Abstract: An insertion-type tissue clipping device. Clamping heads and bendable portions remain relatively fixed to each other. Each clamping head is opened and closed by means of a bending function of each bendable portion. In the device, a moving member is arranged in a clamping member in such a manner that the moving member can move in the axial direction of the clamping member. The device dispenses with a sleeve in the prior art, and the moving member directly drives a clamping arm, such that the clamping arm is opened and closed in combination with a deformation state of the bendable portion. With the same requirement for an opening amplitude, the length of the clamping arm is shorter than the combined length of a clamping arm and the sleeve in the prior art.

Abstract: An insertion-type tissue clipping device and a motion control assembly (4) thereof. A moving member (410) of the insertion-type tissue clipping device is provided with at least two rocker arm connection portions. One end of each of at least two rocker arms (420) is provided with a moving member connection portion, and the other end thereof is used for connecting to a corresponding clamping arm (100). The moving member connection portion is rotationally connected to the corresponding rocker arm connection portion, so as to convert motion of the moving member (410) into opening and closing motions of the clamping arm (100).

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.

Abstract: A vehicle waypoint determination method includes acquiring an original waypoint sequence of a vehicle in a geodetic coordinate system; converting the original waypoint sequence into an intermediate waypoint sequence in a coordinate system with the origin being a starting waypoint of a way of the vehicle; determining a slope of each waypoint in the intermediate waypoint sequence; and converting, according to the slope of each waypoint in the intermediate waypoint sequence, the intermediate waypoint sequence into a target waypoint sequence in a dead reckoning (DR) coordinate system. According to the method, coordinates of the vehicle in the DR coordinate system can be obtained conveniently and accurately.

Abstract: Provided are a method for parking out of an angled parking space, a vehicle, and a storage medium. The method includes acquiring the current parking space coordinates of the current angled parking space and the current vehicle coordinates of the current vehicle; determining a compensation auxiliary line of the current vehicle in the current angled parking space and determining an interval distance between the current vehicle and the compensation auxiliary line according to the current parking space coordinates and the current vehicle coordinates and determining the interval distance as a parking-out compensation distance of the current vehicle.

Abstract: A vehicle positioning method and system based on multi-data fusion, and a vehicle terminal. The method includes the following steps: calculating three vehicle body change angles through a wheel speed pulse signal, a steering wheel signal, and an inertial measurement unit; performing data fusion on the second vehicle body change angle and the third vehicle body change angle to obtain a fused change angle; performing, when data of the first vehicle body change angle is refreshed, filtering correction on the fused change angle through the first vehicle body change angle to obtain a filtering coefficient, and calculating a current vehicle body angle according to a vehicle body angle of a previous moment; and calculating a current vehicle body position of a vehicle according to a vehicle body position of the previous moment, the vehicle body angle of a current moment, and a vehicle driving distance.

Abstract: An insertion-type tissue clipping device. Clamping heads and bendable portions remain relatively fixed to each other. Each clamping head is opened and closed by means of a bending function of each bendable portion. In the device, a moving member is arranged in a clamping member in such a manner that the moving member can move in the axial direction of the clamping member. The device dispenses with a sleeve in the prior art, and the moving member directly drives a clamping arm, such that the clamping arm is opened and closed in combination with a deformation state of the bendable portion. With the same requirement for an opening amplitude, the length of the clamping arm is shorter than the combined length of a clamping arm and the sleeve in the prior art.

Abstract: A insertable gripping instrument and a gripper thereof. The gripper comprises at least two gripping arms. Each gripping arm comprises a gripping head and a bendable portion. The gripping arms are used to grip a target object. Each bendable portion is provided with a deformation structure capable of bending towards the closing direction of the gripper and/or bending towards the opening direction of the gripper. In the present structure, the sleeve in existing structures is omitted, and in combination with the deformation state of the bendable portion, the gripper open and close on the basis of the position change of moving members.

Abstract: A manufacturing method for an integrated gripper, and a integrated gripper manufactured by using the manufacturing method. In the method, a laser is used on a cylindrical substrate, and the integrated gripper provided with at least two gripping arms is cut out, each gripping arm being provided with a gripping head and first shrinkage slit distributed along the axial direction of the substrate. By means of the first shrinkage, bendable portions are provided with a deformation structure capable of bending in a closing direction of the gripper and/or an opening direction of the gripper.

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.