76 results about "Wrist" patented technology

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

The application relates to the technical field of robots and discloses a multi-ring mixed connection four-degree-of-freedom active full-drive high-skill high-load mechanical finger, which comprises a wrist metacarpal base, a center hooke joint, a finger hinge, a first telescopic mechanism, a first multi-link structure, a second telescopic mechanism, a second multi-link structure and a third telescopic mechanism, the center hooke joint is arranged on the wrist metacarpal base; the finger hinge is hinged to the center hooke joint; the finger hinge comprises a phalanx, a knuckle and a fingertip; the first multi-link structure and the second multi-link structure are both arranged on the center hooke joint; one end of the first telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the phalanx; one end of the second telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the first multi-link structure; one end of the third telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the second multi-link structure. The multi-ring mixed connection mechanism has the motion decoupling characteristics, so that the finger has high skill and high load capacity.

A surgical instrument having an open-close end effector is provided. The surgical instrument is equipped with a shaft, a wrist rotatably coupled to the tip of the shaft about a first axis, a first jaw member and a second jaw member each rotatably supported on the wrist about a second axis, a first ring cable set and a second ring cable set transmitting force so as to rotate the first jaw member and the second jaw member about the second axis, and a rotation action unit generating a rotation action of the wrist about the first axis such that pre-tension in the first ring cable set and the second ring cable set does not change.

Methods are provided for aesthetic restoration and reconstruction of bone loss, deficit, defect, or a combination thereof. The methods include administration of one or more suitable bone derived compositions by a minimally invasive procedure such as injection using a needle, syringe, etc., placement in or through a small incision, or a combination thereof. The properties and characteristics of the bone derived composition, including without limitation, flowability, injectability, size, shape, and physical form, are limited only by the requirement that they are capable of administration by a minimally invasive technique. For example, these methods are effective for restoration of facial features, e.g., lost chin definition, jawline definition, bone around nasal lines, and bone around the upper and lower eye area. These methods are also effective for treatment of bone deficiency and loss in other body features such as shoulders and collarbones, pelvis, feet, ankles, hands, and wrists.

The application provides a positioning pipe pre-arrangement platform for simple and easy elbow pre-arrangement, which comprises a workbench, a ground rail, a positioning end head, a column sliding table tool, a pipe support sliding table tool and a positioning pulley; the ground rail is fixedly installed on the workbench, and the positioning pulley is slidably connected with the ground rail; the positioning end head is fixed at the end head of the ground rail; the column sliding table tool comprises a sliding table, an elbow clamp and a positioning pillow; the sliding table is slidably connected with the ground rail, the elbow clamp is fixed on the sliding table and used for fixing a column part, and the positioning pillow is fixed on the sliding table and used for bearing a part to be installed; the pipe support sliding table tool comprises a wedge sliding block, a positioning pillow, a sliding table and an elbow clamp; the sliding table is slidably connected with the ground rail, the elbow clamp is fixed on the sliding table and used for fixing the wedge sliding block, the wedge sliding block is fixedly connected with the sliding table and used for positioning and connecting the part to be installed, and the positioning pillow is fixed on the sliding table and used for bearing the part to be installed. The application has the beneficial effects of improving the precision of manual pre-arrangement positioning pipes, reducing the pre-arrangement cost and operation difficulty.

A surgical tool having an open-close end effector is provided. The surgical tool has a shaft, a wrist portion connected so as to be rotatable about a first axis, a first jaw member and a second jaw member each supported so as to be rotatable about a second axis, and an elastic body that exerts a repulsive force between the first jaw member and the second jaw member. The surgical tool further includes a first jaw winch disposed so as to fit the shape of the first jaw member, a first cable that pulls the first jaw member, a second jaw winch disposed so as to fit the shape of the second jaw member, and a second cable that pulls the second jaw member.

This utility model discloses a forearm splint for bone injury care, comprising a cut-resistant braided layer, a covering strap fixedly installed on the inner side of the cut-resistant braided layer, a tension adjustment slit on the surface of the cut-resistant braided layer and the covering strap, and closing straps installed on both sides of the tension adjustment slit. Multiple axial support components are installed on the inner side of the covering strap. An elbow locking component and a wrist locking component are respectively installed between the upper and lower ends of the cut-resistant braided layer and the covering strap. Both the elbow locking component and the wrist locking component include a tension adjustment box, and a locking knob is installed in the middle of the tension adjustment box. The elbow locking component also includes a first connecting wire slidably connected to one of the tension adjustment boxes. This utility model, by adjusting the locking at both ends of the forearm, satisfies the applicability and fit of forearms of different sizes, improves the uniform clamping of the forearm, and facilitates the examination of the forearm skin.

A method of replacing a consumable of a surgical tool includes securing the surgical tool, which includes a drive housing, an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, a wrist interposing the shaft and the end effector, and a plurality of drive cables extending proximally from the end effector and through the wrist. The method further includes moving the shaft proximally away from the end effector and deeper into the drive housing, detaching the drive cables from the jaws, removing the end effector and the wrist from proximal portions of the surgical tool, replacing the consumable of the surgical tool, reconnecting the end effector and the wrist to the proximal portions of the surgical tool, reconnecting the drive cables to the jaws, and moving the elongate shaft distally toward the wrist and the end effector.

A hand rehabilitation training device comprising a wrist component and one or more finger components removably connected to the wrist component, the wrist component comprising a hand sleeve and one or more hand back bridges movably connected to the hand sleeve via an adjustment mechanism, the invention further relates to a method for reversibly adjusting and fixing the proximal-distal position of the bridge relative to the hand sleeve. The device includes one or more flexible members that removably connect each finger component to one or more of the back-of-hand bridges such that the flexible members apply a tensile force to one or more of the connected finger components. The hand sleeve may receive a wearer's hand and wrist, expose the wearer's fingers, and include a reversibly openable portion for opening and closing the hand sleeve around the wearer's wrist. The finger component may include a soft and bendable finger portion and a rigid support spine, and / or leave a space for exposing at least a portion of the middle phalanx of the wearer's finger.

To provide a surgical tool.SOLUTION: The surgical tool has an end effector, a wrist, and an actuation assembly. The end effector can have an upper jaw portion and a lower jaw portion. A wrist can connect the end effector to the elongate shaft. A beam member may be arranged to translate within the upper and lower jaw portions. The actuating assembly may include a pushing assembly configured to transmit a compressive force to the beam member and a pulling assembly configured to transmit a tensile force to the beam member.SELECTED DRAWING: Figure 8

The application relates to the technical field of image processing, and provides a detection method and system for wrist arm positioning marks based on image processing, which solve the problems of high contour detection error rate caused by insufficient inhibition of environmental interference and false detection caused by parameter solidification. The method comprises the following steps: acquiring wrist arm operation parameters to generate a space constraint model; collecting visible light band and infrared band images of wrist arm positioning marks to generate multispectral enhanced images through fusion; based on the reflection characteristics of the positioning marks, combining weight distribution and feature aggregation of the space constraint model, acquiring an initial contour point set of the positioning marks and performing three-dimensional projection correction to generate a topological structure matched with the spatial posture of the wrist arm; and based on the verification result of the geometric distribution boundary of the topological structure and the space constraint model, generating the final detection coordinates of the positioning marks of the wrist arm. The application solves the problem of detection precision decline caused by complex environmental interference and mechanical deformation, and improves the robustness and accuracy of the positioning marks of the high-speed rail catenary wrist arm.

An articulatable wrist for an end effector includes a first link, a second link rotatably coupled to the first link at a first articulation joint, and a flexible member extending at least partially through a central passage cooperatively defined by the first link and the second link. A first pivot guide is rotatably coupled to the second link at the first articulation joint and is rotatable about a first pivot axis extending through the first articulation joint, the first pivot guide defining a central aperture alignable with the central passage and sized to accommodate the flexible member therethrough. The first pivot guide supports an outer diameter of the flexible member at the first articulation joint and prevents the flexible member from flexing beyond the first pivot axis during articulation.

The utility model relates to the technical field of moxibustion appliances, and discloses a tendon sheath moxibustion device which comprises a disc body, a fixing box capable of containing a plurality of moxibustion rods is arranged on the inner surface of the disc body, hand pads used for containing wrists or forearms are arranged on the two sides of the fixing box, the fixing box comprises a box top arranged in a hexagonal shape, and the box top is provided with a plurality of moxibustion rods. Six partition plates are connected to the periphery of the box top, and the bottoms of the six partition plates are fixed to the inner surface of the tray body. By means of the arc-shaped hand pads, a patient can place hands on the two sides of the device so as to play a role in auxiliary supporting, meanwhile, a plurality of circular openings are formed in the surface of the fixing box, moxibustion rods can be fixed in the different circular openings according to actual requirements, moxibustion can be conducted on the positions, needing to be treated, of the hands in a targeted mode, and the moxibustion effect is good. When the patient is in the sitting position, the tendon sheath moxibustion treatment requirement is met, the treatment experience and comfort of the patient are improved, and the treatment effect is ensured.

Vessel sealing instruments are provided that comprise an ultrasonic transducer having a reduced longitudinal length distal of the articulation wrist of the instrument to improve the maneuverability of the instrument within a tight surgical area, such as encountered during a laparoscopic procedure. The vessel sealing instruments may be particularly useful as part of a robotic-assisted surgical system. A vessel sealing instrument comprises a blade having a distal portion with a smaller sectional density than a proximal portion. This design minimizes the length of the blade, allowing the blade to be located distal of an articulation wrist, which avoids generating ultrasonic transducer vibrations through the wrist, thereby reducing the wear and tear on the instrument components.

The invention relates to an optical arm comprising an output section for guiding an optical beam, a shoulder unit, an upper arm, an elbow unit, a forearm, and a wrist unit having an optical output, wherein the shoulder unit mechanically connects the output section and the upper arm so as to be rotatable relative to each other about at least a first and a second rotation axis perpendicular to each other, the elbow unit mechanically connects the upper arm and the forearm so as to be rotatable relative to each other about at least a third rotation axis, and the wrist unit mechanically connects the forearm and the optical output of the wrist unit so as to be rotatable relative to each other about at least one further rotation axis, wherein the output section, the upper arm, the forearm, and the optical output of the wrist unit are optically connected by mirrors arranged in the shoulder unit, the elbow unit, and the wrist unit, and wherein the optical arm comprises an afocal lens system in which the rear focal plane of each lens coincides with the front focal plane of the subsequent lens. The invention further relates to a microscope system comprising such an optical arm for examining a freely moving experimental animal.

A method of replacing a consumable of a surgical tool includes securing a surgical tool including a drive housing, an elongate shaft extending distally from the drive housing, an end effector disposed at a distal end of the shaft, and a wrist interposed between the distal end of the shaft and the end effector. The method further includes moving the elongate shaft proximally and thereby exposing the wrist and an inner portion of the end effector; moving the end effector distally to separate the end effector from the wrist; disconnecting the end effector from the proximal portion of the surgical tool; replacing consumables of surgical tools; reconnecting the end effector to the proximal portion of the surgical tool; moving the end effector proximally to reattach the end effector to the wrist; and moving the shaft distally to obscure the wrist and an inner portion of the end effector.

This invention provides a surgical tool comprising a drive housing, a shaft extending from the drive housing, an end effector located at the end of the shaft and having opposing jaws and cutting elements, and a wrist configured to rotate the end effector in a plane and capable of articulation. The wrist articulates via opposing translations of a pair of drive members. This invention provides various systems for locating one or more drive inputs that cause movement in the wrist and / or the end effector, or for controlling the articulation of the drive inputs.

The invention discloses a dialectical acupoint selection method and a dialectical acupoint selection system for treating senile intractable insomnia by using a sleeve type wrist-ankle needle, which comprises the following steps of: acquiring symptom and sign information of a patient in multiple dimensions, screening a target syndrome type range by comparing five syndrome types, determining a candidate acupoint selection area by combining meridian circulation and wrist-ankle needle partition positioning, screening a preset acupoint through acupoint specificity analysis, and selecting a target acupoint selection area according to the preset acupoint selection area. The acupuncture angle, depth and operation sequence are planned, and finally a personalized scheme is formed; the system comprises six units including a symptom and sign acquisition unit, a syndrome type matching analysis unit, a meridian partition association mapping unit, a preset acupoint screening evaluation unit, an acupuncture parameter planning unit and a scheme integration output unit, and all the units are coordinated and linked to achieve whole-process standardized operation. The method and the system take dialectical therapy as a core, establish systematic association of syndrome types, meridians and collaterals, acupuncture points and acupuncture parameters, improve the accuracy and consistency of acupuncture point selection, provide scientific and normative personalized treatment support for senile intractable insomnia, and are suitable for traditional Chinese medicine clinical treatment scenes.

The blood pressure measuring device (1) comprises: a cuff structure (6) having connecting portions (84, 93), the connecting portions (84, 93) being located at a position opposite to the wrist (200) side of the housing (11) and connected to the connected portion (38A, 38B) of the housing (11); a belt body (61) having a bag body (63) and a mounting portion (64), wherein the bag body (63) has a hole formed at one end in the longitudinal direction opposite to the connected portion (38A, 38B) with the cuff structure (6) disposed inside, for mounting the connecting portion (84, 93). 65A, 65B), one end of the mounting part (64) is fixed to one end of the bag body (63) and is closer to the other end than the hole (65A, 65B) of the bag body (63), and the other end of the mounting part (64) is mounted to the mounting part (35). When the cuff structure (6) is disposed in the bag body (63), the length from one end to the mounting part (35) is shorter than the length from one end to the connecting part (84, 93); and the fixing part (62) is provided in the bag body (63) to fix the part of the bag body (63) that is folded back and stacked on the shaft part (36).

The invention relates to the technical field of robots, and discloses a multi-ring series-parallel four-degree-of-freedom active all-drive high-flexibility high-load-bearing mechanical finger which comprises a wrist metacarpal bone base, a central hooke joint, a finger hinge, a first telescopic mechanism, a first multi-connecting-rod structure, a second telescopic mechanism, a second multi-connecting-rod structure and a third telescopic mechanism. The central hooke joint is arranged on the wrist metacarpal bone base; the finger hinge is hinged with the central hooke joint; the finger hinge comprises phalanges, knuckles and fingertips; the first multi-connecting-rod structure and the second multi-connecting-rod structure are both arranged on the central hooke joint; one end of the first telescopic mechanism is universally hinged to the wrist and metacarpal bone base, and the other end is universally hinged to the phalanx; one end of the second telescopic mechanism is universally hinged to the wrist-metacarpal bone base, and the other end of the second telescopic mechanism is universally hinged to the first multi-connecting-rod structure; one end of the third telescopic mechanism is universally hinged to the wrist-metacarpal bone base, and the other end of the third telescopic mechanism is universally hinged to the second multi-connecting-rod structure. And by means of the motion decoupling characteristic of the multi-ring hybrid connection mechanism, the finger has high flexibility and high load bearing capacity.

The invention provides a radial artery puncture auxiliary tool, and belongs to the technical field of medical assistance. The first telescopic hole and the second telescopic hole are oppositely formed in the bottom plate, the first telescopic piece with the wrist cushion block and the second telescopic piece with the palm center cushion block and the holding piece are slidably arranged in the first telescopic hole and the second telescopic hole correspondingly, and the jacking spring is arranged between the first telescopic piece and the second telescopic piece; the first telescopic piece and the second telescopic piece can be linked through the jacking spring, it is ensured that when one telescopic piece retracts, the other telescopic piece can stretch out, the hegu acupoint and the snuff bottle of the radial artery of the wrist of a patient and the far-end radial artery are exposed through the wrist cushion block, the palm center cushion block and the holding piece respectively, and the hand of the patient is standardized when radial artery puncture is conducted; the guiding pressure of a doctor and the psychological burden of a patient are relieved, the puncture process is convenient to implement, the puncture efficiency is improved, the puncture accuracy is improved, and the use requirement for rapid and accurate puncture of the doctor is met.

A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint pivotable about an axis and a linkage mounted to the first and second jaws, a distal wedge positioned distal to the articulation joint and within a central portion of the wrist, and an electrical conductor extending through the wrist and to an electrode located at the end effector, wherein the distal wedge guides the electrical conductor to the electrode.

A mounting member (6A) is used in a haptic force feedback device (2) that provides haptic force feedback to a hand, and mounted on the hand, and the mounting member (6A) includes: a base part (61) disposed in contact with a back of the hand; a mounting part (63) provided on one end portion of the base part (61) and mounted on a wrist of the hand; and a ring-shaped part (62) provided on the other end portion of the base part (61), into which a target finger among fingers of the hand is inserted, wherein the ring-shaped part (62) is disposed at a base of the target finger inserted into the ring-shaped part (62) to make contact with a ventral portion of the target finger.

A medical instrument includes a shaft, a wrist, a mechanical structure, a first cable, and a second cable. The wrist is coupled to the distal end portion of the shaft. The mechanical structure is coupled to a proximal end portion of the shaft and includes a capstan assembly. The capstan assembly includes a first cable drum having a first radius and a second cable drum having a second, different radius. The first cable is routed along the shaft. A distal end portion of the first cable is coupled to the wrist and a proximal end portion of the first cable is wrapped about the first cable drum. The second cable is routed along the shaft. A distal end portion of the second cable is coupled to the wrist and a proximal end portion of the second cable is wrapped about the second cable drum.

A method of using a medical instrument can include applying a distally-directed or proximally-directed load via a drive member to an end effector coupled to an elongated shaft via a wrist assembly so as to actuate the end effector; and reacting the distally-directed or proximally-directed load to an inner link of the wrist assembly that is pivotally coupled to a first outer link and a second outer link. The wrist assembly can be actuatable via drive cables and reacting the load maintains the first outer link interfaced with the second outer link in the absence of tension in the drive cables.

The invention relates to the technical field of image processing, provides a cantilever positioning identifier detection method and system based on image processing, and solves the problems of high contour detection error rate caused by insufficient environmental interference suppression and false detection caused by parameter solidification. The method comprises the steps that cantilever operation parameters are obtained, and a spatial constraint model is generated; collecting a visible light band image and an infrared band image of the cantilever positioning identifier, and fusing to generate a multispectral enhanced image; obtaining an initial contour point set of the positioning identifier and performing three-dimensional projection correction on the initial contour point set based on the reflection features of the positioning identifier in combination with weight distribution and feature aggregation of the spatial constraint model, and generating a topological structure matched with the spatial attitude of the cantilever; and generating a final detection coordinate of the positioning identifier of the cantilever based on a verification result of the geometric distribution boundary of the topological structure and the spatial constraint model. According to the method, the problem that the detection precision is reduced due to complex environment interference and mechanical deformation is solved, and the robustness and accuracy of high-speed rail overhead line system cantilever positioning identification are improved.

The utility model relates to the technical field of medical instruments, in particular to an auxiliary arm support for blood sampling, which comprises an upper arm part on the left side of the upper surface of the arm support, a front arm part on the right side of the upper surface of the arm support, and hook-and-loop fastener rough surfaces fixedly mounted on two sides of the upper surface of the arm support. The elbow joint of a patient can be placed through the upper arm part, the upper arm part of an inclined structure can be attached to the upper arm of the patient, the upper arm is supported and placed, the upper arm can be prevented from being suspended, the placing stability of the arm can be improved, and the elbow joint of the patient can be conveniently placed. Meanwhile, the forearm of the patient can be supported and placed through the forearm part of the plane structure, so that the upper arm and the forearm of the patient can be in a straight line by supporting the arm of the patient through the upper arm part and the forearm part, and the blood sampling part can be fully exposed; meanwhile, the wrist of the forearm of the patient can be supported through the wrist pad, so that the wrist is suspended, and medical staff can hold the wrist conveniently.

To provide an estimation device for easily estimating the thermal sensation of a person in a building on the basis of a skin area and skeleton information.SOLUTION: An acquisition unit 101 that acquires image information from a camera 300 that captures an image including a person who is present in a building, a skin region unit 103 that extracts a skin region of the person who is present in the building on the basis of the image information, a skeleton information unit 104 that obtains skeleton information of the person who is present in the building on the basis of the image information, and a coordinate unit 105 that obtains forearm coordinates including coordinates of an elbow and coordinates of a wrist of a forearm of the person who is present in the building and a plurality of discrete intermediate coordinates between the elbow and the wrist on the basis of the skeleton information; A sleeve roll-up estimation unit 106 that estimates a sleeve roll-up amount on the basis of the skin region and the forearm coordinates, and a change unit 108 that changes a predetermined set value in control of the air conditioning device 500 on the basis of the estimated sleeve roll-up amount.SELECTED DRAWING: Figure 1