Abstract: A targeted seed implanting robot suitable for clinical treatment of a human patient in the lithotomy position includes a rack, and further includes a position and posture adjusting mechanism, a contact force feedback friction wheel type targeted seed implanting mechanism, and a sine elastic amplification moment compensation mechanism; and the specific use steps are as follows: S1, driving; S2, meshing; S3, swing; S4, transverse movement; S5, compensation moment; S6, linear motion; S7, rotary motion; S8, detection; and S9, transmission of information.
Type:
Grant
Filed:
July 10, 2020
Date of Patent:
March 19, 2024
Assignees:
ANHUI POLYTECHNIC UNIVERSITY, WUHU ANPU INSTITUTE OF TECHNOLOGY ROBOTICS INDUSTRY CO., LTD.
Inventors:
Yi Liang, Buyun Wang, Dezhang Xu, Benchi Jiang
Abstract: A closed-loop detecting method using an inverted index-based key frame selection strategy, storage media and apparatus are provided. The method includes following steps: step I: acquiring image information at a current position, processing the image information to extract corresponding image features therefrom and solve a camera pose; step II: capturing image features successively during movement of a robot, as consecutive image frames, performing, on the consecutive image frames, an indexing, in which the inverted index-based key frame selection strategy is introduced into a key frame selection strategy to supplement key frames which are prone to be missed in a conventional forward indexing during a curvilinear movement of the robot; and step III: performing closed-loop detection and correction of accumulative errors based on image features carried by key frames.
Abstract: The invention relates to a targeted seed implanting robot suitable for clinical human lithotomy position. The targeted seed implanting robot includes a rack, and further includes a position and posture adjusting mechanism, a contact force feedback friction wheel type targeted seed implant and a sine elastic amplification moment compensation mechanism; and the specific use steps are as follows: S1, driving; S2, meshing; S3, swing; S4, transverse movement; S5, compensation moment; S6, linear motion; S7, rotary motion; S8, detection; and S9, transmission of information.
Type:
Application
Filed:
July 10, 2020
Publication date:
February 10, 2022
Applicants:
ANHUI POLYTECHNIC UNIVERSITY, WUHU ANPU INSTITUTE OF TECHNOLOGY ROBOTICS INDUSTRY CO., LTD.
Inventors:
Yi LIANG, Buyun WANG, Dezhang XU, Benchi JIANG
Abstract: A power-assist lower limb exoskeleton robot with adjustable stiffness joints includes a human-robot information interaction unit, an electronic control unit, an electro-hydraulic servo driving unit and a mechanical structure unit of a lower limb exoskeleton. In the mechanical structure unit of the lower limb exoskeleton, a hip joint and a hip joint connector are connected by a cross hinge mechanism. In combination with a bidirectional hydraulic cylinder, the hip joint of the lower limb exoskeleton fits well with the space structure characteristics of a human hip joint. The unidirectional hydraulic cylinders with spring reduction meets the needs of fast response and large torque during walking and increases walking endurance time. The present invention uses a plantar pressure information collection unit and a waist gyroscope to collect the human gait and gesture information. Besides, it uses a crutch unit to introduce wearer's movement intention into the exoskeleton robot's cooperative control.