495 results about "Tendon" patented technology

The invention discloses tendon rope transmission system performance integrated testing equipment and a transmission system testing method, and belongs to the technical field of robot part testing. The equipment comprises a rack and a performance testing device, wherein the performance testing device comprises a mounting plate provided with an arc-shaped guide rail chute, a core shaft used for simulating a bending radius, a position adjusting mechanism used for accurately positioning the core shaft and clamping a tendon rope jacket, at least one linear driving mechanism capable of adjusting an angle along the chute, and a counterweight mechanism. A clamp of the linear driving mechanism clamps one end of an inner core of the tendon rope, the counterweight mechanism is connected with the other end of the inner core, the middle part of the tendon rope bypasses the mandrel, and the reciprocating motion applied by the linear driving mechanism is matched with the constant tension applied by the counterweight mechanism so as to simulate the working condition of the tendon rope under a specific bending radius and angle.

The invention provides a tendon-rope-driven robot dexterous hand finger based on single drive and a method. The tendon-rope-driven robot dexterous hand finger comprises a finger shell; the tendon rope is provided with an end chuck and a middle chuck; the winch is provided with a winch clamping groove, the middle chuck is connected to the winch clamping groove, and after the tendon rope winds around the winch, the two ends of the tendon rope are led out of the two sides of the winch. The tendon rope guide module is provided with a guide clamping groove, after the tendon rope bypasses the tendon rope guide module, the end chuck is connected to the guide clamping groove, and the tendon rope guide module is used for guiding the transmission path of the tendon rope and changing the extension direction of the tendon rope; the driving module is used for driving the winch to rotate, and the winch has a forward rotation state and a reverse rotation state: when the winch rotates in the forward direction, the tendon rope drives the front part of the finger shell to bend; when the winch rotates reversely, the tendon rope drives the front part of the finger shell to straighten. Bending and straightening of the finger knuckles are bidirectionally driven by the tendon rope through the single driving module, and the finger is small in size, compact in structure, light in weight, low in cost and very suitable for a high-degree-of-freedom robot dexterous hand.

The invention discloses a bionic rope-driven finger, which adopts single tendon rope drive to be matched with a movement coupling transmission rod, and solves the technical problems that the number of tendon ropes of the existing rope-driven finger is large, and multi-joint coordinated movement is difficult. The finger comprises a near-end knuckle, a middle knuckle and a far-end knuckle which are hinged in sequence, and the whole finger can be driven to bend through a tendon rope anchored to the far-end knuckle. The tendon rope is connected to the near-end knuckles and the far-end knuckles in a pivoted mode through the movement coupling transmission rods arranged on the spanning middle knuckles, and when the tendon rope pulls the far-end knuckles to bend, the movement coupling transmission rods mechanically transmit movement to the near-end knuckles, so that the two knuckles automatically form a coordinated bending proportion, and the natural movement mode of human fingers is simulated. The elastic restoring element provides stretching restoring force when the tendon rope is loosened, so that the fingers automatically return to the straightened state, and bidirectional movement control is achieved through the single tendon rope. According to the scheme, the tendon rope layout is simplified, the assembling efficiency and reliability are improved, and stable grabbing is achieved.

The invention discloses a preparation method of a growth factor gradient bionic scaffold for tendon-bone interface regeneration and repair, and belongs to the technical field of biomedical materials. The composite scaffold is constructed by adopting a coaxial electrospinning and self-assembly technology, and is compounded by a core-shell oriented nanofiber layer and a non-oriented nanofiber layer through a gelatin adhesive to respectively simulate tendon phase and bone phase structures of a tendon-bone interface; a shell layer of the tendon-phase-simulated core-shell oriented nanofiber is a PCL layer containing CTGF, a core layer of the tendon-phase-simulated core-shell oriented nanofiber is a PVA layer containing TGF-beta1, and a bone-phase-simulated non-oriented nanofiber layer is a PCL / Gel co-spun layer containing BMP-2 polylactic acid microspheres and nano-hydroxyapatite. The scaffold can realize secondary controlled release of early-stage release of CTGF, slow release of TGF-beta1 in the middle and later periods and continuous release of BMP-2, and cooperates with a fiber orientation structure to induce graded differentiation of mesenchymal stem cells and promote integrated repair of a tendon-bone interface gradient structure, so that the problems of poor healing of a tendon-bone interface and high repeated fracture rate in a traditional repair method are solved, and the scaffold has good application prospects. The important application value is realized in the field of tendon-bone injury treatment in sports medicine.

The invention relates to the technical field of bridge engineering structure health monitoring, and discloses a bridge prestressed tendon system and method with intelligent monitoring and early warning functions, and the system comprises a prestress bearing subsystem, an intelligent sensing subsystem and a data acquisition and transmission subsystem. Wherein an intelligent ring of the intelligent sensing subsystem is coaxially clamped between a steel strand anchorage device and an anchoring steel plate and is connected to a stress path in series, and a sensor packaged in the intelligent sensing subsystem is used for outputting a physical signal reflecting the axial tension of a prestressed tendon along with the change of the intelligent ring; and the data acquisition and transmission subsystem receives the physical signal through the field signal transceiver station, calculates the prestress loss amount in combination with the environment temperature data, compares the prestress loss amount with a preset threshold value, and generates a graded early warning signal. Through the in-situ serial monitoring structure, direct quantitative sensing and real-time early warning of the stress state of the prestressed tendons are achieved, temperature interference is effectively eliminated, and the accuracy and timeliness of bridge structure safety monitoring are improved.

The invention belongs to the technical field of medical instrument evaluation, particularly relates to a tendon cross-sectional area measuring device and a tendon cross-sectional area measuring method, and provides the tendon cross-sectional area measuring device and the tendon cross-sectional area measuring method on the basis of a volumetric method and a die forming technology. The long and thin cylindrical measuring cylinder is used for containing normal saline, the pressure sensor is used for measuring the hydraulic pressure change caused by the fact that the tendon is immersed in the normal saline, then the liquid volume change is obtained, and the average cross sectional area of the tendon under the corresponding displacement is obtained based on the displacement of the tendon immersed in the liquid. Further, the minimum point of the tendon cross section area is accurately measured, and a reference is provided for a later tensile test.

The invention provides a tendon rope driving robot dexterous hand finger based on dual drive and a method. The tendon rope driving robot dexterous hand finger comprises two tendon ropes, and each tendon rope is provided with two end chucks and a middle chuck; each capstan is provided with a capstan clamping groove, the middle chuck is connected to the capstan clamping groove, and after the two tendon ropes are wound around the two capstan bodies respectively, the two ends of the tendon ropes are led out from the two sides of the capstan bodies in two directions; after the tendon rope is wound around the tendon rope guide module, an end chuck of the tendon rope is connected to the knuckle clamping groove, and the tendon rope guide module is used for guiding the transmission path of the tendon rope and changing the extending direction of the tendon rope; the two driving modules are used for driving the winch to rotate, and the winch has a forward rotation state and a reverse rotation state. Bending and straightening of finger knuckles of the double-tendon-rope two-way driving fingers and side-sway movement of the fingers towards the two sides are achieved through the two driving modules, and the fingers are small in size, compact in structure, light in weight, low in cost and very suitable for a high-freedom-degree robot dexterous hand.

The present disclosure relates to systems and methods for anatomical and injury modeling. A system can process multimedia and sensor data collected during various anatomical tests, such as mobility tests and muscle, ligament, or tendon assessments, performed by a user. By applying this data to neural network models, the system can generate anatomy scores and subscores for specific body regions, identifying potential vulnerabilities in the anatomy of the user. The system can further generate a personalized conditioning protocol to address these vulnerabilities and reducing the likelihood of injury.

The invention discloses a collagen injection for tendon repair as well as a preparation method and application thereof, and belongs to the technical field of collagen preparation. The preparation method disclosed by the invention comprises the following steps: by taking a collagen dry product as a raw material, sequentially dissolving, carrying out secondary filtration, separating, preparing fibrotic collagen slurry A, preparing gelatinized collagen slurry B, preparing the solution, homogenizing and filling to prepare the collagen injection capable of being used for tendon repair. The collagen injection provided by the invention shows multiphase transformation during refrigeration and contact with body fluid with body temperature, and does not have the phenomenon of fiber layering in the long-term storage process. The collagen disclosed by the invention is an injection type gel preparation, can be flexibly injected and applied according to the depth and the area of a wound, is beneficial to promoting tissue regeneration and functional repair, and is particularly suitable for tendon injury and other scenes needing collagen to guide cell repair.

The telemedicine auxiliary operating table comprises an operating table body and an operating assembly, a soft cushion is installed at the top end of the operating table body, an extension assembly is arranged on one side of the operating table body, and supporting plates are connected to the two sides of the operating table body; the operation assembly is arranged on the top of the operating table body and used for a doctor to conduct an operation. Due to the design of the extension component, the operating table can be flexibly adjusted according to the height of a patient, so that the requirements of patients with different body types are met. And the patient can completely lie flat, so that the smoothness of the body and the laying angle of tendons and vessels are kept. Therefore, the comfort level of the patient is improved, a doctor can operate more accurately in the operation process, and the operation risk is reduced.

This invention discloses a composite microsphere loaded with ZIF-8 nanoparticles and stem cell extracellular vesicles, its preparation method, and its applications. The composite microsphere comprises a hydrogel matrix microsphere, and ZIF-8 nanoparticles and small extracellular vesicles derived from bone marrow mesenchymal stem cells uniformly dispersed and encapsulated within the hydrogel matrix microsphere. This invention integrates ZIF-8 nanoparticles and stem cell-derived sEVs into injectable, photocurable GelMA microspheres, constructing an integrated delivery platform capable of sequential release and multi-stage synergistic effects. This platform successfully integrates and leverages three major functions: immunomodulation, stem cell recruitment, and cartilage-induced differentiation, ultimately achieving high-quality functional healing of the tendon-bone interface at both histological and biomechanical levels, providing a highly promising new strategy for the regeneration and repair of interfacial tissues in the musculoskeletal system.

The application discloses a rigid-flexible dual driving snake-shaped surgical robot, which comprises a rigid dual driving mechanism, a rear-end flexible continuum mechanism, a tendon constraint structure and a front-end flexible continuum mechanism. The rear-end flexible continuum mechanism and the front-end flexible continuum mechanism are associated with each other in terms of tendon length to form a dual continuum mechanism; the rigid dual driving mechanism is associated with the rear-end flexible continuum mechanism in terms of end surface movement, and the rear-end flexible continuum mechanism can be driven to bend, rotate and stretch in any direction by the rigid dual driving mechanism, so that the front-end flexible continuum mechanism is coupled to bend, rotate and stretch in any direction. The application can avoid directly pushing and pulling the driving tendon of the flexible continuum, thereby reducing the driving complexity when the number of tendons is large, and the rigid-flexible dual driving further guarantees the modeling accuracy of the continuum, and has the advantages of high reliability, compact structure and easy realization.

The utility model relates to the technical field of installation of prestressed tendons, in particular to an anti-collapse device for prestressed tendons, which comprises a connecting seat, an anchor backing plate fixedly arranged at the end of the connecting seat, a plurality of third notches formed in the side wall of the connecting seat, a cover plate fixedly arranged at the end of the anchor backing plate, a plurality of first notches formed in the side wall of the cover plate and a plurality of second notches formed in the side wall of the cover plate. Second sealing rings are connected to the inner side walls of the first notches in a clamped mode. Compared with a traditional anti-collapse device for the prestressed tendon, the anti-collapse device for the prestressed tendon is provided with the cover plate, the threaded column, the first notch, the positioning groove, the third clamping groove and the second sealing ring according to requirements, and the outer surface of the threaded column is sequentially sleeved with the positioning groove, so that the mounting and positioning precision of the cover plate is improved; the inner size of the third clamping groove is sequentially matched with the outer size of one end of the clamping block, the clamping stability of the clamping block is improved, the second sealing ring is evenly arranged on the outer surface of the prestressed tendon in a sleeving mode, the sealing performance of the first groove opening is improved, corrosion is avoided, and the tensioning safety and stability of the prestressed tendon are improved.

The utility model relates to building structure technical field discloses a novel retaining structure for road, including support stake, prefabricated arched retaining board, reinforcing tendon, support rod, cable connecting ring, cable connecting ring is used for connecting reinforcing tendon, support rod, reinforcing tendon is connected on support stake, and support rod is connected on prefabricated arched retaining board, the utility model designs arched prefabricated arched retaining board, and the earth pressure perpendicular to prefabricated arched retaining board is converted into the pressure to support stake, thereby increasing the retaining efficiency of prefabricated arched retaining board, and the back of prefabricated arched retaining board is simultaneously set into arched and makes the arching effect of the impacted earth body play, effectively reduces the earth pressure of earth body itself, sets up the axial force detector on the support rod, can judge retaining wall deformation stress condition at any time, sends out early warning in time when the axial force is over limit, and timely early warning can further reduce the risk coefficient, avoids the accident occurrence as far as possible.

A wrist joint (100) for a surgical instrument (160) having a proximal end (164), a distal end (166), an end effector (102) mounted at the distal end and (166) at least one actuation tendon (108a, 108b) for actuating the end effector (102) The wrist joint (100) comprises proximal and distal parts (110, 120) having respective proximal and distal rolling surfaces (112, 122), wherein respective axes (114, 124) extend through the proximal and distal parts (110, 120) centrally with respect to the associated rolling surfaces (112, 122). The distal part (120) is rotatably coupled to the proximal part (110) with the proximal and distal rolling surfaces (112, 122) able to roll against one another. Proximal and distal guiding assemblies (130, 132) are mounted to the proximal and distal parts (110, 120) respectively. Respective guiding surfaces (131, 133) of the proximal and distal guiding assemblies (130, 132) are configured to guide the at least one actuation tendon (108a, 108b) therebetween as the at least one actuation tendon (108a, 108b) extends from the proximal end (164) to the end effector (102), thereby decoupling actuation of the end effector (102) from wrist movement.

The utility model provides a finger structure and a robot. The finger structure comprises: a frame; the first knuckle is hinged to the rack through a first hinge part; the second knuckles are hinged to the first knuckles through second hinge parts; the third knuckles are hinged to the second knuckles through third hinge parts; the driving assembly is arranged on the rack and used for driving the first knuckles to rotate around the first direction or a second direction opposite to the first direction; the first end of the first tendon rope is connected with the rack, and the second end of the first tendon rope sequentially bypasses the first hinge part and the second hinge part in the first direction and the second direction and then is connected with the second knuckle; the first end of the second tendon rope is connected with the second knuckle, and the second end of the second tendon rope is connected with the third knuckle after bypassing the second hinge part and the third hinge part in the first direction and the second direction in sequence; when the driving assembly drives the first knuckles to rotate in the first direction, the first tendon ropes pull the second knuckles to rotate in the first direction, and the second tendon ropes pull the third knuckles to rotate in the first direction.

The invention particularly relates to a chordae tendineae implanting device which comprises a capturing assembly with a base body, a first clamping piece and a second clamping piece, and the first end of the first clamping piece is pivotally connected with the base body. The second clamping piece is arranged on the side face, facing the base body, of the first clamping piece, the second clamping piece has a first state and a second state, and in the second state, the second clamping piece and the first clamping piece jointly clamp the valve. The first clamping piece is provided with a first position forming an angle with the base body and a second position driving the second clamping piece in the second state to abut against the base body, and when the first clamping piece is located at the first position, the second clamping piece can be switched between the first state and the second state. According to the chordae tendineae implanting device, through the matching structure of the base body, the first clamping piece and the second clamping piece, secondary clamping of a valve is achieved, and the problem that in the using process of an existing chordae tendineae implanting device, the valve is prone to slipping is solved.

A surgical stapler that can deliver staples or anchors into both tendon and bone. The staples or anchors releasably engage to the end of a staple rod. The stapler rod includes a butterfly clip on its proximal end, the butterfly clip having two wings or panels and a striking surface between the wings. The stapler is used to secure a biological construct to tendon or bone during arthroscopic surgery. The device includes a stapler handle with an insertable staple rod. The stapler handle drives the staple rod to advance a staple into the bone or tendon.

The utility model belongs to the technical field of electric poles, and particularly relates to an erecting ring suitable for a reinforcement cage, the reinforcement cage and an electric pole. The erection ring suitable for the reinforcement cage comprises an inner ring and an outer ring, wherein the inner ring is of a closed circular structure; the outer ring is fixedly installed on the outer side of the inner ring, a plurality of grooves are formed in the outer ring so that the outer ring can be divided into a plurality of arc sections distributed at intervals, non-prestressed tendons are placed in the grooves, and prestressed tendons are placed on the outer sides of the arc sections; the outer contour circle of the non-prestressed tendon and the outer contour circle of the prestressed tendon are concentric circles and are equal in radius. The erecting ring adopts the unique design of the inner ring and the outer ring, so that the thickness of the non-prestressed tendon and the thickness of the prestressed tendon protective layer are consistent, and uneven corrosion of the reinforcing steel bars caused by thickness difference is avoided.

This invention discloses a medicinal wine for treating sprains and bruises, promoting tendon and bone healing, and its preparation method. It belongs to the technical field of bone-healing medicinal wines. This bone-healing wine is made from the following raw materials in parts by weight: 1 part small sprain bone, 1 part large sprain bone, 1 part white crane lingzhi, 1 part moha han, and 10 parts baijiu (Chinese liquor) with an alcohol content of 50 degrees or higher. The preparation method includes: cutting the fresh or dried leaves and branches of small sprain bone, large sprain bone, white crane lingzhi, and moha han into sections, and then soaking the medicinal materials in baijiu with an alcohol content of 50 degrees or higher to obtain this product. This formula can treat sprains and bruises. This invention, as an external medicinal wine for treating sprains and bruises, promotes tendon and bone healing, and has the effects of promoting blood circulation, dispelling wind and dampness, dispersing blood stasis, promoting tendon and bone healing, clearing meridians and collaterals, reducing swelling, promoting blood circulation and removing blood stasis, dispelling wind and relieving pain, tonifying fire and strengthening the body, strengthening tendons and bones, and promoting fracture healing.

The invention discloses a tendon-rope-driven dexterous hand finger for metacarpophalangeal joint movement decoupling. A flexion and extension rotating joint and a side-sway rotating joint of the tendon-rope-driven dexterous hand finger are both of a bidirectional rotating structure controlled by a rope driver; the side-sway rotating joint is of a rolling meshing structure formed by two toothed plate components, rope guide wheels are arranged on the two toothed plate components, the two rope guide wheels are used for guiding and outputting a flexion and extension driving rope of the flexion and extension rotating joint and a side-sway driving rope of the side-sway rotating joint, and the winding directions of the flexion and extension driving rope on the two rope guide wheels are opposite. The two free ends of the side-sway driving rope are guided by the rope guide wheels to be arranged in a staggered mode. After the scheme is adopted, a transmission link capable of realizing side-sway motion and flexion-extension motion is decoupled, so that the effective length change of the flexion-extension driving rope caused by the side-sway motion is completely compensated geometrically, and the effective length of the flexion-extension link is kept constant at any side-sway angle; and the action stability and the repeated positioning performance of the fingers of the dexterous hand under the multi-posture and multi-load conditions are improved.

The subject invention pertains to a novel aerial manipulation system with a flying continuum robotic manipulator (AeCoM). A lightweight tendon-driven continuum robotic arm is coupled with an unmanned aerial vehicle. An attitude sensor (IMU) is used to assist in PCC (Piecewise Constant Curvature) configuration. A tension-based closed-loop control method is used to avoid tendon slacking in manipulating the shape of the continuum arm. The system can achieve improved relative payload capability and motion dexterity. Experimental results validate the performance of tendon-slacking avoidance and kinematics accuracy with different tip loading and tip positioning accuracy for aerial grasping.

A device (100) for mobilizing the human bone-tendon system, the device comprising: - a knee protector (2) arranged to cover a knee (3) of a human user to hold said knee in said knee protector and to exert a mobilization force on the knee covered by said knee protector, said mobilization force exerting pressure on said knee and directing towards a load bearing surface (5) arranged to support the pelvis of the user, and - means (6) for increasing the mobilization force.

The disclosure relates to compositions useful for ligament and tendon repair and methods of preparing the same. The disclosure is particularly suitable for repair of ligament ruptures, for example, anterior cruciate ligament ruptures. In an aspect of the invention, the compositions comprise a biocompatible clay, a polymer, a polypeptide, a calcium-based mineral that form a scaffold, as well as a bioabsorbable reinforcement structure incorporated thereon and / or therein. Methods of use and manufacture of the compositions, as well as kits including the compositions, are also provided.

The invention discloses chicken foot pre-bending and pre-cutting equipment which comprises a supporting frame, a water guide table is fixedly embedded in the supporting frame, a pre-cutting device is installed on the supporting frame, and an auxiliary cutting assembly is installed on the supporting frame; a frame body is arranged in the supporting frame, inner fixing supporting frames are fixed to the inner wall of the frame body, locking caps are arranged beside the side wall of the frame body, an even number of on-frame outer fixing barrels are installed on the outer wall of one of the inner fixing supporting frames, and limiting rod frames are erected between the on-frame outer fixing barrels; and a first angle adjusting seat and a second angle adjusting seat are arranged in the pre-cutting device. The supporting frame is arranged at the position where an assembly line passes through, the auxiliary cutting assembly completes shallow horizontal pre-cutting on chicken feet, meanwhile, along with displacement of the suspension chain belt of the assembly line, the suspended chicken feet with shallow openings of broilers are driven by the bone chain belt in cooperation with the driving motor under the assistance of the limiting rod frame, and inclined upward jacking is formed; the chicken foot posture adjustment is realized, so that the cutting direction is consistent with the tendon trend, the tendon block breakage problem is solved from the source, and the product delivery quality is ensured.

The present disclosure relates to a surgical device configured for the release and resection of harvested tendons that can be used in a variety of orthopedic surgical procedures, such as ACL, PCL, and UCL reconstruction.

A process for producing a multifilament collagen fiber bundle involves treating a multifilament support polymer-collagen fiber bundle having a plurality of monofilaments of collagen supported on a support polymer with a series of liquid media having a decreasing concentration of the support polymer to remove the support polymer from the multifilament support polymer-collagen fiber bundle. The support polymer is more soluble than the collagen in the liquid media and the gradual removal of the support polymer provides enough time for collagen molecules to self-assemble into fibrils. The resulting multifilament collagen fiber bundle has a D-band structure similar to natural collagen but shifted by 1 / 6th of the D-band. The multifilament collagen fiber bundle can be crosslinked with ultraviolet light in the absence of photo-initiator to provide a crosslinked collagen product with superior tensile strength and Young's modulus making the product useful in collagen-based biomaterials for tissue repair and regeneration.

According to the method for testing the effective prestress of the existing concrete structure considering the reverse friction influence, a plurality of prestressed tendons are pre-buried in concrete to form an in-service prestressed concrete member, and one prestressed tendon at the end part of the concrete is stretched by using a supplementary tensioning tool; in the stretching process, the obtained stretching stress of the prestressed tendon, the corresponding stretching length measured from the failure of friction constraint between an anchorage device and a wedge-shaped clamping piece of the prestressed tendon and the effective stress of the in-service prestressed concrete member are recorded for at least five times, and the obtained stretching stress and the corresponding stretching length are the secondary reverse friction force influence stress; selecting the friction coefficient of local deviation of the length per meter in the pore channel and the friction coefficient between the prestressed tendon and the wall of the pore channel from the anti-friction influence length corresponding to the anti-friction influence stress; finding out an optimal one; and calculating the effective stress of the out-service prestressed concrete member by using any recorded tensile length.

A method may comprise applying a magnetic field to an internal region of a tendon; acquiring a set of magnetic measurements at a surface proximal to the internal region; acquiring a set of electrical impedance measurements at the surface; calculating a set of expected filler defect-free impedance values for the surface from the set of magnetic measurements using a kernel; comparing the expected filler defect-free impedance values to the set of electrical impedance measurements; and identifying a filler defect within the tendon based on the comparison.

The invention relates to a tendon knitter supporting device and a knitting method with the tendon knitter supporting device, and belongs to the technical field of medical instruments, the tendon knitter supporting device comprises a supporting assembly and a limiting assembly, the supporting assembly comprises a supporting frame, a top plate and a long-strip-shaped supporting body, one end of the supporting body is detachably connected with a fixing base, and the fixing base is detachably connected to the supporting frame; the top plate is detachably connected to the top end of the fixing base, and an insertion gap arranged in the length direction of the supporting body is reserved between the top plate and the supporting body. The limiting assembly comprises a limiting piece and a limiting belt. The limiting piece is detachably connected to the other end of the supporting body and provided with a limiting end. One end of the limiting belt is limited at one end, close to the supporting frame, of the first braided plate, and the other end of the limiting belt is limited at the limiting end of the limiting piece. The insertion gap is formed by the supporting body and the top plate, stable supporting can be provided for the first weaving plate and the second weaving plate, deviation staggered weaving is avoided, and the weaving efficiency is improved.