91 results about "End instrument" patented technology

A communication system having a policy server coupled to a communications network for managing secure communication with and among end instruments (EI). The EI comprises a memory, and a processor coupled to the memory with processor-executable instructions, including instructions for an operating system kernel; and instructions for a protection core that monitors operations of the operating system kernel in accordance with a security policy for the EI. Security policies can intercept calls to an operating system kernel and for each call, determining whether the call is allowed under the security policy(ies). Policies are stored in a policy library and transmitted to an EI over a wireless communication network.

Example embodiments relate to devices, systems, and methods for performing a surgical action. The device may comprise a port assembly, a camera arm assembly, and an instrument arm assembly. The port assembly comprises an access port and a plurality of anchoring portions. The camera arm assembly comprises at least one camera at a distal end and is configurable to insert into the access port and attach to one of the anchoring portions. The instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end. Each joint portion is configurable to provide an attached arm segment with at least one degree of freedom. Furthermore, the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom.

The invention relates to an intellectualized multiparameter water quality monitoring device and a system capable of implementing for monitoring and supervising water quality on line in real time. The system is characteristic by comprising a metering device, an information acquisition device, a central computer, a communication device and a monitoring and supervising module; the metering device collects hydrographic information data covering water quality, videos and environment data; the information acquisition device comprises a data acquisition module, a storage module, a card read / write module, a display module, an emergency power supply module, a lightening protection / surge protection module and a wiring terminal; the central computer establishes water quality on-line monitoring andsupervisory information center; the communication device is the wireless communication module for an embedded wireless communication module in hydrology water resource motoring and controlling terminal, the wireless communication module in the hydrology water resource monitoring and controlling terminal transmits the collected front end instrument data to the central computer to monitor and supervise; and the central computer also comprises a monitoring and supervising module.

The invention relates to a surgical robot and a control method and a control device of tail end instruments of the surgical robot. The control method comprises the steps: first target pose informationof a far end of a mechanical arm in a first coordinate system and current pose information of all controlled operation tail end instruments in the first coordinate system are obtained; under the condition that the far end of the mechanical arm reaches the target pose corresponding to the first target pose information, the current pose information of the controlled operation tail end instruments in the first coordinate system is converted to obtain second target pose information of the corresponding controlled operation tail end instruments in a second coordinate system; according to the firsttarget pose information, all joint assemblies in the mechanical arm are controlled to be linked, so that the far end of the mechanical arm can reach a target pose corresponding to the first target pose information; and joint assemblies in corresponding operating arms are controlled to be linked according to the second target pose information, so that the corresponding controlled operating end instruments keep the current position and / or pose unchanged. The mechanical arm can be easily and safely adjusted during a surgery.

The invention relates to a snakelike surgical instrument which comprises a handheld structure, a control structure, a tail end instrument and a transmission device. The control structure comprises a snakelike joint which is installed on the handheld structure and has at least one swinging freedom degree. The tail end instrument is connected with the handheld structure through a connecting structure, and comprises a tool supporting base and a snakelike structure connected with the tool supporting base, the snakelike structure has a swinging freedom degree in the same direction as the snakelikejoint, and the transmission device comprises a flexible transmission structure connected with the snakelike joint and the snakelike structure. By means of the mechanical transmission structure, the movement of a handheld end can be directly transmitted to the tail end instrument, complicated force feedback control is avoided, and control is simple.

The invention discloses a tail end instrument for a single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees, and relates to a minimally invasive surgery robot. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees solves the problems that an existing tail end instrument for the single port laparoscopy surgery robot is low in overall integration level, simple, and large in overall size, and can not completely achieve the freedom degrees similar to a person. A forth motor achieves axial rotation motion for a wrist pivoting joint through a forth joint drive wire. A fifth motor achieves pitching motion for the wrist pivoting joint through a fifth joint drive wire. A sixth motor achieves opening and closing motion for a first gripping forceps joint through a sixth joint drive wire. A seventh motor achieves opening and closing motion for a second gripping forceps joint through a seventh drive joint drive wire. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees is used in single port laparoscopy minimally invasive surgery.

The invention provides an instrument box and an operation instrument. The instrument box comprises an overturning platform assembly, two sets of driving wires, two wire rotating bodies and four output wires; each set of the driving wires comprises two driving wires, two fixed points formed by each set of the driving wires on an internal rotating part are symmetrical about a first intersection point, the four fixed points formed by the four driving wires on the internal rotating part are sequentially connected to form a first parallelogram, the intersection point of diagonal lines of the first parallelogram is the first intersection point, the other ends of the two driving wires in each set of the driving wires are wound onto the corresponding wire rotating bodies in the opposite directions, and therefore the overturning platform assembly is driven to move on the basis of the four driving wires; then motion of the overturning platform assembly is transferred to a tail end instrument assembly through the output wires, multi-direction and multi-degree-of-freedom motion of the tail end instrument assembly is achieved, the design of the instrument box is simplified, the size of the instrument box is decreased, and the space use rate of the instrument box is increased.

The invention relates to a starting method of a surgical robot, a readable memory based on a surgical method and a surgical robot based on the surgical method. The surgical robot comprises handles andoperating arms; each operating arm has an end instrument; each end instrument is used for executing surgical operation and moving with the corresponding handle; an alignment method comprises acquiring first attitude information of the end instruments, acquiring second attitude information of the handles, and acquiring automatic adjustment information based on a deviation between the first attitude information and the second attitude information so as to compensate the deviation.

The invention relates to the technical field of parallel robots, in particular to a bi-plane parallel mechanism capable of achieving plane two-dimensional positioning and spatial two-dimensional orientation. The bi-plane parallel mechanism aims to solve the problems that an existing medical robot for minimally-invasive spine surgery is low in precision, poor in reliability and low in surgical safety due to the complex structure, the large size and high operating difficulty, and is used for completing positioning and orientation of a tail-end instrument of a medical robot for minimally-invasive spine surgery. The bi-plane parallel mechanism is composed of an upper plane driving mechanism, a lower plane driving mechanism and the tail-end instrument. The two plane mechanisms are connected with the tail-end instrument through U pairs, and the upper plane U pair can slide along the axis of the instrument. Each plane driving mechanism is formed by sequentially connecting four rods through connecting shafts or fixing shafts. The bi-plane parallel mechanism is also suitable for completing plane two-dimensional positioning and spatial two-dimensional orientation for other tools.

The invention discloses a master-slave isomorphic teleoperation force feedback master manipulator of a minimally invasive surgery robot. The master manipulator comprises a universal joint mechanism assembly, a translational autorotation assembly, a parallelogram mechanism and a control handle connected with the translational autorotation assembly. The universal joint mechanism assembly is fixed onthe base, the translational autorotation assembly is rotatably connected with a deflection frame of the universal joint mechanism assembly, and the parallelogram mechanism is rotatably connected withthe translational autorotation assembly. According to the invention, four degrees of freedom of three-dimensional rotation around a certain point and linear motion along an operating handle shaft canbe realized; the force feedback function is achieved for pitching, yawing and linear motion freedom degrees, isomorphic arrangement is adopted for all the freedom degrees and the motion freedom degree of a minimally invasive surgery execution end instrument, the one-to-one mapping relation is achieved, errors caused by master-slave control system delay and kinematics solving are reduced, and operation intuition is improved. The force feedback driver is fixedly installed, motion and feedback force is transmitted through the parallelogram mechanism, the motion inertia of a main hand moving partis reduced, and the control flexibility is improved.

The invention relates to the field of stem cell culture and in particular relates to a separation method of limbal stem cells. The separation method has the beneficial effects that limbal tissues are subjected to enzymolysis under the combined action of a compound enzyme by combining neutral protease with collagenase IV, thus ensuring obtainment of the cells through enzymolysis in a short time, reducing damages to the cells, increasing the cell yield and improving the purity of the obtained cells; the method is simple and convenient to operate, dispenses with high-end instruments and equipment and causes smaller damages to the cells; experiments show that by adopting the method provided by the invention to separate the limbal stem cells, every 1cm<3> of limbal tissues can obtain 8.4*10<5>-9.0*10<5> limbal stem cells, the positive rate of an antibody CX43 in the cells is 0, the positive rate of AE5 is 0.1%, the positive rate of BrdU is 70.1%, and the positive rate of PCNA is 82.1%; the separation method has obviously better effects than the prior art.

The invention aims to provide a joint vaginitis detection kit which is convenient, quick and sensitive to operate, does not need any high-end instrument and equipment, and has low price. The technical scheme of the invention is to provide the joint vaginitis detection kit comprising a clamp-shaped reaction device with four dry chemical reaction blind holes, diluent and chromogenic reagent; and the four blind holes are respectively provided with a hydrogen peroxide concentration determination test reagent pad, a sialic acid glucoside enzyme activity test reagent pad, a leukocyte esterase activity determination test reagent pad and a vaginal fluid pH test reagent pad. The joint vaginitis detection kit can simultaneously test four indexes, i.e. the pH value of vaginal secretion, hydrogen peroxide, sialic acid glucoside enzyme and leukocyte esterase. Through the four indexes, the micro-ecological environment of vagina is determined, and the joint vaginitis detection kit is for identifying bacterial vaginosis of normal vaginal flora and bacteria groups.

The invention discloses a method for improving lithium dendrite at a solid electrolyte interface with carbon fluoride. The method comprises the following steps: step 1, polishing a garnet electrolytesheet with sandpaper; and step 2, modifying the carbon fluoride on the polished surface of the garnet electrolyte sheet so as to obtain the garnet electrolyte sheet modified with the carbon fluoride.The garnet electrolyte sheet modified with the carbon fluoride prepared by the method can be used for assembling an all-solid-state battery based on an inorganic solid electrolyte. Compared with the methods in the prior art, the method has the following advantages: (1) the operation method is simple and reliable and the time consumption is short without using high-end instruments; and (2) the improvement efficiency is excellent and large-scale production is feasible.

The invention discloses a vehicle height-limiting barrier early-warning system and method based on binocular lasers. The system comprises two laser ranging sensors and a control and warning module. The two laser ranging sensors are fixedly installed on the two sides of a vehicle front end instrument desk through installation plates respectively. The two laser ranging sensors are kept at the same height. An included angle smaller than or equal to 5 degrees is formed between the straight line where the light emitted by the two laser ranging sensors is located and the horizontal plane where the vehicle front end instrument desk is located. The control and warning module comprises an MCU control unit, a power module, a storage module, an SRAM module and a warning module. The warning module comprises a warning lamp and a buzzer. The height-limiting barrier detection can be conducted only with the two laser ranging sensors, the system has the advantages of being low in cost and convenient toinstall and being not restrained by the low light illumination intensity at night, and the firm foundation is laid for the large-scale application and popularization of the system.

The invention discloses a device and a method for providing networking operating system service. The device comprises a network switch-in module, a database module, a user authentication module, an end instrument matching module, a network file system module, a monitoring module and a WEB module; through construction of the modules, a service supporting a networking operating system is provided; according to the method, an end instrument supporting the networking operating system establishes connection through the network switch-in module, is authenticated in the user authentication module, and then uses the networking operating system service provided by the invention. According to the invention, the device and the method are highly integrated, are easy to manage and maintain, and have very strong practicability and market popularization value.

The invention relates to a surgical robot starting method, a computer readable memory and a surgical robot. The surgical robot comprises a handle and an operating arm, the handle is capable of free movement, the operating arm has an end instrument for performing a surgical operation and following the movement of the handle, and the starting method of the surgical robot comprises the following steps of: obtaining a first posture information of the end instrument; acquiring second posture information of the handle in real time; The second posture information is compared with the first posture information, and when the deviation is within a preset deviation, the end instrument is aligned with the handle, and a follow signal is sent to activate the end instrument into a follow state. The second posture information is aligned with the first posture information, and when the deviation is within a preset deviation, the end instrument is aligned with the handle to initiate the end instrument into a follow state.

The invention relates to a radio display panel background switching method. The method comprises the steps of performing background pattern display of a corresponding display style pattern on a display panel of a radio arranged in a car based on expressions of personnel in the car by using a radio display panel background switching platform. The radio display panel background switching platform isarranged in a front-end instrument panel of the car. The platform comprises a radio-frequency processing device used for receiving a CMMB signal from an antenna and performing radio-frequency processing on the CMMB signal to obtain and output an audio compression signal and a video compression signal, and an audio decompression device connected with the radio-frequency processing device and usedfor performing decompression processing on the audio compression signal to obtain an audio broadcast signal, which is used for a player of the radio to perform playing operation, wherein the radio-frequency processing device comprises a tuner and a detuner.

The invention relates to a control method and control device for a surgical robot and a tail-end instrument. The control method includes the following steps: acquiring first target position and pose information of the controlled tail-end instrument in a first coordinate system; decomposing the first target position and pose information to obtain second target position and pose information of the controlled tail-end instrument in a second coordinate system and third target position and pose information of the far end of a mechanical arm in the first coordinate system; and controlling linkage ofjoint components in one corresponding operation arm according to the second target position and pose information, and controlling linkage of joint components in the mechanical arm according to the third target position and pose information to allow the controlled tail-end instrument to achieve a target position and pose corresponding to the first target position and pose information under the linkage of the mechanical arm and the operation arm. The method and device provided by the invention can expand the motion range of the tail-end instrument, and the device is easy to use.

The invention relates to a starting method of a surgical robot, a readable memory based on a surgical method and a surgical robot based on the surgical method. The surgical robot comprises handles andoperating arms; the handles can move freely; each operating arm has an end instrument; each end instrument is used for executing surgical operation and moving with the corresponding handle; the starting method comprises acquiring first attitude information of the end instruments, acquiring second attitude information of the handles in real time, comparing the second attitude information and the first attitude information, aligning the end instruments with the handles if a deviation between the first and second attitude information is within a preset deviation, aligning the end instruments with the handles, transmitting a followup signal so that the end instruments are started to enter a followup state.

The invention belongs to the technical field of electronic circuits, and particularly relates to a high-precision analog-to-digital converter. According to the high-precision analog-to-digital converter, a voltage measurement part is formed by sequentially connecting a second voltage follower 102 and an analog-to-digital converter body 104; a voltage generation part is formed by sequentially connecting a digital-to-analog converter 103 and a first voltage follower 101; a subtraction operation circuit 108 is composed of a first resistor 110, a second resistor 111, a third resistor 112, a fourth resistor 113 and an operational amplifier 115; a voltage amplifier 109 is composed of a fifth resistor 114 and an instrumentation amplifier 116; a residual voltage discharge part is composed of the subtraction operation circuit 108 and the voltage amplifier 109. The high-precision analog-to-digital converter has the advantages that the 20-bit resolution ratio, the 1-MHZ sampling rate and the 1-LSB maximum integration nonlinearity can be achieved, the full-range switching error is smaller than 1 ppm, and the converter can be applied to 6.5-bit digital multimeters and can be applied to high-precision digital collectors and high-end instruments and meters high in the requirement for the high sampling speed.

The invention provides a master hand control clamp for a surgical robot and belongs to the technical field of medical instruments. The master hand control clamp comprises a base, a first handle, a second handle and a touch sensing module, the first handle and the second handle are hinged onto the base, and the touch sensing module is arranged on the base and used for sensing whether the first handle and the second handle are touched or not and transmitting information about whether the first handle and the second handle are touched or not to a far-end instrument. Due to the arrangement of thetouch sensing module, a power supply of a remote instrument can be connected or disconnected by sensing whether an operator touches the handle or not, so that the connection or disconnection of the power supply of the remote instrument is synchronous with the contact or separation of the operator from the handle, the possibility of misoperation is reduced, and unnecessary injury to a patient is avoided.

The invention relates to an S-shaped surgical instrument. The S-shaped surgical instrument comprises a handheld structure, a control structure, a tail end instrument and a transmission device, whereinthe control structure comprises an outer frame which is hinged to the handheld structure and enables the control structure to have a rotational degree of freedom around a first axis, and an inner frame which is hinged to the outer frame and enables the control structure to have a rotational degree of freedom around a second axis; the first axis and the second axis are arranged at an angle; the tail end instrument is connected with the handheld structure through a connection structure, and comprises a tool supporting seat and an S-shaped structure connected with the tool supporting seat; the S-shaped structure has a motion degree of freedom in the same direction as the control structure; the transmission device comprises a flexible transmission structure for connecting the inner frame andthe S-shaped structure. The surgical instrument adopts a mechanical transmission manner, and the motion of a handheld end can be transmitted to the tail end instrument directly, so that complex forcefeedback control is avoided, and control is easy.

A communication system having a policy server coupled to a communications network for managing secure communication with and among end instruments (EI). The EI comprises a memory, and a processor coupled to the memory with processor-executable instructions, including instructions for an operating system kernel; and instructions for a protection core that monitors operations of the operating system kernel in accordance with a security policy for the EI. Security policies can intercept calls to an operating system kernel and for each call, determining whether the call is allowed under the security policy(ies). Policies are stored in a policy library and transmitted to an EI over a wireless communication network.

The invention provides a negative-pressure cleaning machine and relates to the field of cleaning equipment. The negative-pressure cleaning machine comprises a rack, a cleaning cabin and a control system and further comprises a liquid feeding mechanism, a steam heating system, a liquid circulating system, a vacuum mechanism and a circulating heater which are controlled to operate by the control system. The liquid feeding mechanism communicates with the cleaning cabin and is used for adding cleaning liquid into the cleaning cabin. The circulating heater comprises a heating box and a heating coil, the heating box is internally provided with a first heating chamber used for heating the liquid, the heating coil is arranged on the surface of the heating box in a sleeving mode, and the first heating chamber communicates with the top of the cleaning cabin. The vacuum mechanism communicates with the cleaning cabin. The negative-pressure cleaning machine generates a large number of bubbles and oscillates constantly through decompression boiling, clean air introduced from the bottom of a cabin body in the vacuum environment is utilized to form the bubbles to impact the surfaces of instruments, the whole process is under control of a program, and it can be guaranteed that the blind-end instruments and other instruments are cleaned without a dead angle; and the negative-pressure cleaning machine can be used for cleaning the high-value-added precise medical instruments which are not easily (or difficultly) cleaned by traditional equipment.

The invention belongs to the technical field of biology, and particularly relates to a compound staining solution of a piroplasma blood smear. The compound staining solution comprises a compound staining solution I and a compound staining solution II, wherein the compound staining solution I comprises 2g Swiss powder, 1.7g giemsa pigment, 50ml glycerol and 1000ml methanol; and the compound staining solution II comprises 2.3g anhydrous sodium dihydrogen phosphate, 0.3g anhydrous monopotassium phosphate and 1000ml distilled water. The staining method comprises the following steps: I, blood smear preparation, II, secondary treatment of the blood smear, and III, staining in the compound staining solution. The compound staining solution and the staining method have a better piroplasma staining effect without the help of high-end instruments and equipment, are economical and practical and have a very excellent effect; the required time is shorter; and no impurity interferes with observation of a piroplasma body.

The invention provides an instrument box and a surgical instrument. The instrument box includes a turning table assembly, two sets of driving wires, two wire rotation bodies and four output wires. Each group of driving wires includes two driving wires, each The two fixations formed by the set of driving wires on the inner rotating part are symmetrical about the first intersection point, and the four fixing points formed by the four driving wires on the inner rotating part are connected in turn to form a first parallelogram, and the first parallelogram The intersection point of the diagonal lines is the first intersection point. The other ends of the two driving wires in each group of driving wires are wound on the corresponding wire rotating body in the opposite direction, so that the turning table assembly is driven by the four driving wires, and then the output wire The movement of the turning table assembly is transmitted to the end instrument assembly, so that the end instrument assembly can move in multiple directions and with multiple degrees of freedom, which simplifies the design of the instrument box, reduces the volume of the instrument box, and improves the space utilization of the instrument box Rate.

Example embodiments relate to a device comprising a port assembly, instrument arm assembly, and camera arm assembly. The port assembly includes an outer and inner body. The outer body includes a first access port, first end, second end, and anchoring portions. The inner body is positionable in the first access port to form a second access port. The instrument arm assembly is configurable in a serial arrangement of arm segments, joint portions, and end instrument. The instrument arm assembly is configurable to attach to an anchoring portion. The camera arm assembly includes a camera, and configurable to attach to an anchoring portion. The port assembly is configurable to provide at least one degree of freedom, and configurable to allow insertion of the instrument arm assembly and camera arm assembly into an abdominal cavity. The port assembly is configurable to allow insertion of instruments into the abdominal cavity.

A medical apparatus comprising an apparatus body and a terminal instrument which operates when receiving a terminal output which is an electric or electromagnetic output. The terminal instrument is provided with an installed cell of predetermined capacity and the apparatus body is provided with a circuit for measuring the electromotive force (emf) of the installed cell while discharging the emf via a predetermined resistance as the terminal instrument is used. A comparator compares the emf with a standard voltage and the output command is blocked from the primary control section when the emf of the installed cell is below the standard voltage. Moreover, an alarm is generated when the emf of the installed cell is below the standard voltage level during the use of the terminal instrument.