31 results about "Operative instrument" patented technology

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.

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.

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 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 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.

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.

The utility model relates to an experimental animal surgical instrument, in particular to a device capable of indwelling an arterial duct of a rat. The blood drawing device comprises an intravascular catheter, a subcutaneous catheter and a blood drawing catheter which are sequentially connected through a first fixing knot and a second fixing knot, the intravascular catheter is provided with an oval side hole, and the blood drawing catheter is provided with a rubber piston and an annular application. The intravascular catheter is convenient to operate and place in the blood vessel, and the elliptical side hole conforms to the blood flow direction to improve the blood sampling efficiency; the blood drawing catheter is thick, so that blood can flow out quickly, and biting of rats can be resisted. The fixing joint is of a cylindrical sleeve structure, and the inner diameter is tightly matched with the outer diameter of the catheter. During operation, the catheter in the blood vessel is inserted into the artery, the first fixing knot is bound, then the subcutaneous catheter is laid and penetrates out of the skin to be connected with the blood drawing catheter, then the second fixing knot is bound, finally the annular application is used for fixing, and pricking or piston pulling operation can be directly conducted during blood drawing. The device can reduce damage to rats and improve blood sampling convenience and efficiency.

A microwave ablation system includes a surgical instrument having an instrument connector and a microwave generator having a generator connector. The instrument connector includes a magnet and a plurality of conductors. The generator connector is configured to couple to the instrument connector and includes a housing, a support base, a magnet, at least one spring, and a plurality of pogo pins. The support base is operably coupled to the housing and configured to move longitudinally along a longitudinal axis of the generator connector. The magnet is operably coupled to the support base and positioned to align with the magnet of the instrument connector. The spring is configured to bias the support base proximally within the housing. The pogo pins extend distally from the support base with each pogo pin being configured to align with a respective conductor of the plurality of conductors of the instrument connector.

An end effector for use with a robotic system includes: a proximal hub having a first upright support opposite to a second upright support; a distal hub having the first and second upright supports and pivotally connected to the proximal hub about a first pivot axis; a first gripper member; a second gripper member; a first idler wheel; and a second idler wheel. The first and second gripper members are pivotally connected to the first and second upright supports of the distal hub about a second pivot axis. A first and second cable group are configured to extend around the first and second idler wheels and around the first and second gripper members to allow rotation of the first and second gripper members. The distal hub, the first idler wheel, and the second idler wheel are angled to produce an offset angle of approximately zero degrees.

The present invention relates to a surgical forceps tool (1), a surgical instrument (10), a forceps tool (1) and a method for the production thereof. The surgical forceps tool (1) has two jaw parts (2, 2'), an actuation element (3), which defines a longitudinal axis (L), and a fork holder (4) having two arm portions (50) and at least one tube portion (60) through which the actuation element (3) extends for engagement with the two jaw parts (2, 2'), which are mounted between the two arm portions (50) so as to be movable about a pivot axis (S) in each case. Each jaw part (2, 2') has, on an actuation portion (20), a pivot pin (21) which is received in a pivot recess (52), formed on the arm portion (50), in order to form the pivot axis (S), and has a coupling opening (22) in which one of two drive pins (32, 32') formed on a distal end portion (30) of the actuation element (3) is received. Each jaw part (2, 2') has a guide pin (23) and each arm portion (50) has a guide track (53), concentric with respect to the pivot recess (52), for guiding the guide pin (23), the distance of which from the pivot pin (21) corresponds to a distance of the guide track (53) from the pivot recess (52). The fork holder (4) is formed in a joining arrangement, wherein each fork arm (5) has a joining portion (51), and the fork body (6) has two contact portions (61, 61') which are connected to the joining portions (51) of the fork arms (5) in the joining arrangement.

A locking mechanism 1 comprising a pull stud 11, a bore 12, and at least one input member 114, 115. The bore 12 is configured to receive the pull stud 11. The locking mechanism 1 is configured to retain the pull stud 11 within the bore 12. The locking mechanism 1 is configured such that the pull stud 11 is released from the bore 12 by a user exerting a release force on the at least one input member 114, 115. The pull stud 11 is removable from the bore 12 in a removal direction, d1, and the release force is perpendicular to the removal direction, d1. Applications of the locking mechanism 1 may include, but are not limited to, mounting a sample holder to a sample stage, mounting a camera to a drone, or mounting a navigation marker to a surgical instrument. [Figure 1a]

The present application provides a surgical instrument, comprising: an actuator assembly, the actuator assembly comprising a first jaw and a second jaw for closing, clamping, and squeezing patient tissue; a staple cartridge assembly disposed between the first jaw and the second jaw, the staple cartridge assembly comprising a plurality of staples and a firing member for firing the plurality of staples and / or cutting the patient tissue; a drive system comprising a drive source and a transmission mechanism, the drive source being used for providing a driving force to drive, by means of the transmission mechanism, the firing member to move so as to fire the plurality of staples and / or cut the patient tissue; and a controller used for determining a firing speed of the firing member at least on the basis of time parameters of a closing process of the first jaw and the second jaw, the firing speed being a moving speed at which the staples are fired and / or the patient tissue is cut. By means of the described surgical instrument, tissue can be effectively protected, and a successful stapling rate can be increased.

The application relates to a robot control method and device, a robot system and a storage medium, wherein the method comprises the following steps: determining joint acceleration of a robot in a next control cycle according to joint torque of the robot in a current control cycle, robot motion information and a predetermined acceleration constraint condition of the robot in the next control cycle; the acceleration constraint condition is determined according to operation space constraint and joint space constraint of the robot, and the operation space constraint and the joint space constraint are determined according to constraint space of the robot; determining joint torque of the robot in the next control cycle according to the joint acceleration of the robot in the next control cycle; and controlling the robot according to the joint torque of the robot in the next control cycle. Through the application, the technical problem that the accuracy of end surgical instruments of the robot moving in a limited space cannot be ensured is solved.

A surgical instrument includes a first and second jaws. The first jaw has a first interior surface and first side surface such that the first side surface defines a first groove configured to accept a suture thread within and inhibit the suture thread from traversing along the first side surface in a longitudinal direction. The second jaw has a second interior surface and a second side surface such that the second side surface defines a second groove configured to accept the suture thread within and inhibit the suture thread from traversing along the second side surface in the longitudinal direction. The first and second jaws are movable relative to each other from an open state toward a closed state. In the closed state, the first interior surface and the second interior surface are configured to cooperate with each other to securely grip a needle or the suture thread.

A control system for calibrating a surgical robot, the surgical robot comprising an arm 301 extending from a base 309 to an attachment structure for attaching to a surgical instrument, the arm compris

The application discloses a space positioning method, device and system based on grid coding, which comprises the following steps: based on a two-dimensional positioning grid attached to a target region of a target object, a first grid code image collected is acquired; a grid code unit is extracted from the first grid code image, a first estimated pose of a surgical instrument is calculated through a visual positioning algorithm based on a grid code generated based on an anatomical structure; based on the first grid code image, a pre-stored reference three-dimensional scanning data is compared and matched to obtain a first space registration deviation; when the first space registration deviation exceeds a preset deviation threshold, a navigation pose of the instrument device is obtained after the first estimated pose is corrected according to the first space registration deviation; when the first space registration deviation is within the preset deviation threshold, the first estimated pose is taken as the navigation pose of the instrument device. The application effectively improves the positioning accuracy and reliability of the navigation system and realizes adaptive correction of the intraoperative dynamic error.