141 results about "Wrist" patented technology

The invention provides a clamping-driving-wrist multi-dimensional force optical fiber self-decoupling sensing device and method, and relates to the field of multi-dimensional force optical fiber sensing detection.The device comprises a clamp head, a clamp wrist, a clamp tail and a movable arm mechanism which are fixedly connected in sequence; the force sensing driving mechanism is connected with the clamp head and drives the clamp head to be opened and closed to measure driving force; a wrist three-dimensional force sensing mechanism is arranged at the wrist part of the clamp and is used for measuring resultant force formed by three-dimensional interaction force during cavity tissue interaction and driving force transmitted to the wrist part of the clamp by the head part of the clamp; a clamping force sensing mechanism is arranged in the clamp head, and the resultant force formed by the three-dimensional interaction force and the clamping force when the clamping force sensing mechanism interacts with the cavity tissue is measured; an angle adjusting mechanism is arranged in the movable arm mechanism, drives the movable arm mechanism to bend or unbend and senses a resultant force formed by a three-dimensional interaction force, a clamping force and a lifting force in a cavity tissue lifting state; according to the invention, the multi-dimensional force is measured, and an accurate result is obtained through decoupling.

There is provided an apparatus for transporting a substrate. The apparatus comprises: an end effector including a fork which holds the substrate and a wrist part which holds a proximal end portion of the fork; an arm provided with the end effector installed thereon and a mechanism which moves the fork; and an inclination adjusting mechanism provided between the fork and the wrist part or between the wrist part and the arm to adjust an inclination of the fork.

The invention discloses a bionic wrist pulse generator, and relates to the technical field of medical instruments, the bionic wrist pulse generator comprises a wrist bionic structure and a blood vessel bionic structure, the wrist bionic structure comprises a bionic skin layer, a mounting layer and a supporting layer, and the mounting layer is arranged between the bionic skin layer and the supporting layer; when the device is used, the peristaltic pump draws liquid from the liquid groove and outputs the liquid into the elastic tube, the purpose of simulating pulse vibration signals of the wrist of the human body is achieved by adjusting parameters of the peristaltic pump, adjusting the flow of the liquid in the elastic tube and reproducing periodic signals, the three-stage branch network structure is designed, the first-stage branch simulates the arteriole, and the second-stage branch simulates the arteriole; the second-stage branch and the third-stage branch simulate a micro artery and a blood capillary respectively, and then a periodic signal is sensed on the bionic skin layer, so that the practice effect is achieved.

A surgical tool includes a drive housing, a shaft extending from the drive housing, wrist arranged at an end of the shaft and including a distal clevis, an axle mounted to the distal clevis, and first and second actuation pulleys rotatably mounted to the axle and rotatable about a pivot axis extending through the axle, each actuation pulley providing an actuation boss eccentric to the pivot axis, and an end effector operatively coupled to the wrist and including first and second blades pivotably coupled to the actuation bosses of the actuation pulleys. The blades are movable between open and closed positions by rotating the actuation pulleys such that the actuation boss of each actuation pulley remains proximal to a centerline of the axle, and movable to an over-centered position by rotating the actuation pulleys such that the actuation boss of each actuation pulley is located distal to the centerline.

A surgical tool includes a drive housing, a shaft extending from the drive housing, wrist arranged at an end of the shaft and including a distal clevis, an axle mounted to the distal clevis, and first and second actuation pulleys rotatably mounted to the axle and rotatable about a pivot axis extending through the axle, each actuation pulley providing an actuation boss eccentric to the pivot axis, and an end effector operatively coupled to the wrist and including first and second blades pivotably coupled to the actuation bosses of the actuation pulleys. The blades are movable between open and closed positions by rotating the actuation pulleys such that the actuation boss of each actuation pulley remains proximal to a centerline of the axle, and movable to an over-centered position by rotating the actuation pulleys such that the actuation boss of each actuation pulley is located distal to the centerline.

The invention discloses a wrist muscular tension assessment method and system based on antagonism event analysis. An inertial navigation sensing device is fixed to the back of a hand for collection, and angular velocity data is obtained; carrying out dimension reduction and noise reduction processing on the angular velocity data; according to the mounting axial direction of the inertial navigation sensing device, the principal component of the angular velocity after noise reduction is subjected to buckling and stretching process separation; detecting an antagonism event through a muscle antagonism event detection algorithm, and screening to obtain the antagonism event; then, angular velocity features, smoothness features and antagonism event features are extracted, an optimal feature combination is obtained, and a muscular tension evaluation model is constructed through a machine learning algorithm and used for achieving wrist muscular tension evaluation. According to the method, the deep feature information of the muscular tension is extracted from multiple dimensions such as statistics and distribution characteristics, so that the interference of promoting habits of doctors is greatly relieved, and support is provided for the accuracy of evaluation.

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.

Provided is a surgical instrument that achieves a reduction in wobble of a gripping part thereof. A surgical instrument 100 for gripping an object comprises a body 10 extending in one direction, a gripping part 20 capable of gripping an object provided at a distal end portion 10a of the body 10, a contact part 40 provided at a base end portion 10b of the body 10, an opening / closing mechanism 30 for opening / closing the gripping part 20, and a support part 50 (a first support part 51 and a second support part 52) extending in one direction, and is characterized in that the body 10 and the support part 50 are connected and fixed so as to intersect each other in a substantially cross shape. This configuration makes it possible to prevent or reduce wobble of the gripping part 20 even if the wrist of a hand holding the surgical instrument 100 rotates, as compared with a pliers-shaped or scissors-shaped surgical instrument.

The utility model relates to a pressurizable arm bone fixing device which comprises a flexible pressurizable main body sleeved on an arm, an elbow fixing area and a wrist fixing area, wherein the elbow fixing area and the wrist fixing area are arranged at two ends of the flexible pressurizable main body; the flexible pressurizable main body comprises a first elastic fiber fabric layer, a second elastic fiber fabric layer arranged on the inner side of the first elastic fiber fabric layer, and a pressurizable interlayer arranged between the first elastic fiber fabric layer and the second elastic fiber fabric layer, and the second elastic fiber fabric layer is in contact with the forearm part of a user; a gel pad is detachably adhered to the inner side of the second elastic fiber fabric layer, and the gel pad is used for pressing type protection of wounds on the arms. Compared with the prior art, through the combination of the first elastic fiber fabric layer and the second elastic fiber fabric layer and the addition of the detachable gel pad, the device not only can provide uniform pressure distribution and reduce postoperative swelling and pain, but also can carry out effective pressing type protection on a wound and promote the healing process.

A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing jaws, and an articulable wrist interposing the end effector and the shaft and comprising a plurality of articulation links arranged in series along a longitudinal length of the wrist. A closure redirect mechanism includes first and second rigid links arranged proximal to the wrist, first and second transfer mechanisms pivotably mounted to the first and second rigid links, respectively, first and second transfer links interposing the end effector and the wrist, and first and second tension members extending distally from the first and second transfer mechanisms, respectively, and being secured to the first and second transfer links, respectively. Moving the first rigid link relative to the second rigid link, and vice versa, causes the first and second transfer links to correspondingly move and thereby open or close the jaws.

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.

The invention relates to an indexable articulation joint. An indexable articulated wrist (10) for redirecting a metrology tool mounted on a positioning platform (45) includes an improved Hertz coupling in which several teeth are omitted to simplify construction and reduce its cost. An improved Hertz coupler has: a toothed crown (310) having a reduced number of teeth spaced apart by a plurality of indexing pitches; and a second crown having a plurality of toothed sections (370), each toothed section having a plurality of teeth (371) spaced apart by a pitch angle, the toothed sections being separated by non-engaging sections.

The invention discloses a kinematics semi-analytical modeling method and terminal for a human wrist-simulated parallel mechanism, and the method comprises the steps: constructing a global coordinate system, a first coordinate system and a second coordinate system when the wrist parallel mechanism is subjected to kinematics positive solution, and then obtaining a target D-H expression corresponding to the tail end pose of the human wrist-simulated parallel mechanism, a target D-H expression is obtained, the target D-H expression shows the relation between the tail end pose and a first joint angle and the relation between the tail end pose and a second joint angle, then a target modular length expression is obtained, the target modular length expression shows the relation between a first modular length and the first joint angle and the relation between a second modular length and the second joint angle, and finally, the target D-H expression shows the relation between the tail end pose and the second joint angle. And obtaining numerical values of a first modulus length and a second modulus length, and substituting the numerical values of the first modulus length and the second modulus length into the target D-H expression and the target modulus length expression to obtain a tail end pose. The invention provides a solution capable of completing operation on a low-computing-power platform for a parallel mechanism simulating a human wrist.

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.

The invention relates to a carpometacarpal joint part movement positioning training component, training device and training method, and the training component comprises a connecting rod which is configured to be connected to the side edge of a sliding adjusting component of a rotating translation mechanism; the lower supporting rotating shaft is connected with the connecting rod; the upper bandage and the lower supporting rotating shaft are arranged at an interval up and down, and the upper bandage is used for fixing hand back elastic cloth; the hand back elastic cloth is used for positioning and fitting the hand back; and the finger sleeve ring is arranged on the lower surface of the hand back elastic cloth and is used for fixing fingers.

A master-hand wrist (23), a master operating apparatus (20) and a surgical robot. The master-hand wrist (23) comprises: a handle (234); a first rod (231) rotatably connected to the handle (234) about a first rotation axis (J1) via a first rotation joint (235); a second rod (232) rotatably connected to the first rod (231) about a second rotation axis (J2) via a second rotation joint (236); and a third rod (233) rotatably connected to the second rod (232) about a third rotation axis (J3) via a third rotation joint (237), wherein the third rotation joint (237) is provided with a torque compensation mechanism about the third rotation axis (J3) to compensate for torque generated by the handle (234), the first rod (231) and the second rod (232) about the third rotation axis(J3). The master-hand wrist (23), the master operating apparatus (20), and the surgical robot provided by the present disclosure utilize torque compensation to achieve the effect of driving the rotation joint with less driving force, which effectively reduces the inertia effect of the distal end and increases force transparency.

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

A joint rotational exercise and stretching tool for strengthening muscles and connective tissues, particularly for shoulder internal and external rotation, with further applicability to the wrist, elbow, and hip. The device includes a mount, torque-generating mechanism, and ergonomic lever arm configured to align with anatomical joint axes. It enables concentric, eccentric, isometric, and passive modes of use. Unlike traditional tools that provide linear resistance or partial-range torque, this invention delivers continuous rotational resistance across the full arc of motion. Configurable mounting and ergonomic adjustments allow use across various joints, limb lengths, and exercise positions. Suitable for rehabilitation, injury prevention, and performance training in clinical, home, or athletic environments.

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.

A robotic system can include a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

A robotic surgical tool includes a handle providing a plurality of drive inputs, an elongate shaft including a plurality of sliding rack gears movably nested within a corresponding plurality of longitudinal channels defined along the shaft, and an end effector arranged at a distal end of the shaft and an articulable wrist interposing the end effector and the distal end. An actuation system housed in the handle actuates the drive inputs to move the sliding rack gears and thereby causes operation of at least one of the end effector and the wrist. A tailpiece is arranged at a proximal end of the shaft and is operably coupled to the sliding rack gears, the tailpiece includes a housing and a manual actuation device mounted to the housing and manually actuatable to act on the sliding rack gears and thereby operate at least one of the end effector and the wrist.

Compositions and peptides for enhancing formation of cartilage in a site of a cartilage injury or defect, or joint condition, and methods of the use of the compositions and peptides in such treatments. Examples of the sites may include a knee, ankle, wrist, shoulder, elbow, patella, hip, vertebrae, femoral head, temporomandibular joint, glenoid of the scapula, jaw, and growth plate.

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.