46 results about "Operative instrument" patented technology

The invention relates to the field of medical education and training. The invention discloses a virtual reality-based operation training system and method, and the system comprises a data collection module which is used for collecting operation related data, a simulation training module which is connected to a data processing and modeling module and is used for the operation simulation training of students, and an evaluation module which is connected to the simulation training module and the data processing and modeling module and is used for the operation simulation training of students. The teaching assisting module is connected to the simulation training module and the evaluation module, and the system management module is used for managing the operation training system. According to the operation training system and method based on virtual reality, various data of an operation can be collected through the data collection module comprising a plurality of sub-modules, the operation force of an operation instrument, the pressure of an operation simulation scene and the operation pressure distribution data of a human body model can also be collected, and basic information is provided for subsequent training and analysis. The simulation training module provides a plurality of operation scenes and training modes. The evaluation module performs quantitative evaluation on multiple aspects of the trainees.

A quick connect tool, a replaceable tool, and methods are disclosed. The replaceable tool includes a shaft having a tool end, a coupling end opposite the tool end, and a longitudinal axis extending between the coupling end and the tool end. The shaft has a tool portion defining the tool end, a coupling portion defining the coupling end, the coupling portion having an outer peripheral surface shaped into a flat portion coextensive with an arcuate portion cooperatively forming a D-shaped cross-section. The flat portion and the arcuate portion extend along the longitudinal axis. The outer peripheral surface defines a peripheral groove extending transversely with respect to the longitudinal axis. The peripheral groove is configured to receive a bearing, and the outer peripheral surface also defines a bearing surface having a shape conforming to a partial spiral extending around the longitudinal axis and located at the coupling end of the shaft.

The invention provides an adapter and an operation auxiliary system. The adapter comprises an instrument driving device and a mounting platform, the instrument driving device is arranged on the installation platform, the adapter is used for being installed on the operation execution device through the installation platform, a motor in the operation execution device is used for driving the instrument driving device, and the instrument driving device is used for driving the operation instrument; the installation platform comprises a counting rack, a platform body and an installation bottom plate, the platform body is in transmission connection with a power output shaft of the operation execution device through the installation bottom plate, and the counting rack is installed on the platform body and used for limiting the use frequency of the adapter. According to the adapter provided by the invention, the use times of the adapter can be limited through the counting rack, the adapter is prevented from being used again after the set effective use times are exceeded, and the accidental failure condition of the adapter when the service life times are exceeded is avoided.

An instrument delivery unit includes a housing and an instrument storage device. The housing has an internal accommodating space and an instrument outlet in a side wall of the housing. A first transmission thread is provided on the housing, and a limiting guide portion is provided outside the housing. The limiting guide portion is fitted with a fixed member or structure and is configured to guide an axial movement of the housing and prevent a circumferential rotation of the housing. At least part of the instrument storage device is arranged in the housing, and an outer circumferential surface of the instrument storage device is provided with a helical accommodating groove for winding and storing the flexible body of the actuator unit. The instrument storage device is provided with a second transmission thread which is in transmission connection with the first transmission thread.

The invention provides an instrument opening and closing angle matching method, electronic equipment and a surgical robotic.The instrument opening and closing angle matching method is applied to the surgical robot, and the surgical robot comprises a master end device and a slave end device; the method comprises the following steps: acquiring a first initial angle of master end equipment and a second initial angle of slave end equipment; acquiring a first adjustment operation for the main handle; the first adjusting operation is used for controlling the opening and closing angle of the main hand handle to change from a first initial angle to a first opening and closing angle; and under the condition that a first angle change trend between the first initial angle and the first opening and closing angle is the same as a second angle change trend between the second initial angle and the first expected angle, activating a master-slave matching mode, and adjusting the opening and closing angle of the surgical instrument based on the first expected angle corresponding to the first opening and closing angle, the first expected angle is the angle, determined based on the first adjusting operation, of the surgical instrument.

The joint structure of the surgical instrument comprises at least two joint parts, and the end face of at least one end of each joint part is provided with an arc supporting face; every two adjacent joint parts are a first joint part and a second joint part, a first gear part is arranged on the side wall of each first joint part, and a second gear part is arranged on the side wall of each second joint part; the first gear part comprises a plurality of first joint teeth, the second gear part comprises a plurality of second joint teeth, and the first joint teeth can be meshed with the second joint teeth; when the first joint part and the second joint part rotate relatively, the first joint teeth on the first joint part and the second joint teeth on the second joint part rotate in a meshed mode, and the arc supporting face on the first joint part and the arc supporting face on the second joint part roll relatively. The invention further discloses a surgical tool and a surgical robot.

A surgical navigation method includes obtaining a three-dimensional image; selecting a viewing angle direction; generating one or more two-dimensional images arranged along the viewing angle direction from the three-dimensional image; superimposing the one or more two-dimensional images along the viewing angle direction to form a two-dimensional superimposed image; and guiding a movement of a virtual surgical instrument into the two-dimensional superimposed image.

The application discloses a remote medical interactive method based on virtual reality, and particularly relates to the field of remote medical interaction, and comprises the following steps: through synchronous acquisition of patient end multi-modal tactile data and transmission state parameters, a joint feature vector is established, and transmission delay of each modal tactile signal is predicted in real time. Through real-time image extraction of the doctor end, the operation stage and the tactile signal sensitivity index are extracted, the reward value is calculated by combining the double-branch regression network, the mode transmission strategy is updated, and a dynamic priority allocation matrix is generated; based on the matrix, the real-time network state and the delay prediction are combined, the bandwidth slice strategy is optimized, and signal compensation is performed; in addition, the operation instrument switching and pathological mutation are detected, the priority allocation is dynamically adjusted, and efficient transmission and operation feedback of the tactile signal are ensured.

Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

A rear-end transmission device, a surgical instrument, and a surgical robot are provided. The rear-end transmission device includes a first rotating member, a second rotating member, a first pulley assembly, a second pulley assembly, and a position adjusting assembly. The first rotating member is connected to a first cable and a second cable. The second rotating member is connected to a third cable and a fourth cable. The first pulley assembly includes a first movable pulley. The second pulley assembly includes a second movable pulley. The position adjusting assembly is configured to concurrently adjust positions of the first movable pulley and the second movable pulley, to pull in the first cable and the second cable while releasing the third cable and the fourth cable, or to pull in the third cable and the fourth cable while releasing the first cable and the second cable.

Systems and methods for generating an age determination model based on a test data set of a test instrument. A control system of the computer-aided system is configured to use an age determination model to provide a change in instrument age of an operating instrument under its control. The control system may provide guidance to the user based on an age of the operating instrument and may perform one or more remedial actions when an updated instrument age of the operating instrument exceeds an age threshold.

A jaw member of a surgical instrument includes a structural frame, an insulative spacer supported on the structural frame, an electrically conductive tissue contacting plate supported on the insulative spacer, and a lead wire. The spacer defines a pocket at an upper portion thereof and includes a channel extending from the pocket, through the spacer, to a bottom portion of the spacer. The channel defines a substantially U-shaped configuration having first and second radiused corners at the bottom portion of the spacer. The lead wire is attached to an underside of the plate at an attachment point within the pocket and extends distally from the attachment point into the channel, through the channel, over the first and second radiused corners, and proximally from the jaw member. The lead wire is adapted to connect to a source of energy to energize the plate for treating tissue.

The application provides a surgical robot arm configuration adjustment method, device, equipment and medium. The method comprises the following steps: in the case of meeting the configuration adjustment condition, controlling the surgical robot arm to rotate at a first joint, adjusting to an avoidance configuration in the mode of the first joint group and the second joint group performing compensation movement from an initial configuration; controlling a surgical instrument on the surgical robot arm to perform posture adjustment or position adjustment based on the avoidance configuration; wherein the position of the remote center of motion of the surgical instrument remains unchanged during the adjustment process of the robot arm from the initial configuration to the avoidance configuration, which effectively increases the distance between the avoidance target joint and the surrounding environmental obstacles without the need for additional hardware mechanisms and without interrupting the surgical operation, improves the automation level and adjustment accuracy of the surgical robot arm in the intraoperative avoidance, and guarantees the continuity and safety of the surgical operation.

The application of the invention is a divisional application of the Chinese application 202411545374.1. The embodiment of the invention provides a surgical robot end executive device and a power box. The end executive device of the surgical robot comprises a power box which is provided with a power box top plate, an information reader is arranged in the power box, the information reader is provided with a first antenna, and the first antenna surrounds a first shaft hole of the power box top plate; the isolation plate is detachably arranged on the power box; the surgical instrument is detachably arranged on the isolation plate, the surgical instrument is provided with a first transmission shaft, the position of the first transmission shaft corresponds to that of the first shaft hole, the first transmission shaft is provided with an information storage label, the information storage label is provided with a second antenna, and the second antenna is arranged on the first transmission shaft; and along the axial direction of the first shaft hole, a signal transmission path between the first antenna and the second antenna is in signal conduction. And the stability and the accuracy of reading the information of the surgical instrument are improved.

Provided is an end tool including: a first jaw configured to rotate independently; a J11 pulley coupled with the first jaw and configured to rotate around a first axis formed at an end tool hub; a J16 pulley formed at one side of the J11 pulley and configured to rotate around a second axis formed at one side of the first axis; a J12 pulley and a J14 pulley formed at one side of the J16 pulley, and configured to rotate around a third axis formed at a predetermined angle with the first axis. The end tool may further include: a first jaw wire configured to at least partially contact the J12 pulley, the J11 pulley, the J16 pulley, and the J14 pulley; a J16 pulley formed between the J11 pulley and a J12 pulley / a J14 pulley; and the first jaw wire is located on an internal tangent of the J11 pulley and the J16 pulley.

The invention relates to a shoulder joint surgical instrument, in particular to a shoulder joint suture gun which comprises a gun body and a hollow suture hook installed at the front end of the gun body, a main channel communicated with an inner cavity of the suture hook is axially arranged on the front portion of the gun body, and a suture line can be inserted into the inner cavity of the suture hook from the main channel. A thread channel is axially arranged in an inner cavity of the suture hook, and an elastic steel wire inserted into the thread channel penetrates through the main channel and extends out of the rear end of the gun body. After the suture hook punctures into the shoulder joint, the suture in the main channel is pushed to extend out of an inner cavity of the suture hook by hooking a driving mechanism on the gun body, and then the elastic steel wire is pushed from the rear end of the gun body to extend out of the inner cavity of the suture hook so as to abut against the extending part of the suture. By pushing the elastic steel wire, the end of the suture line can abut against the interior of the tissue until the suture line hook exits, and therefore the phenomenon that the suture line retracts is effectively prevented.

The application relates to an end instrument and a surgical instrument. The end instrument comprises a base, a joint assembly and a sensor assembly. The base is connected with a connecting rod. The joint assembly is movably connected to one end of the base away from the connecting rod and can move relative to the base. The sensor assembly is arranged on the joint assembly and is used for detecting the motion state of the joint assembly. Thus, during surgery, the surgical robot can detect the motion state of the joint assembly in real time through the sensor assembly, the surgical robot can be adjusted in real time according to the real-time motion state of the joint assembly, the motion precision of the joint assembly (distal joint) is improved, and the precise control of the joint assembly by the surgical robot is realized.

A surgical instrument is disclosed including a motor-powered firing system comprising a firing motor, a motor-powered closure system comprising a closure motor, and a control system. The firing motor is configured to drive a firing member between an unfired position and a fired position. The closure motor is configured to transition an end effector between an open state and a clamped state. The control system is configured to set a first parameter of the motor-powered closure system, based on a received first input, drive the end effector toward the clamped state with the motor-powered closure system using the first parameter, monitor a second parameter associated with the end effector transitioning toward the clamped state, set a third parameter of the motor-powered firing system, based on a received second input and the monitored second parameter, and drive the firing member toward the fired position using the third parameter.

The invention discloses an endoscopic image generation system and an endoscopic image generation method. A generation system includes a sleeve mirror assembly, a machine device, and a processing device. The sleeve mirror assembly is used for being matched with a surgical instrument. The sleeve mirror assembly includes a plurality of image acquisition assemblies. The machine device is used for moving the sleeve mirror assembly to a surgical site, and the image acquisition assemblies acquire a plurality of current images of a plurality of different visual angles respectively. One of the plurality of current images is composed of a first image portion and a second image portion. At least one of the plurality of current images comprises a third image, and the third image is the same as the region or position of the surgical site corresponding to the first image part. The processing device is configured to replace the first image portion with the third image and obtain a processed image. The endoscopic image generation system provided by the invention can further release the space in an operating room, and is beneficial to the proceeding of an operation.

A surgical instrument includes a housing, a shaft, an end effector assembly, a drive assembly, and a tissue sensor assembly. The end effector assembly has first and second jaws movable relative to each other between an open configuration in which the first and second jaws define a first jaw flare angle greater than a predetermined jaw flare angle and a closed configuration in which the first and second jaws define a second jaw flare angle greater than the predetermined jaw flare angle. The first jaw and the second jaw define a second jaw flare angle less than the predetermined jaw flare angle. The drive assembly includes a drive tube extending through the shaft, the drive tube configured to move the first jaw and the second jaw between an open configuration and a closed configuration. The tissue sensor assembly includes a tissue marker coupled to the drive assembly and translatable with the drive tube; and a tissue marker sensor coupled to the housing for detecting movement of the tissue marker.

A control system for controlling a surgical robot arm 206, comprising a first end effector element 208-1 and a second end effector element 208-2, the drive mechanism comprising one or more interface elements configured to interface with the robotic surgical instrument for controlling a spread angle between the first end effector element 208-1 and the second end effector element 208-2, the control system being configured to: cause an instrument drive force applied at the one or more interface elements to be varied; measure, at each of a plurality of times, the instrument drive force applied at the one or more interface elements; determine, for each of the plurality of times, a force behaviour value using a derivative of the measured instrument drive force with respect to the time at that time; determine an offset value in dependence on the plurality of determined force behaviour values; and control, in dependence on the offset value, the surgical robot arm to control the spread angle between the first end effector element and the second end effector element of the robotic surgical instrument.

A surgical instrument guide assembly includes a main guide portion that includes a shaft portion extending along a longitudinal axis and a body portion extending along the longitudinal axis, and a proximal end of the shaft portion is disposed at a distal end of the body portion. The main guide portion further includes a first lumen and a second lumen that each extends along the longitudinal axis from a proximal end at a proximal end of the body portion to a distal end at a distal end of the shaft portion. A seal portion is coupled to the proximal end of the body portion of the main guide portion, and the seal portion includes a first port and a second port formed in a seal wall of the seal portion. The seal portion is selectively displaceable from a first position to a second position.

The application relates to a surgical robot, a control method and a computer readable storage medium. The surgical robot comprises a master control console, a slave operating device and a control device. The master control console comprises an input device. The slave operating device is configured to mount a surgical instrument. The input device is used to control the movement of the surgical instrument. The input device comprises a plurality of joints and a handle. The handle is connected to the most proximal joint of the plurality of joints. The control device is configured to: acquire the position and speed of each joint of the input device; determine the gravity compensation amount and the elastic force compensation amount of each joint according to the position of each joint, and determine the friction force compensation amount of each joint according to the speed of each joint; and apply the gravity compensation amount, the elastic force compensation amount and the friction force compensation amount to the actuator corresponding to each joint. According to the technical scheme of the application, the gravity compensation, the elastic force compensation and the friction force compensation are respectively performed on each joint. The compensation effect is more comprehensive and accurate, and the operation experience of the input device is effectively improved.

The invention discloses a hybrid visual servo endoscope control system and method, robot equipment and a storage medium, and the endoscope control system comprises a sensing detection module and a controller module which are decoupled. The method comprises the following steps of: performing posture evaluation and depth evaluation on original depth measurement information determined based on three-dimensional surgical instrument tip image data acquired by an endoscope camera by utilizing a sensing detection module, so as to obtain smooth and stable three-dimensional posture measurement information; and the controller module determines the joint execution speed based on the three-dimensional pose measurement information, and then generates a corresponding control instruction according to the joint execution speed so as to control the endoscope. According to the control system and method provided by the invention, the sensing detection module and the controller module are separated, so that the reconstruction of the pose measurement data is realized, the high-precision three-dimensional pose measurement information is obtained, and the reliability of the control system and the control precision of the endoscope are improved.

Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

A surgical instrument includes a first arm having a first part connectable with a first interface or a second interface of a spinal implant. A second arm includes a second part connectable with the first interface or the second interface. The first part is connectable with the first interface and the second part is connectable with the second interface to dispose the arms in a fixed orientation with the spinal implant. The first part is connectable with the second interface and the second part is connectable with the first interface to dispose the arms in a movable orientation relative to the spinal implant. Systems, spinal constructs, implants and methods are disclosed.

A robotic surgical system includes a robotic arm and a surgical instrument. The surgical instrument is configured to connect with the robotic arm. The surgical instrument includes a shaft assembly, an end effector, and an articulatable section. The shaft assembly projects distally from the robotic arm along a longitudinal axis. The end effector includes an electrode and at least one aperture. The electrode is configured to apply electrosurgical energy to tissue. The end effector has at least one aperture is configured to receive a fluid or a vacuum therethrough for irrigating the tissue or removing debris from the patient. The articulatable section is disposed between the shaft assembly and the end effector. The articulatable section is configured to deflect the end effector between a straight configuration where the end effector extends along the longitudinal axis and an articulated configuration where the end effector is deflected from the longitudinal axis.

This invention discloses a puncture and catheterization device, belonging to the field of experimental animal surgical instruments. It includes an outer tube assembly and a needle core assembly. The outer tube assembly comprises a flexible microcatheter and an outer tube base fixed to the proximal end of the flexible microcatheter, the outer tube base having an internal channel communicating with the flexible microcatheter. The needle core assembly comprises a solid puncture needle and a needle core base fixed to the proximal end of the puncture needle. The needle core base and the outer tube base are detachably connected. In the assembled state, the tip of the puncture needle is located outside the distal end of the flexible microcatheter. Compared to leaving a hollow needle core in the body as a suture channel, the puncture and catheterization device of this invention reduces one nesting layer, allowing for a smaller overall outer diameter while maintaining puncture rigidity, thus adapting to rodents with more delicate blood vessels.

The invention provides a surgical navigation system and method, and the method comprises the steps: determining a target magnetic field correction through a magnetic positioning module according to the obtained structural characteristics of a surgical instrument, correcting magnetic field measurement data obtained by a magnetic field sensor according to the target magnetic field correction, and obtaining target magnetic field data; determining a first coordinate of the magnetic field sensor under a magnetic coordinate system of the magnetic positioning module based on the target magnetic field data, and registering the magnetic coordinate system and an image coordinate system of the target image image by the navigation host based on the first coordinate and an actual relative position relation between the image mark point and the magnetic field sensor, the surgical instrument is navigated based on the registered magnetic coordinate system and image coordinate system and the magnetic positioning data of the surgical instrument provided by the magnetic positioning module, the influence of the surgical instrument on the magnetic field is fully considered, and the target magnetic field correction is determined based on the structural characteristics of the surgical instrument to correct the magnetic field measurement data; the accuracy of registration is improved, and the surgical navigation precision is further improved.