38results about How to "Improve movement flexibility" patented technology

The embodiment of the invention discloses a surgical instrument and a surgical robot. The surgical instrument of the present invention includes: a driven mechanism configured to be connected to a driving unit, and an end effector connected to the driven mechanism, wherein the surgical instrument also includes a connected movable elements, the driven mechanism includes a first mechanism that drives the movable element to rotate under the action of the drive unit, and drives the end effector to rotate relative to the A second mechanism for rotating the movable element, wherein when the movable element rotates, the end effector rotates with the movable element, and both the first mechanism and the second mechanism are made of rigid material constitute. The surgical instrument of the invention has high transmission efficiency and high structural rigidity.

The invention discloses a rehabilitation robot and a human-machine cooperative interaction force control method thereof. The rehabilitation robot comprises a robot arm with at least one joint. The method for controlling the human-machine interaction force of the rehabilitation robot comprises the following steps: detecting an action moment of a patient's affected side limb acting on the robot arm;Generating a target motion trajectory of the manipulator; Establishing a dynamic model of the manipulator; Calculating a joint moment required for generating the target motion trajectory by using aninverse dynamics principle; Calculating a friction compensation torque of the joint and a dynamic compensation torque of the affected side limb of the patient; The joint torque, the action torque, thedynamics compensation torque, and the friction compensation torque are used as control inputs to the manipulator. The robot can provide the compliant force interactive control between the patient andthe rehabilitation robot arm, provides complete dynamic compensation, improves the equipment motion starting ability and flexibility, and is favorable for improving the experience degree of the patient to the auxiliary rehabilitation training. The invention can provide the compliant force interactive control between the patient and the rehabilitation robot arm, provides complete dynamic compensation, and improves the equipment motion starting ability and flexibility.

The invention relates to a highly bionic intervertebral motion preservation device. The highly bionic intervertebral motion preservation device includes an upper bone plate and a lower bone plate, and a spherical friction pair composed of a lining and a nucleus pulposus is embedded between the upper bone plate and the lower bone plate; the spherical friction pair is in a clearance fit, and the inner lining The spherical surface radius of the concave coronal friction spherical groove is greater than that of the nucleus pulposus convex friction ball top friction spherical surface; the inner lining is stationary or rotates or translates relative to the upper bone plate, and the nucleus pulposus is stationary or rotates relative to the lower bone plate Or translation, the center of rotation of the spherical friction pair formed by the inner lining and the nucleus pulposus has no axial movement or can move freely in the front, back, left and right directions.

The invention discloses a control method of a multi-section peristaltic snake-like robot running in a nuclear fusion cabin. The control method is characterized in that a front section side positioning module and a rear section side positioning module are symmetrically arranged at two ends of a middle section axial moving module to form a walking mechanism, the walking mechanism is used as at least two creeping units, the at least two creeping units are serially connected to form the multi-section peristaltic snake-like robot, and adjacent creeping units are connected by using two telescopic elastic universal joints. By using the control method disclosed by the invention, a locomotion gait similar to multi-section worm walking can be realized, the running stability is good, the control is simple; a movement locus can be across a large dual-ring groove at the bottom of the whole nuclear fusion cabin, and the all-dimensional vision information acquisition of a space inside the nuclear fusion cabin is realized by carrying a vision observing cloud deck.

The invention discloses a modular flexible instrument arm for a minimally invasive surgical robot, and relates to the technical field of medical equipment for a minimally invasive surgical robot, including: a driving part, a first guide rod part, a first connecting part, and a second guide rod part, the second connecting part, the third connecting part, the surgical tool part and the rope. The first connecting part includes: a first driven gear, a first driving gear, a first connecting rod part, a first screw shaft and a second screw shaft, and the second connecting part includes: a second driven gear, a second driving gear, The second link part, the third link part and the third driven gear, the third screw shaft, the fourth screw shaft, the fifth screw shaft and the sixth screw shaft. The present invention can solve the problem of low flexibility and low degree of freedom of the current surgical instrument arm by adding or replacing the single / double module joints. At the same time, because the modular joints of the surgical arm can be disassembled and increased, the surgical arm can meet the requirements of various surgical instruments. functional needs of the arm.

An intelligentized nursing cup device for psychiatric nursing comprises a rotating cover, a sucker, a cup cover, a booster pump, a cup body, a liquid crystal displayer, a microphone, a cup handle, a sound control device, a radio transmitting and receiving device, a water inlet, a rubber wheel, a groove, a hydraulic telescopic rod, a suction cup, a water inlet pipe, a temperature sensor, a sleeve, a filter, a water outlet pipe, an electronic flow controller, a motion sensor, a rotating shaft, a silicon gel end socket, an electronic gate, a sliding block, a detecting instrument, a mechanical gyroscope, a fluorescence graduated disc and a single chip microcomputer. The cup body is a main component, the cup cover is arranged on the top of the cup body, the water inlet pipe is arranged inside the cup body, the other end of the water inlet pipe is connected with the filter, and the filter is provided with the water outlet pipe outwards. According to the intelligentized nursing cup device for psychiatric nursing, the whole structure is simple, operation and use are convenient, stability is good, reliability is high, and the intelligentized nursing cup device for psychiatric nursing is suitable for mental patients and assists the patients in controlling the drinking amount of a drink; the nursing cup is high in motion flexibility and more user friendly, and positioning precision is high due to cooperative work of various positioning devices.

The invention discloses an amplitude adjusting device of a flip-flow screen sectional type walking beam. The amplitude adjusting device comprises an upper supporting base, a lower supporting base, rubber assemblies, walking beam connection plates and pretightening force adjustors. The upper supporting base and the lower supporting base are connected with a screen box side plate through ring-grooved lock bolts. The rubber assemblies comprise upper connection plates, shear rubber, lower connection plates and wear-resisting inserting sleeves. The upper connection plates make contact with the pretightening force adjusters. The upper connection plates, the lower connection plates and the shear rubber are fixedly connected through powerful glue. The lower connection plates are connected with the walking beam connection plates. The wear-resisting inserting sleeves are fixedly connected with the connection plates. The pretightening force adjusters are composed of fixed limiting stoppers, anti-loosening elastic pads and locking nuts. The fixed limiting stoppers are located among the upper supporting bases, the lower supporting bases and the connection plates. The locking nuts are arranged above the anti-loosening elastic pads. By means of the pretightening force adjusters, the pretightening force of the shear rubber can be independently adjusted, and the amplitude adjusting device can broaden the amplitude range of the walking beam and has the advantages of being high in adaptability, easy to adjust, convenient to mount and the like.

The invention discloses a flounder-type underwater glider. An electronic cabin comprises a pressure-resisting cabin, a gravity and gravity center adjustment mechanism, a control system and a lithium battery unit. The inside of the pressure-resist cabin is partitioned into a central area, a middle circular area and an outer circular area. The lithium battery unit is arranged in the middle circular area. The control system includes an overwater control system and an underwater control system which are connected in a wireless manner. The underwater control system and the electronic part of surveying equipment are arranged in the middle circular area uniformly. The gravity and gravity center adjustment mechanism comprises four water bag pump units in same structure, and the four water bag pump units are distributed in the outer circular area symmetrically. The flounder-type underwater glider has the advantages of low cost, low noise, high endurance and high flexibility; the gravity and posture of the glider can be adjusted to realize zigzag or spiral trajectory through controlling the four water bag pump units distributed symmetrically. The flounder-type underwater glider can carry a plurality of underwater scientific-investigation and survey devices simultaneously, continuous data collection in extensive sea areas can be completed automatically, and the data can be transmitted back in real time.