CN115452444B - Medical surgical robot angle performance detection device and method - Google Patents
Medical surgical robot angle performance detection device and method Download PDFInfo
- Publication number
- CN115452444B CN115452444B CN202211417409.4A CN202211417409A CN115452444B CN 115452444 B CN115452444 B CN 115452444B CN 202211417409 A CN202211417409 A CN 202211417409A CN 115452444 B CN115452444 B CN 115452444B
- Authority
- CN
- China
- Prior art keywords
- magnet
- angle
- magnetic sensor
- surgical robot
- detecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention belongs to the technical field of variable measurement, and provides a device and a method for detecting the angle performance of a medical surgical robot, which comprises a magnet, a magnetic sensor and an angle detection controller, wherein the magnet is arranged on a tail end instrument of the medical surgical robot and comprises at least one of a first magnet, a second magnet and a third magnet, the first magnet is used for detecting the clamping angle of the tail end instrument, the second magnet is used for detecting the rotation angle of the tail end instrument, and the third magnet is used for detecting the traction angle of the tail end instrument; the magnetic sensor is used for sensing the state change of the first magnet, the second magnet or/and the third magnet; the angle detection controller is electrically connected with the magnetic sensor and used for acquiring the voltage value change value of the magnetic sensor and calculating the angle corresponding to the state change.
Description
Technical Field
The invention belongs to the technical field of variable measurement, and relates to a medical surgical robot angle performance detection device and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The surgical robot can be used in partial operations (such as abdominal cavity operations), and the input device of the surgical robot is a hand simulation handle, so that the input device accords with human mechanics, can provide doctors with good experience, and is the current mainstream technology.
In order to ensure the accuracy of the operation, the detection or test of the surgical robot is essential, and the detection of the action angle of the instrument is an important part. However, as the inventor knows, a hand-simulated joystick typically contains a variety of inputs, such as traction (i.e., movement in pitch and yaw degrees of freedom), grip, and rotation, which involve angular transitions that need to be detected. Most of the existing detection equipment can only be suitable for detecting one action angle, and if a measuring scale is used for detection, the data is difficult to achieve accuracy. If select electric sensor test, nevertheless because the irregularity of apparatus movement track, there is the surplus in actual test, leads to the test inaccurate, and need measure multiple angle, need set up many sets of equipment, and surgical robot's apparatus volume is less, can't install some equipment.
Disclosure of Invention
In order to solve the problems, the invention provides a device and a method for detecting the angle performance of a medical surgical robot.
According to some embodiments, the invention adopts the following technical scheme:
the utility model provides a medical treatment surgical robot angle performance detection device, includes to be provided with magnet, magnetic sensor and angle detection controller on the distal end apparatus of medical treatment surgical robot, wherein:
the magnet comprises at least one of a first magnet, a second magnet and a third magnet, wherein the first magnet is used for detecting the clamping angle of the tail end instrument and selecting an axial magnet; the second magnet is used for detecting the rotation angle of the tail end instrument, and a radial magnet is selected; the third magnet is used for detecting the traction angle of the tail end instrument, and an axial magnet is selected;
the magnetic sensors comprise a first magnetic sensor and a second magnetic sensor, the first magnetic sensor detects the axial magnet and outputs a voltage value for sensing the state change of the first magnet and the third magnet; the second magnetic sensor detects the radial magnet, and the bus outputs an angle value for sensing the second magnet.
The angle detection controller is electrically connected with the magnetic sensors and is used for acquiring output data of the first magnetic sensor and the second magnetic sensor, the first magnetic sensor outputs two paths of voltage values, and the angle corresponding to the target magnet is acquired by calculating the two paths of voltage value data; the second magnet outputs data on the bus, and absolute angle values of the radial magnets are obtained through data analysis.
In an alternative embodiment, the first magnet is an axial magnet fixed to at least one opening/closing portion of the distal end instrument.
In an alternative embodiment, the second magnet is a radial magnet circumferentially disposed on the distal instrument.
In an alternative embodiment, the third magnet is an axial magnet disposed at the distal end of the distal instrument.
In an alternative embodiment, the end instrument is a forceps.
As an alternative embodiment, the angle detection controller is configured to output a voltage value according to the position of the first magnet by the first magnetic sensor, define an arbitrary position voltage value as (x, y), and an angle as α, where the angle is calculated by
And (x 0, y 0) is the voltage value of the tail end instrument when the tail end instrument is closed, when the tail end instrument is opened, the output voltage value of the first magnetic sensor changes, and when the tail end instrument is opened to the maximum angle, the voltage value of the magnetic sensor changes to the maximum value.
As an alternative embodiment, the angle detection controller is configured to convert the unit into the corresponding angle based on an absolute angular position change of the second magnetic sensor generated based on the position change of the second magnet, the angular position being binary data.
As an alternative embodiment, the angle detection controller is configured to establish an X-axis and a Y-axis, regarding the pitch (i.e. left and right) motion of the traction as a reciprocating motion in the X-axis, regarding the yaw (i.e. up and down) motion of the traction as a reciprocating motion in the Y-axis, the tip instrument can reach any point on the circle and within the circle, determining the voltage based on the X-axis and the voltage based on the Y-axis of the first magnetic sensor according to the position of the third magnet, calculating the included angle with the X-axis and the Y-axis, and further obtaining the angle of the traction.
In an alternative embodiment, the angle detection controller is configured to record each angle value over a time period and to note a value at which the change in angle produced by the distal instrument at an adjacent time exceeds a set value.
The working method of the device comprises the following steps:
detecting the clamping angle of the tail end instrument by using a first magnet, detecting the rotating angle of the tail end instrument by using a second magnet, and detecting the traction angle of the tail end instrument by using a third magnet;
sensing the state change of the first magnet, the second magnet or/and the third magnet by using a magnetic sensor;
the angle detection controller acquires a voltage value change value of the magnetic sensor and calculates an angle corresponding to the state change.
Compared with the prior art, the invention has the beneficial effects that:
the invention utilizes the magnet and the magnetic sensor for detection, only needs to arrange the magnet on the tail end instrument, has smaller occupied area on the tail end instrument, does not influence the instrument to act, does not need to greatly improve the structure of the instrument, has simple test process and can effectively improve the test working efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic view of the manner in which the instrument is clamped;
FIG. 2 is a schematic view of the manner in which rotation of the instrument is detected;
FIG. 3 is a schematic diagram of the manner in which side-to-side deflection is detected during instrument distraction;
FIG. 4 is a schematic diagram of the manner in which up and down deviation is detected during distraction of the device;
fig. 5 is a calculated schematic of instrument traction.
The device comprises a detection magnet 1, a signal receiving chip 2, a magnetic induction line 3, and a magnetic sensor 4.
A. State a, B, B state, C, C state.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Example one
Taking the abdominal cavity operation robot as an example for explanation, the motion completion process of the abdominal cavity operation robot mainly comprises the steps that an input device sends a signal to a controller, the controller sends a command to a transmission mechanism represented by a motor, the transmission mechanism pulls an output device, namely a terminal instrument, the instrument executes corresponding motion, a sensor of a feedback part collects instrument position signals in real time and transmits the instrument position signals to the controller, and closed-loop control is achieved.
The input device (i.e. the handle) comprises three actions of traction, clamping and rotation, and controls the output device (i.e. the instrument) to finish the three actions of traction, clamping and rotation.
The measuring of the action angle of the handle is easy, and the measuring equipment can be directly used or the existing method can be used.
However, the distal instrument is often small and difficult to detect. In the present embodiment, a forceps will be described as an example.
The binding clip traction action is to realize the pitching and yawing actions of the binding clip, and the binding clip rotation action is to realize the circumferential direction rotation of the binding clip; the clamping action of the clamp heads is to realize the clamping of the two clamp parts.
It can be seen that the clamp head is small in size, multiple in action, fine in action, small in action range, not easy to install precision detection equipment and detect accurate information.
In order to solve the above problem, the present embodiment provides a detection device including an angle detection controller, a detection magnet 1, and a magnetic sensor 4. A detection magnet 1 is arranged at the tail end of the instrument, a magnetic sensor 4 (namely a Hall sensor) senses the change of the detection magnet 1, and data are connected to an angle detection controller through a lead. The angle detection controller calculates the angle of the tail end of the analysis instrument, and the analysis effect can be displayed in real time through the display screen.
Certainly, the angle detection of the handle can be directly connected with the debugging interface of the robot through the angle acquisition controller through the serial port, after the connection is successful, when the robot is in debugging state operation, the robot internal controller can send out through the serial port after detecting the data change of the handle, and thus the data of the handle can be acquired by the angle detection controller in real time.
Emphasis is placed on the detection of angular changes at the tip of the instrument. The different actions are described separately below.
As shown in fig. 1, the detection means of the instrument clamping includes an axial magnet or a radial magnet, and a magnetic sensor 4. The magnetic sensor 4 is provided with a signal receiving chip 2 for magnetic detection, and the signal receiving chip 2 generally has two types of output, namely, direct output of an AD signal or a PWM signal, and output of an SPI bus or an IIC bus. Any connection mode can be adopted, and actual test is not influenced.
The magnetic sensor 4 is connected with an angle acquisition controller, and the angle acquisition controller acquires angle signals in real time.
In this embodiment, an axial magnet is disposed on one of the clamping pieces of the binding clip, and the binding clip drives the magnet to reciprocate when performing a clamping motion. When the clamp head is closed, the angle is 0 degree, the magnetic sensor 4 outputs two paths of analog voltage values which are marked as (x 0, y 0), the voltage value at any position is defined as (x, y), the angle is marked as alpha, and the calculation mode of the angle is that
When x = x0, y = y0, i.e. the result is 0 degrees; when the end instrument is opened, the output voltage value (x, y) of the magnetic sensor 4 is changed, when the end instrument is opened to the maximum angle, the voltage value of the magnetic sensor 4 is changed to the maximum value, and any angle is
。
As shown in fig. 2, the rotation detection method of the bit is also tested by a magnetic sensor 4, and the magnet is a radial magnet. The magnet is fixed at the circumferential position of the tong head. When the tong head rotates, the sensor outputs an absolute angle value. Firstly, acquiring an angle of an initial position, recording the angle as a1 (a 1 is more than or equal to 0 and less than or equal to 360), and recording the current turn number as k (k is an integer), wherein a1 is an arbitrary number, and k =0; then, defining the value of any angle of the magnet as beta (a 1 is more than or equal to 0 and less than or equal to 360); when the magnet is in the initial position, β = a1; when the rotation direction of the binding clip is clockwise, the position alpha of the magnet read by the magnetic sensor 4 is increased, when the angle is more than 360 degrees, the angle of the magnet is changed to 0 degree, and k is added by 1; when the rotation direction of the binding clip is anticlockwise, the position alpha of the magnet read by the magnetic sensor 4 is reduced, when the position alpha is less than 0 degree, the angle of the magnet is changed to 360 degrees, and k is reduced by 1; defining the value of the angle of change as β, then β = α + k × 360-a1;
as shown in fig. 3 and 4, the pulling detection mode of the binding clip is tested by a magnetic sensor 4, and the magnet is an axial magnet. As shown in fig. 5, the left and right movements of the traction can be regarded as reciprocating movements of the bit on the X axis, and the up and down movements of the traction can be regarded as reciprocating movements of the bit on the Y axis. The binding clip can reach any point on and in the circle.
The magnet is arranged on the binding clip, the axial magnet is selected to the magnet, and the magnet does traction movement along with the binding clip. The magnetic sensor 4 selects two paths of magnetic sensors for outputting the AD signals, and the magnetic sensor 4 outputs a voltage based on an X axis and a voltage based on a Y axis when the magnet is at different positions in the coordinate system. According to the trigonometric function, the included angle between any point and the X axis and the Y axis can be obtained. The angle of the draft is then known.
Both instrument and handle data are collected in real time and uploaded to the controller, but not every embodiment requires real time reading.
In some embodiments, taking rotation as an example, it is specified that the angle of the instrument rotation input at the current time is α 1, and the next time is α 2, and when the difference between α 2 and α 1 is greater than the set value, the updated angular position of the instrument is collected.
The obtained detection data are discrete, so that the reading of the data can be reduced, and the difference value between input and output can be directly seen; secondly, the data are dispersed to conveniently generate a curve graph which is easy to observe, and a controller is not required to be used for collecting and generating a continuous curve at regular time.
Example two
The second embodiment provides a device, which comprises the traction detection system of the binding clip and the rotation detection system of the binding clip in the first embodiment, wherein the magnetic sensor 4 and the angle acquisition controller are shared.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (9)
1. The utility model provides a medical treatment surgical robot angle performance detection device, characterized by includes and is provided with magnet, magnetic sensor and angle detection controller on the distal end apparatus of medical treatment surgical robot, wherein:
the magnets comprise a first magnet, a second magnet and a third magnet, axial magnets or radial magnets are selected, and the first magnet is used for detecting the clamping angle of the tail end instrument; the second magnet is used for detecting the rotation angle of the end instrument; the third magnet is used for detecting the traction angle of the end instrument;
the magnetic sensors comprise a first magnetic sensor and a second magnetic sensor, the first magnetic sensor is used for detecting the axial magnet and outputting a voltage value for sensing the state change of the first magnet and the third magnet; the second magnetic sensor is used for detecting the radial magnet, and the bus outputs an angle value for sensing the second magnet;
the angle detection controller is electrically connected with the magnetic sensors and is used for acquiring output data of the first magnetic sensor and the second magnetic sensor, the first magnetic sensor outputs two paths of voltage values, and the angle corresponding to the target magnet is obtained by calculating the two paths of voltage value data; the second magnet outputs data on the bus, and the absolute angle value of the radial magnet is obtained through data analysis;
the angle detection controller is configured to establish an X axis and a Y axis, regarding the dragged pitching motion as reciprocating motion in the X axis, regarding the dragged yawing motion as reciprocating motion in the Y axis, determining the voltage of the first magnetic sensor based on the X axis and the voltage of the first magnetic sensor based on the Y axis according to the position of the third magnet, calculating an included angle between the first magnetic sensor and the X axis and the Y axis, and further obtaining a dragged angle.
2. The medical surgical robot angle performance detecting apparatus as claimed in claim 1, wherein said first magnet is an axial magnet fixed to at least one of the opening and closing portions of the distal end instrument for opening and closing.
3. The medical surgical robot angle performance detecting apparatus of claim 1, wherein the second magnet is a radial magnet circumferentially disposed on the distal end instrument.
4. The medical surgical robot angle performance detecting apparatus as set forth in claim 1, wherein said third magnet is an axial magnet disposed at a tip end of said distal end instrument.
5. The medical surgical robot angle performance detecting apparatus of claim 1, wherein the distal end instrument is a forceps.
6. The medical surgical robot angle performance detecting apparatus as claimed in claim 1, wherein the angle detecting controller is configured such that the first magnetic sensor outputs a voltage value according to the position of the first magnet, and that an arbitrary position voltage value is defined as (x, y) and the angle is defined as α, and the angle is calculated by
And (x 0, y 0) is the voltage value of the tail end instrument when the tail end instrument is closed, when the tail end instrument is opened, the output voltage value of the first magnetic sensor changes, and when the tail end instrument is opened to the maximum angle, the voltage value of the magnetic sensor changes to the maximum value.
7. The medical surgical robot angle performance detecting apparatus as set forth in claim 1, wherein the angle detection controller is configured to convert the unit into the corresponding angle by converting the absolute angle position change of the second magnetic sensor based on the position change of the second magnet, the angle position being binary data.
8. The medical surgical robot angle performance sensing device of claim 1, wherein the angle sensing controller is configured to record each angle value according to a time period and mark a value at which the change in angle produced by the distal end instrument at an adjacent time exceeds a set value.
9. A medical surgical robot angle performance detection method based on the medical surgical robot angle performance detection device according to any one of claims 1 to 8, characterized by comprising the steps of:
detecting a clamping angle of the terminal instrument by using a first magnet, detecting a rotation angle of the terminal instrument by using a second magnet, and detecting a traction angle of the terminal instrument by using a third magnet;
sensing the state change of the first magnet, the second magnet or/and the third magnet by using a magnetic sensor;
the angle detection controller acquires a voltage value change value of the magnetic sensor and calculates an angle corresponding to the state change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211417409.4A CN115452444B (en) | 2022-11-14 | 2022-11-14 | Medical surgical robot angle performance detection device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211417409.4A CN115452444B (en) | 2022-11-14 | 2022-11-14 | Medical surgical robot angle performance detection device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115452444A CN115452444A (en) | 2022-12-09 |
| CN115452444B true CN115452444B (en) | 2023-04-07 |
Family
ID=84295671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211417409.4A Active CN115452444B (en) | 2022-11-14 | 2022-11-14 | Medical surgical robot angle performance detection device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115452444B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114136682A (en) * | 2022-01-27 | 2022-03-04 | 极限人工智能有限公司 | Method, device and equipment for detecting motion control precision of instrument and storage medium |
| CN114305222A (en) * | 2021-12-23 | 2022-04-12 | 湖南格兰博智能科技有限责任公司 | Yaw angle detection method of sweeping robot and sweeping robot |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007024689A (en) * | 2005-07-15 | 2007-02-01 | Sony Corp | Noncontact position detection sensor |
| JP4900835B2 (en) * | 2007-04-13 | 2012-03-21 | 日立金属株式会社 | Angle detection device, valve device and non-contact volume |
| JP6339328B2 (en) * | 2013-07-31 | 2018-06-06 | 株式会社アイエイアイ | Rotation angle detection system, rotation angle detection method, and synchronous motor control system |
| CN203893816U (en) * | 2014-06-24 | 2014-10-22 | 纳恩博（天津）科技有限公司 | Angle sensor |
| JP6278050B2 (en) * | 2016-03-11 | 2018-02-14 | Tdk株式会社 | Rotation angle detection device and rotary machine device |
| CN111381071A (en) * | 2018-12-27 | 2020-07-07 | 北京奇虎科技有限公司 | Speed abnormity detection device and method based on Hall sensor |
| CN209713143U (en) * | 2018-12-29 | 2019-12-03 | 深圳市达科为智能医学有限公司 | The electromagnetic type open-and-close mechanism and operating robot with power sense suitable for main manipulator |
| JP6969581B2 (en) * | 2019-03-20 | 2021-11-24 | Tdk株式会社 | Rotation angle detector |
| CN210741517U (en) * | 2019-08-23 | 2020-06-12 | 成都越凡创新科技有限公司 | Positioning detection system based on digital latching Hall sensor |
| JP7319178B2 (en) * | 2019-11-21 | 2023-08-01 | ファナック株式会社 | Servo motor controller |
| JP7136146B2 (en) * | 2020-02-28 | 2022-09-13 | Tdk株式会社 | POSITION DETECTION DEVICE, POSITION DETECTION SYSTEM AND STEERING SYSTEM USING THE SAME |
| CN111319065A (en) * | 2020-04-29 | 2020-06-23 | 哈工大机器人(湖州)有限公司 | Angle detection device and angle detection method for mechanical joint |
| CN112304210B (en) * | 2020-11-10 | 2023-03-21 | 陕西宏星电器有限责任公司 | Hall angle sensor angle calibration method |
| CN217090897U (en) * | 2021-04-28 | 2022-08-02 | 深圳康诺思腾科技有限公司 | Input device and surgical robot |
| CN216815339U (en) * | 2021-11-18 | 2022-06-24 | 广东行远机器人技术有限公司 | Angle detection device, transmission assembly and underwater robot |
| CN113925614B (en) * | 2021-12-16 | 2022-03-15 | 极限人工智能有限公司 | Clamping angle control method and device and surgical robot |
| CN114583898B (en) * | 2022-03-10 | 2024-04-16 | 广东工业大学 | Device and method for detecting absolute angle of motor reducer based on ring magnet |
| CN115325929A (en) * | 2022-07-20 | 2022-11-11 | 山东大学 | Device and method for detecting fastener loosening based on magnetic field change and robot |
-
2022
- 2022-11-14 CN CN202211417409.4A patent/CN115452444B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114305222A (en) * | 2021-12-23 | 2022-04-12 | 湖南格兰博智能科技有限责任公司 | Yaw angle detection method of sweeping robot and sweeping robot |
| CN114136682A (en) * | 2022-01-27 | 2022-03-04 | 极限人工智能有限公司 | Method, device and equipment for detecting motion control precision of instrument and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 刘成良.农业机器人关键技术研究现状与发展趋势.《农业机械学报》.2022,第53卷(第7期),第1-23页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115452444A (en) | 2022-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20100041991A1 (en) | Haptic feedback medical scanning methods and systems | |
| CN104027094A (en) | Cun, guan and chi positioning method for traditional Chinese medicine pulse-taking information collection | |
| CN201156345Y (en) | Endoscope micro-wound simulating system | |
| CN109855796B (en) | Automatic calibration system and method for force value of testing machine | |
| CN102103192B (en) | Automatic positioning measuring device for one-way magnetic fields | |
| CN115452444B (en) | Medical surgical robot angle performance detection device and method | |
| CN109946602A (en) | A kind of robot servo motors performance testing device | |
| CN201909837U (en) | Automatic positioning measurement device for unidirectional magnetic fields | |
| CN104007027A (en) | Biological soft tissue characteristic test and mechanical parameter calibration system | |
| JP3571675B2 (en) | Coil position measuring device and coil position measuring method | |
| CN106441705B (en) | A kind of online rotary inertia test method of turntable | |
| CN110900608B (en) | Robot kinematics calibration method based on optimal measurement configuration selection | |
| Li et al. | A new calibration method for magnetic sensor array for tracking capsule endoscope | |
| KR101638119B1 (en) | Tactile Measurement Device | |
| CN116965929A (en) | Indirect magnetic positioning system and positioning method compatible with magnetic drive | |
| CN117169798A (en) | Device and method for detecting potentiometer performance of electric actuating mechanism | |
| JP2981465B1 (en) | Method and apparatus for measuring moment of inertia | |
| CN112545652A (en) | High-precision control method for minimally invasive surgery robot flexible wire transmission surgical instrument | |
| CN2835964Y (en) | Ultrasonic power metering device | |
| Kabaciński et al. | Mechatronic Concept for Airflow Tests Laboratory Equipment | |
| CN214177296U (en) | Pitching signal and yawing signal acquisition circuit | |
| CN116509449B (en) | Pose information determining method and device of mechanical arm and electronic equipment | |
| CN115792452B (en) | Robot corresponding delay detection method and detection equipment | |
| CN201740709U (en) | Sensor device of non-contact digital resiliometer | |
| Zou et al. | Analysis of TCM Pulse Instrument Development Progress |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |