32 results about "Natural orifice" patented technology

The invention provides an optical fiber force-shape sensing device and method through a natural orifice, and relates to the technical field of optical fiber sensing, the device comprises an operation arm mechanism, and specifically comprises a front end connecting joint, a plurality of movable joints and a tail end connecting joint which are sequentially and rotatably connected through a ball head and a ball socket, at least one limiting bulge is distributed on the circumferential surface of the ball head, and the limiting bulge is connected with the front end connecting joint; limiting grooves in one-to-one correspondence with the limiting protrusions are formed in the ball socket, and the limiting protrusions are in sliding fit with the limiting grooves so as to limit in-situ torsion between the adjacent joints. Through mutual cooperation of the limiting grooves and the limiting protrusions, in-situ torsion is reduced, torsional strength is improved, a shape-following embedded optical fiber sensor integration method is provided, shape reconstruction errors caused by movement dislocation are reduced, and protection of optical fibers is achieved. A first driving wire, four second driving wires, two optical fiber shape sensing modules and four optical fiber force sensing modules are embedded in the operation arm mechanism, and real-time accurate measurement of interaction force and the bending shape of the operation arm mechanism can be achieved.

The invention relates to the field of medical image processing, in particular to a pulmonary nodule natural orifice optimal path intelligent planning system which comprises a data preprocessing module, a bronchus three-dimensional segmentation module, a pulmonary nodule segmentation module, a differential geometric path search module, a path evaluation module and a doctor interaction module. The differential geometric path search module comprises a Riemannian curvature flow modeling unit, a multi-scale Gaussian curvature constraint unit and a geodesic curvature self-adaptive correction unit, can model bronchus into a Riemannian manifold, applies curvature flow optimization, and combines a multi-scale decomposition strategy and a geodesic theory to obtain a geodesic curvature self-adaptive correction model; precise description and optimal path planning of bronchial geometrical characteristics are realized, the path evaluation module provides multi-dimensional evaluation of blood vessel avoidance, diameter adaptation and curvature safety, and the doctor interaction module supports three-dimensional visualization and real-time path editing. The problem that a traditional Euclidean space algorithm is insufficient in description of complex forms of bronchus is solved by introducing a differential geometry theory.

The invention discloses an execution mechanism, system and control method of a natural orifice passing diagnosis and treatment robot. The robot executing mechanism comprises a first continuous body section and a second continuous body section which are mechanically coupled, reversible anchoring components are arranged at the far ends of the first continuous body section and the second continuous body section respectively, and the first continuous body section has active controllable bending capacity. The robot system comprises the robot executing mechanism and a driving and control module. By controlling the two reversible anchoring parts to anchor alternately and coordinating and driving the two continuous body sections to push alternately and relatively, the robot executing mechanism can achieve growth type movement in the cavity. According to the control method, through the circulation steps of outer anchoring, inner bending extending, inner anchoring and outer follow-up, the robot executing mechanism gradually goes deep into the narrow bent cavity. An intracavity supporting point can be dynamically established through an alternate anchoring mechanism, and the advancing stability and operation precision of the flexible instrument are improved.

A device for delivering a predetermined amount of at least one substance to a body orifice of a subject includes a) a container for containing said at least one substance; b) a delivery end for placement in proximity to the orifice, the delivery end being in fluid communication with the container; c) a valve mechanically connectable to said container, characterized by at least two configurations: (i) an ACTIVE CONFIGURATION in which said valve enables delivery of predetermined amount of said substance from said container to said body orifice via said delivery end; and, (ii) an INACTIVE CONFIGURATION, in which said valve prevents delivery of said predetermined amount of said substance from said container to said body orifice; d) a trigger mechanism adapted to reconfigure said valve from said INACTIVE CONFIGURATION to said ACTIVE CONFIGURATION, and vice versa; and e) a fluid tight chamber.

The invention relates to a throat natural cavity operation platform, and belongs to the technical field of medical instruments, the throat natural cavity operation platform comprises an operation table, a support frame, a lower support mechanism and a bendable throat cannula, the two ends of the operation table in the width direction are the front end and the rear end respectively, a patient sits in front of the operation table through a seat, and a doctor sits behind the operation table through the seat; the support frame is fixed on the table top close to the front part of the operating table; the lower support mechanism comprises an electric push rod and a lower jaw support; the electric push rod is fixed on the support frame and a telescopic end thereof reciprocates along the height direction of the support frame; the supporting frame is fixed to the telescopic end of the electric push rod. The throat cannula is located above the rear portion of the lower jaw support and fixed to the supporting frame. A traditional throat cavity operation platform structure is subverted, a sitting type operation is adopted to replace a horizontal type operation, the throat operation of local anesthesia can be implemented, the worry of a patient is reduced, the operation convenience of a doctor can be improved, the treatment effect is improved, and the medical cost is reduced.

1. Name of the product in this design: Endoscopic Visual Device. 2. Purpose of this design: To be inserted into the human body through wounds or natural orifices for observation. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1. 5. Other matters requiring explanation: The product in this design is a long and slender item, and its length is abbreviated in the drawing; in the reference drawing of the usage state, part A is the handle; the reference drawing of the cross-sectional view of part A is a schematic cross-sectional view of part A along the axial direction.

The application discloses a natural cavity tissue ablation device and an ablation system. The tissue ablation device comprises an operation handle, a sheath tube and an ablation mechanism. One end of the sheath tube is connected to the operation handle, and the other end is used for entering the body through a natural cavity. The ablation mechanism is arranged in the sheath tube and is arranged to be exposed from the other end of the sheath tube. The ablation mechanism comprises a puncture piece and a sub-puncture needle in the puncture piece. The puncture piece is used for puncturing into the tissue to be ablated. The sub-puncture needle is arranged to be punctured out of the side opening of the puncture piece to puncture other regions of the tissue to be ablated. The sub-puncture needle is connected to an ablation device outside. The ablation device is used for sending an ablation signal to the sub-puncture needle to perform an ablation operation on the tissue to be ablated. The direction of the sub-puncture needle puncturing out of the side opening of the puncture piece can be adjusted. The above scheme can be suitable for precise ablation of tissues with different regular shapes.

The invention provides a mouth-nose combined multi-arm nasopharynx skull base surgical robot, and relates to the technical field of nasopharynx skull base surgeries, the mouth-nose combined multi-arm nasopharynx skull base surgical robot comprises a mounting plate, a first surgical arm and a second surgical arm are arranged on the mounting plate, a first positioning integration and a second positioning integration are integrated in the first surgical arm, a third positioning integration is integrated in the second surgical arm, and the first positioning integration and the second positioning integration are integrated in the mounting plate. The first positioning integration, the second positioning integration and the third positioning integration are each internally provided with an upper arc-shaped plate. According to the device, the auxiliary knife arm, the lens arm and the main knife arm are arranged, the auxiliary knife arm and the lens arm can enter from the nasal cavity, the main knife arm can enter from the oral cavity, the design can better cope with a bent approach and an operation scene requiring complex operation, an operation area can be observed and operated from multiple angles, a clear visual field is provided, and the operation efficiency is improved. A doctor can more accurately judge the relation between the lesion position and surrounding tissue, and the problems caused by the leverage effect of a rigid straight sheath in a traditional natural orifice surgical robot are solved.

Systems and techniques for endoscopically-assisted percutaneous medical procedures are described. Techniques can include inserting a first medical instrument having an elongated shaft and a first position sensor into a region of anatomy through a natural orifice. A first position of the first medical instrument within the region can be determined with the first position sensor. A target location can be defined within the region based on the determined first position. A second medical instrument can be percutaneously guided toward the target location. The techniques can be implemented with a robotically-enabled medical system.

The invention discloses an object taking bag for taking a surgical specimen through a rectal cancer operation NOSES, and relates to the technical field of taking a specimen through a natural orifice, the object taking bag comprises a main cylinder part, a shaping part and a separating part, so that a lower pull line is matched with a taper hole membrane, after the cylinder membrane is preferentially filled in the front stage of the working process, an inner air hole is opened to inflate an upper ring membrane, and the upper ring membrane is separated from the lower ring membrane; on the basis of the effect of reducing the pneumoperitoneum push-out pressure by opening the conical hole film, the unexpected effect of separating the upper conical film and solving the problem of difficulty in initial opening is achieved through the upper pull wire, and the side pipe film and the upper ring film are matched with the upper pull wire to complete the initial opening effect; and an unexpected technical effect of supporting the cylinder film and the upper ring film is achieved.

A device for accessing a body cavity through a natural orifice comprises a proximal base member and a plurality of conduits arranged to receive a corresponding plurality of surgical tools. The device further comprises, for each conduit, a lumen shaped for passage therethrough of a surgical tool, the lumen having a proximal port and a distal opening, a gas port in fluid communication with the lumen and displaced distally from the proximal port, and a proximal sealing gasket seated in the lumen and adapted for selectively opening and closing. The gasket is displaced distally from the proximal port and proximally from the gas port so as to create a respective proximally-sealed distal gas volume in communication with the body cavity.

Minimally invasive histotripsy systems and methods are provided. In some embodiments, a minimally invasive histotripsy device is inserted into a patient. The device can be inserted endoscopically through a natural orifice of the patient, or laparoscopically through an incision in the patient's skin. The minimally invasive histotripsy device can be advanced to the target tissue and acoustically coupled to the target tissue before applying histotripsy therapy to the target tissue. In some embodiments, the minimally invasive histotripsy device includes a transducer array with a focal length of approximately 10-40 mm, a diameter of less than 35 mm, and the ability to create a peak negative focal pressure of at least 20 MPa.

The invention discloses a self-service mini human body natural orifice ultrasonic drug delivery device and a preparation method thereof, and relates to the technical field of medical instruments. The invention aims to solve the problems that an existing dosing device cannot touch a deep focus in a cavity, operation is complex, the cavity is prone to being damaged, medicine retention is poor, and adaptability is low. The dosing device comprises a base body, a pluggable cleaner, an ultrasonic dosing device and a cooling body, the core component is made of medical silica gel and medical polyethylene, and the piezoelectric transducer realizes medicine permeation of 30cm at the maximum under the frequency of 0.5-50MHz; temperature monitoring, separation alarming, cleaning and liquid collecting of a matched cleaner and medicine locking of a cooling body are integrated, and the device is matched with multiple cavities such as the oral cavity, the nasal cavity and the external auditory canal through modular design. According to the invention, noninvasive self-service precise drug delivery is realized, cavity injury is avoided, the drug retention rate is high, IP67 waterproof and dustproof and medical standards are met, the drug delivery device can be reused, the cavity disease curing time is effectively shortened, and the drug delivery device has high clinical application value.

The application relates to a side-by-side type progressive structure natural cavity operation robot, which solves the technical problems that the flexible arm in the prior art natural cavity operation robot is unstable, unreliable, poor in flexibility and incapable of accurately adjusting the posture of an endoscope, and comprises a base, a flexible trunk, a power device, a screw transmission device, a chain link pushing device, a trunk support frame, an endoscope mounting cylinder and an endoscope. The flexible trunk comprises a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, a plurality of bowl-shaped chain links and a plurality of cylindrical chain links with spherical end portions.

The present application relates to the field of medical devices, and discloses a multi-joint mechanical arm group and a surgical robot system comprising the arm group. The multi-joint mechanical arm group comprises: a plurality of mechanical arms, a distal end portion of the mechanical arm is provided with an end effector and / or a camera, the end effector is arranged to be capable of performing surgical operation, and the camera is arranged to be capable of acquiring images, and the distal end portions of the plurality of mechanical arms are arranged to be capable of extending into a patient's body from at least two incisions. The mechanical arm group can not only more efficiently utilize the bed side space and the working space of the surgical robot mechanical arm, but also can be better applied to the system design of multi-port, single-port, single-multi-port hybrid and / or natural orifice surgical robot and used for surgery.

Systems and techniques for endoscopically-assisted percutaneous medical procedures are described. Techniques can include inserting a first medical instrument having an elongated shaft and a first position sensor into a region of anatomy through a natural orifice. A first position of the first medical instrument within the region can be determined with the first position sensor. A target location can be defined within the region based on the determined first position. A second medical instrument can be percutaneously guided toward the target location. The techniques can be implemented with a robotically-enabled medical system.

Disclosed is a device for extraction of a resected tissue or the like from a body comprising an elongate portion having a rounded end; a sleeve assembly comprising an anchor portion for contacting a region around the resected tissue when inflated, and a body portion shaped and dimensioned to receive the resected tissue; the body portion comprises a first end, a second end and a pliable sleeve; the first end and the second end each having a respective diameter greater than a desired diameter of the natural orifice or a tissue opening; wherein the pliable sleeve is disposed between the first end and the second end in a manner which a distance between the first end and the second end is adjustable.

1. The name of the design product: endoscopic visual device. 2. The use of the design product: through the wound or natural orifice into the human body, for observation. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1. 5. Other components that need to be explained: the design is a component product, including component 1 and component 2, wherein component 1 is a tube core (A part is transparent material), and component 2 is a camera.

The present invention relates to an endoscope suturing device and, more specifically, to an endoscopic suturing device capable of suturing a range of incisions by using an endoscope. According to the present invention, a wide range of incisions can be continuously sutured with high suturing power by using an endoscope, the suturing procedure time can be shortened, and a suturing method using a suture can minimize leftover foreign substances in the body, and thus can prevent side effects caused by the foreign substances. In addition, by using an endoscope, suturing with high-reliability is possible regardless of the range of suture areas, and thus the present invention can be used for simple suturing procedures and various internal surgeries such as gastrointestinal reduction surgery and NOTES, which uses a natural orifice.

The present application relates to the field of medical devices, and discloses a multi-joint mechanical arm group and a surgical robot system comprising the arm group. The multi-joint mechanical arm group comprises: at least one mechanical arm, a distal end portion of the mechanical arm is provided with an end effector and / or a camera device, the end effector is arranged to be capable of performing a surgical operation, the camera device is arranged to be capable of acquiring an image, and the distal end portion of the at least one mechanical arm is arranged to be capable of extending into a patient's body from an incision. The mechanical arm group can not only more efficiently utilize the space beside a patient bed and the working space of a surgical robot mechanical arm, but also can be better applied to the system design of multi-port, single-port, single-multi-port hybrid and / or natural orifice surgical robots and used for surgery.

A device for making an amniotic cavity access through a mother and method thereof is disclosed, which includes a transvaginal fetal membrane puncture assembly configured to construct the amniotic cavity access through a natural orifice of a maternal vagina, a trans maternal abdominal wall uterine fetal member puncture assembly configured to construct the amniotic cavity access through the maternal abdominal wall and / or a belly button, and an amniotic cavity combined sheath configured to form the amniotic cavity access for placing a fetus positioning surgical robotic arm and / or surgical instruments, thereby providing a safe operation channel for the implementation of an intrauterine fetal minimally invasive surgery.

A natural orifice passing surgical robot trolley with a laser positioning and distance measuring device comprises a trolley base, a mechanical arm installed on the trolley base and the laser positioning and distance measuring device, and the trolley base further comprises a cuboid-shaped trolley base body with the hollow interior and idler wheels installed at the bottom of the trolley base body; the laser positioning and distance measuring device is installed in the middle of the upper portion of the outer vertical face of the trolley base body.

A natural orifice synergistic drug delivery device comprises a slender hard rod-shaped body (11) and a soft body (12) wrapping the rod-shaped body (11), the rod-shaped body (11) is provided with a rod-shaped body head part (111) entering a natural orifice opening during use, a rod-shaped body middle part (112) and a rod-shaped body tail part (113) located outside the natural orifice opening during use, and the drug delivery device (1) is provided with a liquid injection port (101), a liquid passage (10) and a radial liquid outlet (102). The head area of the soft body (12) is provided with a hollow flexible wrapping part (125) and / or a suction cup part (127), the internal space (1250) of the flexible wrapping part can at least contain a part of the tail part (23) of the solid suppository, and during use, the solid suppository (2) is firstly inserted into the flexible wrapping part (125) and / or adsorbed on the suction cup part (127), and then the administration device is slowly inserted into a natural orifice through an opening of the natural orifice. And then a liquid medicament is injected through the liquid injection port, the dosing device is pulled out of the opening of the natural cavity, and the solid suppository is retained in the natural cavity.

The utility model discloses a minimally invasive degradable digestive tract anastomosis stent through a natural orifice, which comprises a stent main body, the stent main body has compressibility, is a balloon expansible or self-expandable stent, is made of degradable materials, and is small in the middle and relatively expanded at two ends. A plurality of barbs are arranged at the two ends of the stent main body, when the stent main body is compressed, the barbs can be attached to the outer wall of the stent main body, and when the stent main body is unfolded, the barbs can be unfolded towards the outer side. The barb structures are arranged at the two ends of the stent body, the stent body can be fixed more firmly after the balloon is expanded, it can be ensured that an anastomotic stoma can be kept stable after an operation, and the risk of fistula formation is reduced.

Minimally invasive histotripsy systems and methods are provided. In some embodiments, a minimally invasive histotripsy device is inserted into a patient. The device can be inserted endoscopically through a natural orifice of the patient, or laparoscopically through an incision in the patient's skin. The minimally invasive histotripsy device can be advanced to the target tissue and acoustically coupled to the target tissue before applying histotripsy therapy to the target tissue. In some embodiments, the minimally invasive histotripsy device includes a transducer array with a focal length of approximately 10-40 mm, a diameter of less than 35 mm, and the ability to create a peak negative focal pressure of at least 20 MPa.

A device for delivering a predetermined volume a substance within a body cavity. The device includes: at least one predefined volume sized and shaped to contain a predetermined volume the substance; a delivery end in fluid communication with a container; and at least one valve mechanically connected to the container and configurable between an active configuration in which the valve enables delivery of a volume of the substance and an inactive configuration, in which the valve prevents delivery.

The present invention provides a wirelessly powered electrical stimulation system. In one embodiment, the system comprises: a) a power transmitter comprising a wearable transmitting coil for wireless power transmission and a portable control circuit; and b) a wireless electrical stimulator comprising a power management module and a pulse stimulation module configured to apply electrical stimulation to a target tissue. In one embodiment, the wireless electrical stimulator further comprises a sensing module configured to monitor the motility or electrophysiological signals of the target tissue. In one embodiment, the wireless electrical stimulator is made of a flexible or pliable material. The wireless electrical stimulator is configured to be delivered through a natural orifice without open surgery. Related minimally invasive implantation methods are also provided.

The application discloses an acoustic intervention image platform for natural cavities and blood vessels. In the platform, a signal processing reconstruction and human-computer interaction module transmits in-vivo intervention control instructions; a multi-channel multi-modal dynamic electromechanical module provides power and transmits rotary torque; the multi-channel multi-modal dynamic electromechanical module adjusts the shape of a multifunctional catheter module through dynamic electromechanical control. The catheter body has multiple flexible structures, and based on power movement, shape changes occur under the control of the dynamic electromechanical unit. The transducer of the in-vivo acoustic intervention sensing module rotates under the action of the rotary torque and detects the current in-vivo environment to generate a detection signal; the signal processing reconstruction and human-computer interaction module processes and visually reconstructs acoustic image data according to the detection signal provided by the in-vivo acoustic intervention sensing module, and visually displays the acoustic image data. The platform has strong scene universality, and supports natural cavity intervention and is applicable to in-vessel intervention.

The embodiment of the invention discloses a surgical robot control method and system and a medium, and the method comprises the steps: calculating a speed control instruction of each joint of a mechanical arm according to torque feedback data and a virtual fixed point of each joint of the mechanical arm, so as to control a surgical robot to move around the virtual fixed point. According to the invention, the tail end of the mechanical arm can be accurately controlled to perform conical motion around a notch or a natural orifice, and the inspection accuracy and efficiency are improved; a rotation speed equation is established, and different proportions can be set according to torque sensitivity in different directions, so that more precise and flexible motion control of the mechanical arm of the surgical robot is realized, and the mechanical arm can adapt to different medical operation scenes; the joint configuration can be optimized through null-space motion by utilizing the redundancy characteristic of the seven-axis mechanical arm, joint limits and singular points can be avoided, and the motion safety and reliability of the mechanical arm are improved.

The mounting system is configured to operably couple the tool module relative to a component of the medical instrument. In some aspects, the component to which the tool module is operably coupled is an elongate member adapted to pass through a natural aperture of a patient. The tool module may include a replaceable end cap having a needle holder adapted to pass a needle through tissue, and an actuator adapted to control movement of the needle holder arm. A suture needle with suture may be removably coupled to the needle holder. The instrument may be associated with a robotic system for robotically controlling the components of the instrument to which the tool module is operably coupled and / or the tool module.