechanism is hinged to the supporting arm; the tail end executing mechanism comprises a mounting seat, a mounting assembly and an operating instrument, the operating instrument is mounted on the mounting seat through the mounting assembly, and the mounting seat is connected with the telecentric movement mechanism; the rotary motion assembly is connected with the end, away from the tail end executing mechanism, of the supporting arm; the pitching motion assembly comprises a pitching motor arranged on the supporting arm, a pitching lead screw arranged on the supporting arm, a driving sliding block arranged on the pitching lead screw in a sleeving mode, a first guide rod and a second guide rod, and the first guide rod and the second guide rod are arranged on the two sides of the pitching lead screw correspondingly and penetrate through the driving sliding block. The front gravity compensation spring and the rear gravity compensation spring are arranged on the two sides of the driving sliding block respectively. And the feeding movement assembly is arranged on the mounting seat.

The invention provides a robot motion parameter determination method and device based on a puncture needle bending model, and relates to the technical field of minimally invasive surgery robots. The method comprises the steps that a puncture needle is used for puncturing a soft tissue simulation body, a medical image of the puncture needle is detected in real time, bending feature points of the puncture needle are obtained, and a bending model is established based on the obtained bending feature points; determining a conversion relation among a robot coordinate system, an image coordinate system and a bending coordinate system through calibration; and based on the puncture needle bending model, solving a forward kinematics model or an inverse kinematics model of the robot, and determining motion parameters of the robot. The problem that the puncture needle deviates from the preset track due to bending of the puncture needle in the puncture process can be solved, and the puncture accuracy is improved.

The invention discloses a foreign body mesh basket and a medical device for taking out foreign bodies in minimally invasive surgery, and relates to the technical field of medical instruments. The foreign matter mesh basket comprises a fixing ring, a plurality of traction wires and a woven mesh body. One end of each traction wire is connected to the opening end of the woven mesh body, and the other end is connected with the fixing ring; the woven mesh body comprises a first circular-truncated-cone-shaped mesh part and a second circular-truncated-cone-shaped mesh part which are in a double-circular-truncated-cone shape, the first bottom face forms an opening end, the second bottom face and the third bottom face are communicated and located on the same plane, the area of the second bottom face is larger than that of the third bottom face, and the second bottom face and the third bottom face are connected through the circular-ring-shaped mesh part. The plane where the circular ring net-shaped part is located is perpendicular to the axis of the woven net body, and the fourth bottom face is a closed net-shaped face. The foreign matter picking efficiency of the foreign matter net basket is improved, meanwhile, it is guaranteed that flowing of liquid in the lumen of the human body is not affected, and the operation safety is improved.

The invention discloses a tail end instrument for minimally invasive surgery, and relates to the technical field of surgical robots. A bearing groove is formed in the top of the bottom base, two wrapping posts are arranged at a port of the bottom base, threading holes are machined in the bottom face of the groove and the bottom ends of the outer sides of the wrapping posts respectively, two connecting arms at the bottom of the middle connecting piece are fixedly connected with the bottom base, and forward and reverse spiral wire grooves are machined in the side wall of a rotating shaft part of the top rotating piece and rotationally connected with the bottom base and the middle connecting piece. A threading hole is machined in the bottom face of an inner cavity, a sliding block is assembled in the inner cavity of the barrel-shaped part, two rope threading channels are machined, a clamp is installed at the top ends of the two supporting arms through a pin shaft, a wire guide wheel is arranged between the two supporting arms, the bottom ends of clamp arms are hinged to the sliding block through a transmission connecting rod, and two driving ropes control opening and closing of the clamp and rotation of a top rotating piece. Only two driving ropes are adopted, one driving rope achieves opening and closing actions of the clamp at the same time, the other driving rope controls the shaft rotation action, and the structural complexity and the operation difficulty of a tail end instrument are reduced.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The invention discloses in-vivo liquid flow assisting equipment which is mainly used for assisting in-vivo liquid such as blood flow so as to improve blood circulation. The in-vivo liquid flowing auxiliary equipment comprises a supporting body and a plurality of paddles, vibrator generators and fins are arranged on the paddles, and the fins are controlled by control wires to vibrate so as to change the flowing speed and the flowing direction of liquid. The supporting body can be of a tubular or solid structure, and the blades can be arranged on the inner surface or the outer surface so as to meet different treatment requirements. In addition, the in-vivo liquid flow auxiliary device further comprises a one-way valve diaphragm to control one-way flow of the liquid. The device can be delivered through minimally invasive surgery, is easy and convenient to operate, low in cost, quick in effect taking and suitable for assisting liquid flow in various cavities, and has wide clinical application prospects.

The invention discloses a surgical operation assessment method and system based on multi-modal characterization and causal reasoning, relates to the technical field of artificial intelligence, and deeply studies surgical skill analysis and assessment based on deep learning on a common surgical scene. From two perspectives of data and an algorithm framework, two core contents are provided to improve the evaluation performance of surgical skills. Firstly, several new technologies are developed, and observation data, including videos, tracks and languages, of three different modes can be provided in a common minimally invasive surgery. On the basis, a cross-modal contrast learning strategy is designed, and discriminative features can be learned from data of three different modalities. And secondly, a unified framework for performing operation action recognition and skill evaluation in a combined manner is provided, and a prediction structure based on causal reasoning is designed to perform modeling on the causal relationship between the two tasks, so that action recognition and skill evaluation with higher performance are realized.

An orthopedic staple system and orthopedic staple are configured to facilitate bone healing through dynamic and adjustable compression. The system comprises the orthopedic staple having a bridge portion and one or more legs that anchor into bone structure. The bridge portion is configurable to include compression features, comprising a pre-compressed chevron, an “S” shaped deformable path, or other suitable geometries to enable active post-operative compression. The staple can be configured to accommodate a single screw or multiple screws, which interact with the bridge to apply targeted compressive forces. Screws can be seated in either fixed or translatable pockets within the bridge, facilitating variable angle adjustments and bone remodeling. This system is optimized for minimally invasive surgical applications, promoting healing and integration, and enhancing overall patient outcomes.

Systems and methods for eye tracking and content tagging in minimally invasive surgical videos are described herein. Minimally invasive surgical videos may be captured while performing robotic surgeries. Robotic surgical systems described herein include robotic arms with interchangeable surgical tools. An endoscope at the end of one of the robotic arms captures video of the surgical procedure. The video is displayed on a display of the surgical system and an eye tracking device captures data corresponding to a gaze direction of the user on the display. Content tags are automatically generated in the image data based on areas of focus of the user. Information within the content tag may be generated based on surgical procedure steps derived from the image data, a log of current surgical procedures, and image data of previous surgical procedures.

The invention discloses a similar surgery picture retrieval method, system and equipment for minimally invasive surgery based on deep learning and a medium, and relates to the technical field of image processing. Respectively extracting original image features in the preprocessed video stream and original text features in the preprocessed text content; performing interactive fusion on the original image features and the original text features by adopting a feature fusion module; using a feature codebook module to map the fusion feature into a codebook vector; a mapping feature decoding module is adopted to decompose the codebook vector into compressed image features and compressed text features, finally, the compressed image features are decoded into similar images, and the compressed text features are decoded into text descriptions corresponding to the similar images; and the operation picture can be quickly and accurately retrieved.

The invention relates to an AI image navigation method, device and equipment for prostatic hyperplasia minimally invasive surgery and a medium thereof. The method comprises the following steps: acquiring a prostate three-dimensional image and an intraoperative real-time image sequence, and fusing the three-dimensional image after preliminary filtering to obtain an optimized and enhanced image; based on the enhanced image and the preoperative three-dimensional image, a three-dimensional offset vector is obtained through a multi-modal registration algorithm combined with an anatomical structure reference, and optimized prostate three-dimensional attitude data is generated in combination with anatomical constraints; combining the attitude data and the three-dimensional image, determining boundary area distribution characteristics, calculating a risk assessment value, mapping a risk level, and generating a path correction instruction to obtain an instrument navigation path if the risk level exceeds a threshold value; and based on the navigation path, constructing a clinical recovery model in combination with the anatomical structure, generating postoperative recovery index simulation data, and performing adjustment and verification until preset requirements are met to obtain a final operation execution scheme. According to the method, precision and individuation of surgical navigation are achieved, and comprehensive technical support is provided for precise implementation of minimally invasive surgery.

The invention relates to the technical field of bone implants for minimally invasive surgery, and particularly discloses an implant for percutaneous minimally invasive thoracolumbar vertebral fracture, which comprises a vertebral body forming body, the vertebral body forming body comprises a vertebral body forming body head and a plurality of blade parts arranged at the rear end of the vertebral body forming body head in a surrounding manner, the vertebral body forming body head is provided with a needle guide hole penetrating along the axial direction, and the needle guide hole is communicated with the blade parts; a containing cavity is defined by the blade parts; the front end of the threaded guide rod and the head of the cone forming body are integrally formed, the needle guide hole penetrates through the threaded guide rod in the axial direction, and the rear end of the threaded guide rod extends out of the containing cavity; the pedicle screw is provided with a threaded hole penetrating in the axial direction, the threaded hole is in threaded connection with the threaded guide rod, the pedicle screw comprises a screw head and a threaded part arranged at the rear end of the screw head, and the screw head is arranged in the containing cavity and expands the blade part. According to the implant for the percutaneous minimally invasive thoracolumbar vertebral fracture, surgical wounds are reduced, the vertebral restoration effect is good, the stability of a vertebral formed body is guaranteed, and the surgical time can be saved.

The invention provides an instrument force feedback and man-machine cooperative control method and system for minimally invasive surgery, and relates to the technical field of man-machine collaboration.The instrument force feedback and man-machine cooperative control method comprises the steps that a force sensor arranged at the tail end of a minimally invasive surgery instrument is used for collecting three-dimensional torque data, and the surgical operation safety state is recognized through a mixed deep learning model; and when risks exist, early warning is triggered, an active constraint mechanism is started, and real-time correction is carried out through reverse force feedback generated by a robot auxiliary system. A safety force domain range is calculated according to the torque data change, and trajectory optimization and acting force adjustment of the surgical instrument are achieved. The safety and accuracy of the minimally invasive surgery can be effectively guaranteed, and the medical risk is reduced.

The invention relates to the technical field of medical instruments, and discloses an interventional ultrasound method and system for minimally invasive surgery, and the method comprises the steps: obtaining ultrasound image data and operation state parameters; a three-dimensional ultrasonic image model is constructed through multi-layer scanning, and an initial tissue feature evaluation model is analyzed and generated; dynamic blood vessel data and operation constraint conditions are loaded, a comprehensive evaluation model is generated, and puncture point dynamic simulation is carried out; constructing a dynamic blood vessel prediction model, training to obtain a puncture point adjustment model, and generating initial adjustment parameters; obtaining dynamic adjustment simulation information based on the parameters and the model; constructing a multi-path optimization model, and carrying out iterative optimization to obtain an optimal path planning parameter; the safety puncture probability is inferred in combination with real-time images, and a real-time puncture strategy is adjusted to achieve dynamic matching. The system comprises a data acquisition module, an image modeling and analysis module and the like. The safety and accuracy of minimally invasive surgery puncture are improved, and the method is suitable for interventional ultrasound guided minimally invasive surgery scenes.

The present disclosure describes a spinal fixation system comprising a telescoping spinal rod, as well as methods of its use and a guide tower for use therewith. The telescoping rod can be extended after it has been inserted into the patient below the fascia, which permits it to be extended in the sub-fascial space.

Improved methods and devices for performing an endoscopic surgery including a system for performing minimally invasive procedures including a flexible catheter having a first lumen, a first flexible tube positioned in the first lumen, and a second flexible tube positioned in the first lumen. The first lumen defines a first space configured and dimensioned to receive an endoscope. The first flexible tube and second flexible tube are fixed at a proximal portion and configured to float within the first lumen of the catheter. First and second flexible guides are slidably positioned within the first and second flexible tubes and dimensioned to receive a first instrument for axial movement therein, the first and second flexible guides movable to an angled position with respect to a longitudinal axis. A working space expanding system positioned at a distal portion of the flexible catheter, the working space expanding system movable from a non-expanded insertion position to an expanded position forming an expanded region to expand the working space within the body lumen.

The present invention relates to a soft robotic arm, and specifically to a variable stiffness soft robotic arm for minimally invasive surgery and a method for using the same. The variable stiffness soft robotic arm for minimally invasive surgery includes a variable stiffness support arm and a sleeve mounted on the variable stiffness support arm. The sleeve includes a bending section and a torsion section. The bending section and the torsion section are respectively wrapped with multiple wire loops and spiral wires. The bending section and the torsion section are respectively provided with at least two or more chambers distributed radially along the variable stiffness support arm and connected to a charging and discharging module. The chambers are charged and discharged with medium to achieve bending and torsion of the robotic arm. The overall variable stiffness support arm, bending section and torsion section of the present invention have the same structure. The type of bending and torsion can be changed by simply changing the wire loops or spiral wires wrapped around the outer wall. This greatly simplifies the structural design and arrangement of the robotic arm, making it convenient to combine different bending sections and torsion sections according to actual needs, and has good compliance.

The utility model discloses a parallel detachable concentric tube robot for minimally invasive surgery. The parallel detachable concentric tube robot comprises an abdominal sheathing canal, a plurality of single-arm driving systems and flexible instrument arms, the multiple single-arm driving systems are connected in parallel, the single-arm driving systems are connected with the flexible instrument arms, the multiple flexible instrument arms are arranged in instrument arm channels formed in the abdomen entering sheathing canal respectively, and each flexible instrument arm comprises a plurality of concentric tubes; the single-arm driving system comprises a single-tube driving module, a guiding device and a concentric tube are arranged in the single-tube driving module, a driving mechanism, a linear transmission mechanism and a rotary transmission mechanism are arranged in the guiding device, the linear transmission mechanism and the rotary transmission mechanism are both connected with a driver in the driving mechanism, and the linear transmission mechanism is connected with the rotary transmission mechanism. The concentric pipe is installed on the rotary transmission mechanism, and the anti-collision device is arranged on the rotary transmission mechanism. The parallel type design is adopted, each guide device independently controls the corresponding concentric tube, and surgical instruments are convenient to replace.

The invention provides a novel telecentric fixed point mechanism for minimally invasive surgery, which comprises a base, a movable platform, two groups of planar branch chain assemblies, an arc branch chain assembly and a two-degree-of-freedom decoupling end effector, the two groups of planar branch chain assemblies are symmetrically arranged on the base, each planar branch chain assembly is a connecting rod group which is composed of six connecting rods and is provided with a parallelogram frame, and the arc branch chain assembly is provided with a parallelogram frame. The tail end of the plane branch chain assembly is connected and hinged to the movable platform, and the arc branch chain assembly comprises a semicircular arc guide rail and a rail sliding block matched with the arc guide rail in a sliding mode. A fixed point mechanism of a double-plane branch chain parallel configuration and a fixed point mechanism of a rotatable arc track configuration serve as parallel mechanism branch chains, over-constraint is formed in the mechanism, and the precision and rigidity of the mechanism are improved. The two planar branch chains are orthogonally and vertically arranged, the axes of the two driving joints are located in respective branch chain planes, are perpendicular to each other and coincide with each other, and a two-degree-of-freedom decoupling end executor is matched, so that the mechanism can realize four-degree-of-freedom movement which is completely decoupled.

Systems, devices, and methods for controlling cooperative surgical instruments are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing various surgical sites from different or shared surgical approaches to achieve a common or cooperative surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with, one another to effect a desired surgical treatment.

The invention discloses 3mm-level micro rope-driven needle forceps for minimally invasive surgery, and belongs to the technical field of medical instruments, the needle forceps are composed of an instrument tube, an instrument base, an instrument wrist part, a forceps head and a superfine rope, and precise clamping and flexible rotation are cooperatively realized; the instrument tube is a hollow titanium alloy long rod and allows the superfine rope to penetrate through. The instrument base comprises a base connecting part and a forked cavity part, and the forked cavity part is provided with a superfine rope hole, an arc-shaped guide surface and an arc-shaped lug plate and is connected with the wrist part; the instrument wrist part is provided with a lug plate structure, a main body structure and a cross structure, the lug plate structure is provided with an annular groove and a shaft hole, the main body structure is provided with a superfine rope through hole, an additional material protrusion and a limiting swing angle, and the cross structure is provided with a protruding block, a limiting end and a limiting tong head; the clamp heads are two symmetrical clamp bodies, and clamp teeth are meshed in a crossed mode to improve stability. The superfine ropes are three sets of medical stainless steel ropes or tungsten wire ropes and drive the forceps head to be opened and closed and the wrist to rotate. The needle holding forceps are optimized in structure, accurate in operation, high in space adaptability and capable of meeting fine operation requirements of minimally invasive surgery.

A sacroiliac (SI) joint implant assembly addresses SI joint dysfunction and degenerative sacroiliitis. The assembly includes a first implant body, a second implant body, and a piezoelectric layer positioned between them. The piezoelectric layer generates electrical charges when subjected to mechanical stress, stimulating bone growth and enhancing stability of the SI joint after surgery. The implant bodies may feature non-planar surfaces to distribute compressive and shear forces unevenly across the piezoelectric layer. The assembly can be secured using fasteners such as screws, pins, or brackets, and may include porous or fenestrated bodies made from materials like titanium or polymers. Some implant assemblies are designed for minimally invasive surgical procedures, with configurations that allow for precise placement using guide wires and imaging techniques. The assembly aims to stabilize the SI joint and promote bone fusion, leveraging the piezoelectric effect to improve the overall efficacy of the fusion procedure.

A clip dispensing system, clip dispenser, and method is described herein for dispensing and applying clips to tissue during minimally invasive surgery. The system may include a grasping surgical instrument having a shaft and a grasping tool, and a clip dispenser assembled to the shaft. The clip dispenser includes an inner tube surrounded by an outer tube and a plurality of clips housed between the inner tube and the outer tube. The clips include a first jaw, an opposing second jaw, and a cavity between the first jaw and the second jaw. The cavity permits the clip to slide along the length of the shaft and over the grasping tool of the grasping surgical instrument to be clamped onto a grasped piece of tissue with the aid of a second grasping instrument.

An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

The present invention is an apparatus, device or tool for performing endoscopic (that is, minimally invasive) surgery. An exemplary embodiment of the invention includes a video endoscope whilst in another embodiment of the invention includes an endoscopic surgical tool which, when equipped with one of a suite of endoscopic surgical instruments, can be used by a surgeon to perform surgical procedures inside a body. Another embodiment of the present invention includes a suite of endoscopic surgical instruments designed to work co-operatively with the endoscopic surgical tool. In another embodiment of the present invention, a video-assisted endoscopic surgical tool system is provided. In one embodiment, the system includes the video-assisted endoscopic surgical tool and a suite of at least one endoscopic surgical instrument.

Described herein are insertion devices configured to achieve an efficient delivery and placement of a thin-film implant into a surgical site that is open or minimally invasive. An example insertion device includes a distal portion configured to enclose and protect a thin-film implant device during delivery and placement into a surgical site, wherein the distal portion includes a top half and a bottom half, and the thin-film implant device is placed between the top half and the bottom half; a support structure positioned between the top half and the bottom half and adjacent a proximal end of the thin-film implant device, wherein the top and bottom halves are retractable independently of one another.

The invention relates to the technical field of medical robots, in particular to a shape sensing type bronchoscope robot control method, which comprises the following steps of: acquiring a tail end shape coordinate of a bronchoscope in a current bending state, and constructing a current bending state model of the bronchoscope; robot joint angle vectors are obtained through deformation state data collected in real time; according to the robot structure model, constructing a robot model in the current bending form; respectively constructing a bending part spring model and a joint spring model based on the stress conditions of the tail end control point and the bending part control point; lateral pressure borne by the bending part and the tail end of the bronchoscope in the current bending posture is collected and processed; self-adaptive control is realized based on the target control quantity; the shape of the bronchoscope is sensed in real time through multiple sensors, mechanical analysis is carried out in combination with a spring model, multi-strategy self-adaptive control is achieved, the accuracy, safety and efficiency of bronchoscope operation are improved, and powerful technical support is provided for bronchoscope examination and minimally invasive surgery.