Abstract: The present application provides a vehicle collision detection method and system and a vehicle. The vehicle collision detection method includes: dividing an acquired collection of obstacle information into a first obstacle map and a second obstacle map based on a preset obstacle height; modeling a current vehicle based on the first obstacle map and the second obstacle map, and fusing modeling results with the first obstacle map and the second obstacle map to obtain a first collision detection model and a second collision detection model; and further, obtaining a distance relationship between a preset position of the current vehicle and obstacles corresponding to the collection of obstacle information through the first collision detection model and/or the second collision detection model, and determining whether the current vehicle is in collision based on the distance relationship.

Abstract: A visual ureteroscope includes a ureteroscope body and a ureteroscope tip. The ureteroscope tip includes a tip portion and an image capture device, wherein the tip portion is arranged at a front end of a ureteroscope tube of the ureteroscope body; the tip portion has a camera end face and an aspiration end face; the tip portion includes an aspiration hole, which is in communication with an aspiration channel of the ureteroscope body, and an operating hole for an operating component to pass therethrough, the aspiration hole axially extending forwards from the aspiration channel to the aspiration end face to form an aspiration opening, and the operating hole obliquely extending forwards such that the operating component that passes out from the operating hole, obliquely extends forwards to extend out of the tip portion; and the image capture device comprises a camera.

Abstract: Disclosed is an impact-during-suction surgical ureteroscope, comprising: a ureteroscope main body, an operating portion operably arranged in the ureteroscope main body, and a lithotripter. The ureteroscope main body comprises a ureteroscope structure main body and a suction channel extending from a front end to a rear end in the ureteroscope structure main body. The suction channel has a suction opening at the front end. The lithotripter is movably disposed in the ureteroscope structure main body so as to switch between a first state and a second state. When in the first state, a cutting head of the lithotripter extends out of the suction opening so as to impact a stone; when in the second state, the cutting head of the lithotripter is retracted into the suction opening and is used to impact crushed stones blocking the suction opening.