1265 results about "Surgical Manipulation" patented technology

The invention aims to provide a robot-assisted multifunctional instrument arm for minimally invasive surgery. The robot-assisted multifunctional instrument arm for minimally invasive surgery is composed of a master control case, a tail end position adjusting mechanism and a tail end posture adjusting mechanism, wherein a case body, an industrial control computer, a host and other equipment are installed in the master control case and used for controlling a whole movement system; the tail end position adjusting mechanism is composed of an active lifting joint and three passive rotating joints and mainly used for adjusting the position of a tail end control point; the tail end posture adjusting mechanism is composed of two active rotating joints and used for adjusting the posture of the point after the position of the tail end control point is determined. The robot-assisted multifunctional instrument arm for minimally invasive surgery has the advantages of having active and passive freedom degree and being capable of positioning a tail end surgical instrument and adjusting the posture of the tail end surgical instrument, the mechanism is good in movement stability and flexibility, and accuracy of tail end movement is high; a mounting platform at the tail end of the mechanism can be provided with a laparoscope or other micro surgery instruments such as surgical manipulator, and therefore an image acquisition system or a surgery operation executing system is formed.

The invention discloses a robotic surgery micro-device for minimally invasive surgery and relates to a surgery micro-device. The invention aims at solving the problem of the existing robotic surgery of inflexible operation. The robotic surgery micro-device for minimally invasive surgery comprises a quick change joint (1), as well as a micro-device driving mechanism (2), a guide rod (3), a wrist mechanism (4) and an end effector (5), wherein the quick change joint (1), the micro-device driving mechanism (2), the guide rod (3), the wrist mechanism (4) and the end effector (5) are connected in sequence from right to left. The robotic surgery micro-device for minimally invasive surgery disclosed by the invention is especially suitable for being applied in a robot auxiliary system and is controlled by a doctor to clamp, cut and separate nidus in the abdominal cavity of a patient and finish such surgical operations after the operation as sewing and knotting through the end effector by means of the control and drive of the micro-device driving mechanism. The robotic surgery micro-device for minimally invasive surgery disclosed by the invention is applied in abdominal surgeries.

Systems and methods condition air for passage across a laparoscopic lens to prevent fogging, deflect debris, and maintain visualization of an operating cavity. The systems and methods provide an access device sized and configured to provide communication with an insufflated CO2 environment maintained by operation of an insufflations circuit. The access device is coupled to an air conditioning set, which interacts with an air conditioning driver to condition air from the insufflated environment for continuous passage across the laparoscopic lens, to thereby maintain visualization by the laparoscopic lens of the operating cavity, independent of operation of the insufflator circuit.

A trocar assembly for use in surgery in a patient, comprising an elongated outer tubular member having a first or proximal end and a second or distal end. The proximal end has a housing enclosing a fluid pressure chamber therein. The distal end of the outer tubular member has a gaseous fluid discharge arrangement therethrough, through which a medical instrument is disposed for surgical manipulation of the patient.

The invention discloses a prostate puncture biopsy surgical robot which is used for helping a doctor to do a prostate puncture biopsy surgery. The prostate puncture biopsy surgical robot comprises a hoisting adjusting mechanism, a first linear movement mechanism, a second linear movement mechanism, a first angle adjustment mechanism, a second angle adjustment mechanism and a puncture assembly. A puncture angle is only determined through the first angle adjustment mechanism and the second angle adjustment mechanism; alignment of a puncture part is jointly completely by the hoisting adjusting mechanism, the first linear movement mechanism and the second linear movement mechanism; and the puncture assembly is used for controlling the feeding of a puncture needle. According to the prostate puncture biopsy surgical robot, position adjustment and angle adjustment are independent from each other and do not influence each other, so that the operation flexibility of the surgery is high; an adjusting range can be enlarged as much as possible through the control of six degrees of freedom under the condition that a surgery position and the surgery angle are accurate, so that the prostate puncture biopsy surgical robot is adaptive to actual requirements of different environments and different patients; and the position and angle are flexible to adjust, a puncture process is stable and the precision of puncture biopsy is improved.

A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.

The invention discloses a flexible multi-joint surgical instrument for robot assisted minimally invasive surgery, and relates to the technical field of enterocoelia minimally invasive surgery department medical facilities. The instrument can achieve spatial displacement and positioning of tail end operating forceps by itself inside a patient, the tail end gesture adjusting capability of the surgical instrument is enhanced, the good flexibility is achieved, and the tissue surgical operation is completed inside the small space; by means of a self-rotation joint designed between the wrist of the surgical instrument and the tail end operating forceps, and the problem that joint restoration is needed during autorotation is avoided; the instrument comprises the tail end operating forceps mechanism, the autorotation joint, the wrist flexible joint and a power driving box; the power driving box comprises a wiring pipe, a shell, an upper base plate, a lower base plate, five sets of motor rope sheave devices, a rope guiding wheel set and a rope guiding column set; one end of the wiring pipe is connected with the tail end ball hinge structure of the wrist flexible joint, and the other end of the wiring pipe is fixed to the lower base plate. The instrument is used for the robot assisted minimally invasive surgery.

The invention discloses a surgical navigation system, a surgical robot system for acetabulum osteotomy and a control method of the surgical robot system. The surgical navigation system is used for acquiring image data of a hip joint image and establishing a hip joint three-dimensional model based on the image data, thereby obtaining the center position of a sphere where the acetabular fossa is located. The surgical navigation system, the surgical robot system for acetabulum osteotomy and the control method of the surgical robot system can realize automatic search, move to the center of the acetabular fossa, and control an end tool at the end of a mechanical arm system to carry out rotary osteotomy operation on the acetabulum according to a motion instruction sequence, thereby improving theaccuracy of the operation. The stability of osteotomy surgery is improved by surgical operation based on a mechanical arm. The surgery can be stopped at an edge of a safe area, and thus the safety ofthe surgery is ensured. In addition, the rotary osteotomy surgery can be navigated in real time, and thus the convenience of surgery and the experience of a user are improved.

Provided are uterine manipulators comprising in combination: a vaginal occlusion portion comprising a resilient deformable member (e.g., bulb, cone, cylinder, etc.) having a channel therethrough having a proximal opening sized to fit, during use of the device, snuggly against a manipulation rod or tube, and a relatively larger distal opening suitable to provide for angular and / or rotational movement of the rod or tube passing through the member via the distal and proximal openings while minimizing movement of the vaginal occlusion member when the tube is subjected to manipulation, and wherein the member is suitably configured to fit snugly against the contours of an inner vaginal tissue surface; and a cervical fitting portion which is securable to the cervix. Also provided are surgical methods using said elements to provide for a snug fit with the cervix while sealing the vagina, wherein maintaining abdominal insufflation during surgery is afforded.

A surgical tool for use as an ablation device in a surgical operation including: an ablation module output configured to ablate a volume of material at a surgical site to form an ablated volume; a control module arranged to receive information indicative of the position of the surgical site; and a fluid output adapted to deliver fluid to the surgical site during a surgical operation such that at least part of the ablated volume is filled with fluid and the fluid is in direct contact with at least part of the surgical site. The control module is operable to control the flow rate of fluid delivered by the fluid output in response to the received information in order to control the position of the surgical site.

The invention provides a medical endoscope control system based on sight tracking control. The medical endoscope control system based on sight tracking control comprises a head-wearing sight tracking controller and a medical endoscope, wherein wireless communication connection is established between the head-wearing sight tracking controller and the medical endoscope, the head-wearing sight tracking controller can be put on the head of the human body, is capable of conducting tracking recognition through eye movements and sight to control an operation pointer on a display frame and is capable of achieving man-machine interaction through voice, operation keys and other modes to trigger corresponding endoscope instructions to control the medical endoscope to execute corresponding operation, digital images shot in front of a probe of the medical endoscope are displayed through the display frame on the head-wearing sight tracking controller, the effect of overlaying of the frames of the digital images and an actual scene is achieved on vision, in this way, the frequent switching of sight and manual operation can be reduced and even avoided in the control process, the influences of using the medical endoscope control system on the surgical operation and surgical quality are reduced, and the medical endoscope control system has wide application prospects.

The invention discloses a six-degree-of-freedom surgical instrument by adoption of cable driving used for a minimally-invasive surgery. A surgical instrument itself has six degrees of freedom and is combined with a linear telescopic mechanism for loading the surgical instrument in order to achieve seven degrees of freedom, thereby finishing surgical operation required by a process of the minimally-invasive surgery. The surgical instrument comprises four parts including a power joint part of the surgical instrument, a connecting rod part of a main body of the surgical instrument, an end effector part of the surgical instrument and a quick-change part of the surgical instrument.The connecting rod part of the main body comprises shoulder joint deflection degree of freedom, an elbow joint pitching degree of freedom, a wrist joint pitching degree of freedom and a wrist rotation degree of freedom. The end effector part comprises finger folding degree of freedom and finger pitching degree of freedom. The connecting rod part is connected with a power unit and an end effector.The six-degree-of-freedom surgical instrument by adoption of cable driving used for the minimally invasive surgery has following advantages remote transmission is achieved by adoption of cables in order to eliminate return difference and to ensure reliable transmission; steel cables are present in the form of closed loop circuits; and the six-degree-of-freedom surgical instrument is advantaged by being multiple in degrees of freedom, little in occupied space and complete in function.

A surgical manipulation instrument which is particularly suitable for minimal invasive surgery, comprising an extra-corporeal drive device to which several axially displaceable first actuation elements are connected. The disclosure also relates to a partial intra-corporeal manipulator part which comprises several axially displaceable second actuation devices for actuating an end effector. Pairs of actuation elements are detachably connected together by means of a coupling device. A pivotable intermediate element is provided between the second coupling element and the second actuation element.

The invention relates to a mandibular gingival flap stretching fixation clamp which has simple structure, is convenient to use and is used in gingival flap implant operation. When in use, a left alveolar bone fixing arm and a right alveolar bone fixing arm clamp the alveolar bone from the left and right sides, a left gingival flap stretching arm and a right gingival flap stretching arm can move oppositely, gingival flap stretching plates on the left and right gingival flap stretching arms stretch the gingival flap to the left and right sides so that the surgical site on the top of the alveolar bone can be fully exposed for operation, the dental drill for holing and the implant can not contact the gingival soft tissue, and the soft tissue can not be carried into the cavity to affect synosteosis; and after the gingival flap is stretched by the stretching fixation clamp, the hands of the doctor can be free and the operation can be performed smoothly. The mandibular gingival flap stretching fixation clamp is mainly used to stretch and fix the gingival flap after gingival is flapped in the mandibular teeth implant operation and can also be used in the mandibular teeth alveolar ridge trimming and forming operation.

The invention discloses a robot device for minimally-invasive local radiotherapy. The robot device comprises an end executing mechanism which is used for realizing autorotation and accurate feeding adjustment of an ultrasonic probe and provided with a particle punching mechanism, a horizontal rotation and pitching adjustment mechanism which is arranged below the end executing mechanism and used for supporting the end executing mechanism and realizing the horizontal rotation adjustment and pitching adjustment of the end executing mechanism, and a support adjustment mechanism which is arranged below the horizontal rotation and pitching adjustment mechanism and used for supporting the horizontal rotation and pitching adjustment mechanism and realizing the adjustments of front and back positions, left and right positions, upper and lower lifting positions of the end executing mechanism. The robot device for minimally-invasive local radiotherapy has the following advantages of: assisting doctors in finishing short-distance radioactive therapy of prostatic cancer under ultrasonic image navigation, having high precision, high stability and convenience for operations, reducing pain of patients, reducing operation time, improving operation precision during the surgery, preventing misoperation of the doctors, reducing trauma of the patients, reducing labor intensity of the doctors, and improving success rate of the surgery.

A medical instrument system for creating a surgical operating space in the human or animal body by minimally invasive way in operations on the jaw comprises a shaft, which can be introduced through an incision in the cheek, and a plate-shaped flat element which can be introduced through the mouth, a connection mechanism being provided at a distal end of the shaft and on the plate-shaped element and being designed such that the plate-shaped element can be secured on the shaft.

The invention discloses medical equipment of a micro-invasive interventional therapy for a pancreaticobiliary duct, which comprises a conduit, wherein the far-end of the conduit is provided with an operation part and the near-end thereof is provided with an operating part of the operation part; the conduit is at least provided with a visual orifice which can be passed through by a light pipe of an optical imaging system and a working orifice which can be passed through by an auxiliary instrument, and the visual orifice and the working orifice both pass through the near-end to reach the far-end; and the near-end of the conduit is provided with a plurality of insert tubes which are communicated with the visual orifice and the working orifice in a one-to-one correspondence mode. In the technical scheme, a visual orifice is added on the basis of ERCP medical equipment, thus not only realizing visualized operation diagnosis or therapy for the pancreaticobiliary duct, but also being simpler and having stronger technicality and lower cost compared with the endoscopic system structure. The medical equipment is disposable and the optical imaging system can be used repeatedly, thereby greatly lowering use cost and being convenient for operation manipulation.

The invention discloses a superficial blood vessel display method, which comprises the following steps that: an LED (light-emitting diode) light source respectively emits near infrared light with two wavelengths; the near infrared light is polarized to obtain linearly polarized light which irradiates human body skin surface; blood vessels of human body subcutaneous tissues carry out multi-scattering on the linearly polarized light to obtain depolarized near infrared light; the depolarized near infrared light is polarized again to obtain polarized depolarized near infrared light; a camera respectively shoots the polarized depolarized near infrared light with two wavelengths to generate two blood vessel images; the camera performs signal processing and electronic processing on the two blood vessel images and sends the processed images to a projector; and the projector shows the blood vessel images and projects to the skin of a patient. The display method and instrument disclosed by the invention have the following beneficial effects: the blood vessel image of the patient are precisely projected to the skin of the patient without distortion, and vein, artery and skin tissues are marked with different colors, thereby guiding doctors and nurses to carry out intravenous injection and surgical operation.

The invention provides a novel anti-tissue-adhesion material and a preparation method thereof. Used raw materials are from natural polysaccharides and modified natural polysaccharides; the use of micromolecular cross linking agents is avoided; and the excellent biosecurity is realized. A compound prepared from the natural polysaccharides and the modified natural polysaccharides through chemical reaction can be used for the anti-adhesion purpose in positions such as the pelvic cavity, the abdominal cavity, the achilles tendon and nerves. Meanwhile, the hemostatic, antibacterial and healing promotion functions are realized. The anti-adhesion material provided by the invention can be prepared into anti-adhesion sponge, anti-adhesion films and anti-adhesion gel through different process conditions; the surgical operation convenience is high; good clinic application prospects are realized.

The invention provides an intelligent orthopaedic system which comprises an intelligent robot, a controller and an operating rod. The intelligent robot comprises a movable base, a seven-degree-of-freedom mechanical arm and a robot end effector. A movable device is arranged at the bottom of the movable base. The number of degree of freedom of the robot operating rod is half of that of the robot end effector. The operating rod is positioned at the wrist of the intelligent robot and connected with the robot controller to transmit manual operating signals of an operator. The controller is positioned in a base of the intelligent robot and connected with the intelligent robot and the operating rod to realize control on the intelligent robot. The intelligent robot is placed besides an operating table so as to assist surgeons in operating on patients.

The invention provides a surgical mechanical arm. The surgical mechanical arm comprises a pre-surgical positioning assembly, a telecentric control assembly and an executing assembly. The telecentric control assembly includes a fixed platform, a first moving platform and a plurality of first telescopic elements disposed between the fixed platform and the first moving platform; the executing assembly has a preset telecentric fixed point; coordinated expansion and contraction between the multiple first telescopic elements can control the first moving platform to move relative to the fixed platform and the executing assembly is driven to extend and retract and swing; and the swing center of the executing assembly is the telecentric fixed point, and a telescopic path of the executing assembly passes through the telecentric fixed point. According to the surgical mechanical arm provided by the invention, a parallel mechanism is composed through the first moving platform, the fixed platform and the plurality of first telescopic elements located between the first moving platform and the fixed platform, and the movement accuracy of the executing assembly at the tail end is improved by utilizing the error non-cumulative characteristic of the parallel mechanism; and meanwhile, surgical operation of the executing assembly under a higher load can be guaranteed.

The invention relates to the technical field of medical instruments, and particularly relates to a valve repair clamp. The valve repair clamp comprises an inner clamp, an outer clamp and a clamping plate, wherein the inner clamp and the outer clamp can extend from a folding closed position to an inner clamp open state and an outer clamp open state, the clamping plate comprises a fixed arm and a movable arm, and the fixed arm is fixed to the inner clamp and moves along with the inner clamp; the outer clamp comprises a base and an outer clamp braided arm on the base; and the movable arm is further connected with a first control wire to control clamping of the movable arm and an outer plate of the inner clamp. According to the valve repair clamp, the overall weight of the clamp is reduced, the clamp is not prone to damage and loses functionality, damaged valve leaf tissue is successfully repaired through the special structure of the clamp, the physiological function of a valve is restored, the functional life of the valve is prolonged, the success rate of an operation and the convenience of the operation are improved, and damage to a patient is reduced.

A human-computer cooperative robot tooth-implant method based on augmented reality includes the following steps: (1) acquiring data; (2) carrying out three-dimensional reconstruction to obtain an oraltissue model; (3) designing a implanting scheme; (4) designing and manufacturing a positioning marker; (5) generating a manipulator off-line program instruction according to the implanting scheme; (6) allowing a patient to wear the positioning marker, and calibrating the position of a manipulator; (7) carrying out surgical operation by the manipulator according to an instruction, and adjusting according to a real-time micro motion position of a patient; and (8) allow a doctor to observe the correspondence condition between a three-dimensional implanting scheme and the actual position in the patient oral cavity from worn AR spectacles, and interfering adjustment by the man-machine fusion technique. The invention provides the human-computer cooperative robot tooth-implant method and a human-computer cooperative robot system based on augmented reality, wherein the method and the system can realize superposition of the three-dimensional implanting scheme and the patient oral cavity and automatic tracking and positioning, realize surgical operation by a robot and allow the doctor to intervene timely.

A slotted disposable foam instrument holder is provided for use in organizing surgical instruments wherein the surgical instruments are easily organized and available for efficient use during surgical operation. The inventive slotted disposable foam instrument holder provides the surgical technician with a uniform organizer that makes pre and post surgical counts accurate. The slotted nature of the organizer allows for the secure placement of surgical instruments preventing the toppling of the instruments during the surgical procedure and helps maintain the instruments in an organized and upright state.

The invention provides a mechanical arm and a surgery robot. The tail end of the mechanical arm is used for grasping a medical apparatus. The mechanical arm comprises a first rotating joint, a first swinging joint, a second swinging joint, a second rotating joint, a moving joint, and an autorotation joint for realizing the autorotation of the medical apparatus, which are sequentially distributed from the near end to the far end. According to the mechanical arm disclosed by the invention, through the cooperation of the six joints, the adjustment of the space position and the posture of the medical apparatus can be realized, and the six joints can move around a long-distance movement center. Compared with the prior art, the mechanical arm disclosed by the invention is small in whole dimension, light in quality, convenient to mount and use; and in addition, through the moving joint and the autorotation joint, an endoscope is driven to move and autorotate, so that a doctor can convenientlyand independently complete surgery operations and endoscope grasping, the difficulty of the surgery operations is reduced, and the waste of human resources is avoided.

The invention discloses a minimally invasive surgical instrument with a flexible wrist part. The minimally invasive surgical instrument comprises an operating handle, a wrist part drive device, a connecting conduit, the flexible wrist part and an end executor. During the surgery process, due to the arrangement of a pricking and clamping hole in the body surface of a patient, a doctor can hold the intelligent minimally invasive surgical instrument and perform the surgery in the body. With the minimally invasive surgical instrument, all the operations of the common minimally invasive surgical instrument, including the instrument end opening and closing movements, can be completed, and meanwhile, the three-degree-of-freedom movements of the instrument end, including the pitching movement, the swinging movement and the autoroatation movement, can be completed by controlling the operating handle and the wrist part drive device. With the adoption of the minimally invasive surgical instrument, the spatial multi-degree-of-freedom surgery movements can be output, the movements are flexible, the operating force is large, and therefore, the minimally invasive surgical instrument is particularly suitable for carrying out the minimally invasive surgery with complicated movements.