2614 results about "Surgical device" patented technology

The invention discloses a surgical instrument segmentation method based on a double prior guidance network, and the method specifically comprises the steps: constructing a hybrid encoder composed of a visual basic model and a state space model, and carrying out the coding processing of an input surgical endoscope image; the visual basic model is an SAM2-Hira model; the state space model is a MambaVision model; an adapter layer composed of a standard adapter and a Mama enhancement adapter is arranged between the coding layer and the decoding layer, and coding features are processed; setting a multi-context guide decoder, and performing multi-scale feature recovery and mask segmentation; a hybrid encoder, a Mama enhancement adapter and a multi-context guidance decoder form a double-priori guidance network DPG-Net, and high-precision surgical instrument segmentation is realized by using the DPG-Net. Accurate visual support is provided for the surgical robot, and the accuracy and safety of surgical operation are greatly improved.

A system and apparatus for automatic smoke evacuation using an RF sensor. The system and apparatus utilizes an RF sensor for automatic activation of an evacuator that evacuates smoke and / or debris during the use of any electrosurgical instrument or surgical instrument that is capable of generating smoke and / or debris and capable of producing a radiofrequency during its operation. Exemplary embodiments of the system and apparatus for automatic smoke evacuation include both wired and wireless embodiments.

Embodiments of the present disclosure may include a method of training an electro-mechanical system that includes local trainable AI, the method including training a local AI for a controller of the electro-mechanical surgical device or system with simulated data. Embodiments may also include performing a task or set of tasks or operations with the device or system as controlled, instructed, influenced, or the like by the controller having the local AI system. Embodiments may also include collecting real-life data from the step of performing. Embodiments may also include further training the local AI system and improving the AI simulated data generator with real-life data. Another embodiment relates to a system for providing a user with suggestions during social interactions. Embodiments of the invention may extend across many types of devices and systems, control systems, sensors, types of AI, and so forth, and combinations of the foregoing.

The invention relates to a debridement nursing device in operating room nursing, belongs to the technical field of surgical operating instruments, and aims to solve the problems that a hose of a traditional flushing device is easy to block, needs to be manually disassembled for cleaning or increasing water pressure, is easy to damage tissues and interrupts an operation flow. Pressurizing assemblies are fixedly connected in the two air pressure adjusting cavity assemblies, ejector rod assemblies are connected in the two air pressure adjusting cavity assemblies, automatic detection and dredging of hose blockage are achieved through linkage of the air pressure adjusting cavity assemblies, the pressurizing assemblies and the ejector rod assemblies, when a hose liquid outlet is blocked, an electromagnetic valve switches an air source, and the hose liquid outlet is blocked. The extrusion action is matched with the high-speed flushing fluid to generate shearing force, attachments in the tube are stripped, and the situation that an operation is interrupted due to manual intervention is avoided.

The invention relates to the technical field of intelligent urethral surgical instruments, and particularly discloses a urethral dilation path planning system integrating visual SLAM and force perception, which synchronously acquires image data of the internal environment of the urethra and contact force data between the instrument and tissues through an image sensor and a force sensing unit integrated at the front end of the dilation instrument; constructing a three-dimensional environment model in the urethra by utilizing a visual SLAM technology, and positioning the position of an instrument in real time; the force data and the three-dimensional model are fused to generate a dynamic force distribution diagram, and a safe expansion path is planned based on the distribution diagram and the current position of the instrument; dynamically adjusting the advancing direction and the expansion force of the instrument through a closed-loop control system to enable the instrument to move along a planned path; meanwhile, path deviation and force abnormity are detected in real time through a monitoring mechanism, and model updating and path re-planning are triggered.

The invention relates to a nerve monitoring monopole electrocoagulation hook for thyroid surgery and a surgical instrument, and relates to the technical field of medical instruments.The electrocoagulation hook comprises a nerve detecting piece installed at the front end of a handle, an insulating pipe body is arranged in the nerve detecting piece, a smoke suction channel and a sliding hole are formed in the insulating pipe body, and a rod body is slidably inserted into the sliding hole and connected with an external power source; the far end of the rod body is provided with a hook body bent relative to the rod body, and the surface, deviating from the smoke suction channel, of the hook body forms an electrocoagulation face. The hook body is provided with a first-stage heat conduction assembly, avoids the electrocoagulation surface and is in heat conduction connection with the electrocoagulation surface; one end of the second-stage heat conduction assembly is in heat conduction connection with the first-stage heat conduction assembly, and the other end of the second-stage heat conduction assembly extends into the smoke suction channel. Through the combined design of two-stage heat conduction and heat dissipation, heat generated by the electrocoagulation surface during coagulation and cutting can be rapidly conducted through the heat conduction assembly and is dissipated and taken away through cooperation of the smoke suction channel, so that the diffusion risk of the heat in adjacent nerves and tissues is reduced to a certain extent, and the operation safety and stability in an operation are improved.

The invention relates to the technical field of medical equipment maintenance, in particular to an operation power system prediction maintenance method and system based on digital twinning, and the method comprises the steps: carrying out the digital modeling of an operation power system, and forming a digital twinning system; acquiring real-time state information from three channels of a power supply, a surgical instrument and a cooling system; constructing a heterogeneous data characterization mechanism based on a matrix manifold, and mapping multichannel data to a unified feature space; establishing a multi-channel fusion algorithm of adaptive feature weight optimization; constructing an aging degree degradation model; outputting the aging degree of the system; according to the method, the problem of multi-source heterogeneous data fusion is innovatively solved, the prediction precision and the maintenance efficiency are improved, accurate evaluation of the health state of the operation power system, accurate prediction of performance degradation and intelligent optimization of maintenance decision are achieved, and the equipment reliability and the operation safety are effectively improved.

A system for robot-assisted surgery includes a surgical robot having a robotic arm, an end effector coupled to the robotic arm, wherein the end effector is adapted to receive, translate, and orient a navigated surgical instrument; a camera tracking system adapted to intra-operatively track a pose of the navigated surgical instrument relative to a defined coordinate system; and a computer platform including a processor and a memory. In embodiments, the computer platform operative to display to a user an image of a target location on the patient and the pose of the navigated surgical instrument; and selectively control translation and orientation of the navigated surgical instrument based on a defined operational mode, to perform a surgical process under user control that comprises one or more of: reaming an acetabulum of the patient to a planned center of an acetabular prosthesis, or positioning the acetabular prosthesis in the reamed acetabulum.

The invention discloses a shapeable surgical instrument with a locking device, relates to the technical field of medical instruments, and is particularly suitable for single-port endoscopic surgery. The device comprises an outer rod assembly, an inner rod assembly and a handle assembly, the outer rod can be shaped into any continuous space curve by hands and keep the shape, and the problems that a traditional straight rod instrument cannot reach a narrow operation area, and a pre-bending instrument cannot be shaped secondarily are solved. The inner rod is a flexible force transmission element, the far end is connected with the tong head assembly, and the near end is connected with the handle assembly through a detachable locking device. The locking device drives a radial movable block (a sphere or a cylinder) to clamp the inner rod through an axial movable block, so that quick disassembly and assembly are realized; and the tong head can be synchronously driven to rotate (through the rotating wheel) and open and close (through the rear handle) in cooperation with the handle assembly. According to the design, the instrument is divided into three independent parts, namely the handle, the outer rod and the inner rod, an inner hole of the outer rod is thoroughly exposed, the problem that postoperative cleaning and sterilization are not thorough is solved, and the infection risk is reduced.

A steering gear for a surgical instrument includes two motorized drives designed to spatially align a wobble plate via the adjustment angle of the two drives, which is designed to control a distal angling mechanism of the surgical instrument. A first of the two drives has a first motor, which drives a drive pinion via a driveshaft, which engages with a lateral toothing of a first toothed rack, driving a first transmission pinion of a first double gear. A second of the two drives has a second motor driving a drive pinion via a driveshaft, which engages with a lateral toothing of a second toothed rack and drives a second transmission pinion of a second double gear wheel. The wobble plate is arranged between the two bevel gear rims, which are facing one another and lie on a common axis.

A surgical instrument designed to operate with a robotic platform is disclosed. The surgical instrument assembly includes a shaft, an end effector, a knife firing subsystem to actuate functions of the end effector, an articulation subsystem that is actuatable to articulate the end effector, an articulation joint about which the end effector articulates, a roll subsystem to roll the shaft, and a housing that couples to the robotic platform. A maypole tube is further provided, around which one or more articulation cables can wrap when the end effector is rotated.

The invention relates to the technical field of medical instruments, discloses a surgical instrument, and particularly relates to a shapeable surgical instrument suitable for single-port endoscopic surgery, which comprises an inner rod assembly, an outer rod assembly and a handle assembly. The outer rod assembly is made of annealed metal (such as pure copper or copper alloy), can be shaped by hands and is kept in a bent form; the inner rod is a nickel-titanium alloy multifilament or a stranded rope, and low-resistance rotation in a bending state is achieved. The handle rotating wheel drives the inner rod to rotate and is matched with the axial push-pull of the rear handle, so that the 360-degree real-time angle adjustment and opening and closing actions of the working part (forceps piece / scissors) are controlled by a single hand, and the forceps piece / scissors do not need to be taken out of a body. The problems that a traditional straight rod instrument cannot reach a narrow area, a pre-bending instrument cannot be adjusted in an operation, and an existing shaping instrument needs in-vitro angle adjustment of two hands are solved, the operation efficiency is improved, and the cleaning and sterilizing time is shortened.

The invention provides a breast endoscopic surgery simulation training system. The breast endoscopic surgery simulation training system comprises a hardware end and a software end, the hardware end comprises a simulation human body model, and the software end is provided with a 3D mesh model corresponding to the simulation human body model; the simulation surgical instrument comprises a simulation electrotome, a simulation endoscope, simulation grasping forceps and a simulation incision protection sleeve, and the software end is provided with an electrotome model, an endoscope model, a grasping forceps model and an incision protection sleeve model which correspond to one another; the pose detection device is used for detecting the current pose of the simulation surgical instrument in real time and sending the current pose to the software end, so that interaction between the simulation surgical instrument and the simulation human body model is mapped to interaction between the instrument model and the 3D mesh model; the software end further comprises a display screen, and the display screen is used for displaying interaction between the instrument model and the 3D mesh model in real time. According to the scheme, breast endoscopic surgery training, teaching and research which are closer to a real surgery scene can be provided, so that the safety and the operation precision in an actual breast endoscopic surgery are improved.

A steering gear for a surgical instrument includes an angling mechanism which can be controlled by a spatially adjustable wobble plate. The steering gear has a first and a second drive wheel with a respective associated motor, and the second drive wheel is arranged offset by 180° relative to the first drive wheel on an axis of rotation in common with the first drive wheel and perpendicular to the longitudinal axis. The wobble plate is mounted between the first drive wheel and the second drive wheel in a steering ring. A retaining bracket rotatably about the common axis of rotation of the drive wheels, wherein the steering ring is mounted in the retaining bracket an rotatable about the axis of rotation of the third gear wheel, such that the engagement between the third gear wheel and the drive wheels is secured.

The invention provides an intraoperative path optimization method and system based on solid tumor preoperative image analysis, and the method comprises the steps: constructing a three-dimensional model of a tumor and peripheral blood vessels and nerves according to a preoperative image, and carrying out the dissection risk marking of the three-dimensional model through a deep learning model, generating an anatomical risk image with risk gradient value distribution; taking the minimum intraoperative bleeding amount and the highest tumor excision rate as a reward function, combining the three-dimensional model, an anatomical risk image and historical similar case data, and simulating multiple operation paths based on an adversarial reinforcement learning algorithm to obtain an optimal operation path; the method comprises the following steps: acquiring the pose, ultrasonic image and fluorescence image of a surgical instrument in real time during surgery, matching the preoperative image with the intraoperative image based on a biomechanical model driven non-rigid registration algorithm, predicting organ displacement, and correcting an optimal surgical path, thereby avoiding accidental injury of key tissues, ensuring that an infiltration area is brought into the surgical path in time, and improving the surgical efficiency. Residues are reduced, and static planning failure is avoided.

The invention provides a surgical robot tail end three-dimensional force sensing mechanism and a force measurement method, and relates to the technical field of force measurement, and the surgical robot tail end three-dimensional force sensing mechanism comprises a first connecting end used for connecting a surgical instrument, a second connecting end used for connecting a surgical robot mechanical arm, and a first strain measurement unit arranged between the first connecting end and the second connecting end. The first strain measurement unit comprises a strain structure and a measurement assembly, the strain structure is provided with a first strain part, a second strain part and a third strain part, and the three strain parts are elastically deformed under acting force in a first direction, a second direction and a third direction which are perpendicular to one another; a first strain assembly, a second strain assembly and a third strain assembly of the measuring assembly are correspondingly installed on three strain parts, and the three components are matched to measure acting force borne by the surgical instrument in the first direction, the second direction and the third direction. The measurement limitation of a one-dimensional sensor is broken through, and the measurement of the acting force borne by the surgical instrument in three dimensions is realized.

A surgical anchor device for being anchored on the mucous membrane of the inner wall of the intestine, the device having a temporary anchor element presenting anchoring that can be modified in a controlled manner and having a first substantially cylindrical multiply-perforated wall presenting properties of radial elasticity whereby the first wall presents an outer diameter that can be varied in controlled manner, wherein a portion of the inner surface of the first wall is lined with an independent leakproof inner sheath having only its longitudinal ends fastened to the anchor element to define a suction chamber between the inner sheath and the first wall, the temporary anchor element being coupled to a flexible or semi-rigid tube extending outside the anchor element, an open end of the injection-suction tube opening out into the suction chamber enabling air to be injected into or sucked out from the suction chamber.

The present disclosure includes systems for surgical navigation, the system comprising a tracking array attachable to a medical instrument, an image capturing device, and a navigation system that communicates with the image capturing device and generates tracking information of the medical device.

A method of controlling a surgical system includes obtaining a surgical plan containing a plurality of planned cuts, receiving a first cutting tool from a plurality of cutting tools at a surgical device, collecting a first checkpoint by tracking a probe as the probe contacts a first predefined point on the first cutting tool, collecting a second checkpoint by tracking the probe as the probe contacts a second predefined point at a first bone of a patient, automatically selecting a first planned cut from the plurality of planned cuts based on the first checkpoint and the second checkpoint, and, in response to automatically selecting the first planned cut, guiding execution of the first planned cut using the first cutting tool.

The invention discloses a minimally invasive decompression visual surgical instrument for femoral head necrosis, and relates to the technical field of medical instruments. The device comprises a handle, a semicircular needle body is fixedly installed on the left side of the handle, the semicircular needle body is composed of a solid part and a semicircular groove part, a plurality of right-angle sliding grooves are formed in the top of the solid part, a semicircular sliding sleeve is slidably connected to the top of the semicircular groove part in a sealed mode, and a hinge column is arranged at the top of the solid part; the hinged column is close to the puncturing end of the solid part, a cleaning and scraping head is rotationally installed on the outer side of the hinged column, a semicircular expansion piece is arranged at the top of the solid part, a plurality of sliding blocks are arranged at the bottom of the semicircular expansion piece, the sliding blocks are connected into the right-angle sliding grooves in a sliding mode, and an elastic connecting piece is arranged between the semicircular expansion piece and the cleaning and scraping head. The surgical instrument adopts a brand-new structural design, can integrally complete a femoral head decompression surgery, does not need to be repeatedly pulled and inserted, has small influence on internal tissues of the femoral head, and is high in surgical efficiency.

The invention discloses an orthopedic surgery planning and real-time navigation method and system based on artificial intelligence and multi-modal image fusion. The method comprises the following steps: receiving and fusing preoperative multi-modal image data of a patient, and automatically segmenting a key structure by using a deep learning model to generate a three-dimensional virtual model; an optimal operation path is planned through an artificial intelligence model according to the three-dimensional virtual model; the spatial positions of the surgical instrument and the target skeleton area of the patient are tracked in real time through an electromagnetic positioning system, and real-time spatial position data and the three-dimensional virtual model are registered and are fused, overlapped and displayed on a surgical navigation screen; the relative position deviation between the tip of the surgical instrument and the optimal surgical path and the key tissue safety area is calculated in real time, and an early warning is given to a surgeon according to the relative position deviation. The optimal operation path can be accurately and objectively generated so as to ensure the adaptability of the operation path and the patient. Therefore, doctors can pay attention to the operation process specifically, and the operation stability and reliability are improved.

Devices, systems, and techniques for synchronized motion of independent surgical devices. An example first surgical instrument may have a movable component. The first surgical instrument may receive a motion control parameter. The motion control parameter may be one or more of: a force relative to a tissue contact shared between the first surgical instrument and the second surgical instrument; or a positional relationship between the first surgical instrument and the second surgical instrument. The first surgical instrument may sense a motion event caused by a user control input to a second surgical instrument. The first surgical instrument may autonomously adjust motion of the movable component based on the motion control parameter and the motion event.

A method for calibrating a surgical robot arm motor includes running a test sequence. The test sequence includes controlling a set of test motor currents to be applied to the motor, each causing the motor to drive a drive interface element to move; and for each test motor current, receiving a measured resistive force applied by a calibration rig; determining a relationship between the set of test motor currents and the resistive force measurements; determining calibration value(s) from: (i) the determined relationship, and (ii) a known relationship between the resistive force applied by the calibration rig and the driving force applied by the drive interface element; and controlling the calibration value(s) to be applied to subsequent motor currents applied to the motor so as to cause the motor to drive the drive interface element to apply desired driving forces to an instrument interface element of an attached surgical instrument.

The invention relates to the technical field of intraoperative intelligent monitoring, and particularly discloses a spinal canal debonding method and system for real-time state evaluation, and the method comprises the steps: collecting neural structure microcirculation blood flow data in real time through integrating a micro-sensing unit at a working end part of a surgical instrument, and extracting blood flow oscillation frequency and capillary hematocrit parameters; performing multi-scale signal decomposition on the blood flow oscillation frequency to obtain an energy distribution parameter, and performing dynamic mode recognition on the hematocrit data to obtain a main variation characteristic value; fusing the two characteristic parameters to generate a nervous tissue vitality index; inputting the index into a pre-trained neural network for time sequence feature analysis, and outputting a graded ischemia risk early warning signal; the operation rhythm is automatically adjusted through a decision tree control mechanism based on the early warning signal, and self-adaptive regulation and control according to the state of the nervous tissue are achieved; the technical problem that the risk of neural ischemia cannot be monitored in real time in a traditional spinal canal release operation is solved, and occult nerve injury caused by asymptomatic neural ischemia can be prevented.

The invention provides a positioning method and device of a surgical instrument, electronic equipment and a storage medium, and the positioning method comprises the steps: obtaining an image frame of the surgical instrument in a surgical process in real time based on an industrial camera, and carrying out the image preprocessing and contour extraction processing of the image frame, determining a plurality of reflective feature points of the tip of the surgical instrument; performing pixel ray normalization processing on the pixel coordinate of each reflective feature point, and reconstructing a three-dimensional coordinate of the tip of the surgical instrument in combination with geometric constraint and ray tracing of a reflective plane; wherein the reflecting planes are symmetrically arranged, and the reflecting planes are arranged between the industrial camera and the surgical instrument; and storing the reconstructed three-dimensional coordinates and generating a control instruction of the surgical instrument. The non-mark and non-contact real-time positioning method for the surgical instrument is realized, interference of additional marks on the surgery is eliminated, and the positioning accuracy of the surgical instrument is improved.

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.

The invention discloses a coagulation and bipolar coagulation integrated control system for a surgical operating instrument, and relates to the field of medical equipment. The system comprises an interface module, an energy detection module, a storage module, a load model matching module and an energy output control module. According to the system, an energy detection signal is output to a surgical instrument before energy output, and a real-time biological impedance spectrum of a target object is obtained; determining a target model from pre-stored electrical load models according to the impedance spectrum, and calling a corresponding adaptive energy output strategy; and in the energy output process, the impedance change of the target object is monitored, and the energy parameters are dynamically adjusted, so that the energy output is automatically stopped after the impedance change conforms to the preset stable target state. The self-adaptive precise energy control based on the real-time state of the tissue is realized, the problems of tissue carbonization, adhesion or incomplete coagulation and the like are effectively avoided, and the operation safety and effect are improved.

A cabinet for storing surgical instruments the cabinet including: a casing, wherein the casing encloses an interior space with at least one mounting device configured to hold a surgical instrument; a ventilation unit configured to supply drying gas to the interior space; and a cooling unit and a drying unit connected to the ventilation unit, wherein the drying unit is configured to reduce the humidity of the drying gas, and the cooling unit is configured to cool down the drying gas before it enters the interior space to a temperature below 15° C.

The invention provides an anti-interference three-dimensional tactile sensor and a three-dimensional force resolving method thereof, and belongs to the technical field of tactile sensors.The method comprises the steps that original array magnetic field data detected by a magnetic sensor array are read, the original array magnetic field data comprises magnetic field intensity data detected by each magnetic sensor in a magnetic sensor array; calculating an average value of all magnetic field intensity data in the original array magnetic field data, and subtracting the average value from the magnetic field data measured by each magnetic sensor in the array to obtain array magnetic field data after the environmental interference magnetic field is removed; and inputting the interference-removed array magnetic field data into a pre-trained deep learning model, and directly calculating the three-dimensional force acting on the elastomer by the model. The method can realize three-dimensional force calculation in a strong magnetic field interference scene, and is suitable for scenes of robot flexible operation, medical surgical instruments and the like.

The invention relates to the technical field of orthopedic surgery, and discloses an orthopedic surgery real-time navigation system based on multi-modal image fusion and artificial intelligence. The multi-modal image fusion module is used for generating a three-dimensional skeleton and soft tissue fusion model for surgical navigation; the artificial intelligence analysis module is used for determining a fracture line, a screw implantation angle and a cutting track; the intraoperative tracking module is used for generating a real-time correction instruction; the verification updating module is used for carrying out rationality verification on the real-time correction instruction; if the inspection is not passed, an alarm mechanism is triggered, instantaneous motion state parameters of the surgical instrument are collected, the instantaneous motion state parameters are compared with the cutting track, and the correction instruction is updated according to the comparison result; and the execution module is used for driving the surgical instrument to execute the surgical operation according to the updating correction instruction. According to the invention, manual operation errors can be effectively reduced.