摘要：【中文】本发明属于医疗器械领域，旨在解决股穿刺术后不能精准定位出血点实现自主灵活止血的问题，本发明提供了一种股动脉自动按压止血机器人，包括按压止血装置、多自由度机械臂和控制器，其中，按压止血装置和多自由度机械臂均与控制器通信连接；按压止血装置设置有血管出血点定位组件，并用于对待止血区域进行血管图像信息检测，控制器基于接收到的血管出血点定位组件检测的血管图像信息，以控制多自由度机械臂按照预定轨迹移动，以使按压止血装置移动到目标位置执行按压止血动作。发明的有益效果为：通过本发明中的压力检测组件和血管出血点定位组件可实现精确定位血管出血点进而对其精准止血、灵活调整按压力度，达到预期的止血效果。 【EN】The invention belongs to the field of medical instruments, and aims to solve the problem that bleeding points cannot be accurately positioned after femoral puncture to achieve autonomous and flexible hemostasis; the pressing hemostasis device is provided with a blood vessel bleeding point positioning component and used for detecting blood vessel image information of an area to be hemostasis, and the controller controls the multi-degree-of-freedom mechanical arm to move according to a preset track based on the received blood vessel image information detected by the blood vessel bleeding point positioning component, so that the pressing hemostasis device moves to a target position to execute pressing hemostasis action. The invention has the beneficial effects that: the pressure detection assembly and the blood vessel bleeding point positioning assembly can realize accurate positioning of the blood vessel bleeding point, so that accurate hemostasis is realized, the pressing force is flexibly adjusted, and the expected hemostasis effect is achieved.

摘要：【中文】本发明属于医疗器械领域，旨在解决止血位置不能精准确定的问题，本发明提供了一种按压止血装置，包括按压组件、压力检测组件和血管出血点定位组件，所述压力检测组件固设于所述按压组件的内表面，并用于检测施加于血管出血点的压力信息，所述压力检测组件上还设置有止血组件安装部；所述血管出血点定位组件阵列设置于所述止血组件安装部周围，并用于检测包含血管出血点的血管图像信息，以定位血管出血点的准确位置；发明的有益效果为：通过本发明提供的按压止血装置，可以对不同的待止血区域进行压迫止血，在对血管出血点的准确位置进行按压的同时，调整压迫力度，达到预期的止血效果。 【EN】The invention belongs to the field of medical instruments and aims to solve the problem that a hemostasis position cannot be accurately determined; the blood vessel bleeding point positioning component array is arranged around the hemostasis component mounting part and is used for detecting blood vessel image information containing blood vessel bleeding points so as to position the accurate positions of the blood vessel bleeding points; the invention has the beneficial effects that: the pressing hemostasis device provided by the invention can be used for performing compression hemostasis on different areas to be hemostatic, and can adjust the compression force while pressing the accurate position of a vascular hemorrhage point to achieve the expected hemostasis effect.

摘要：【中文】本发明属于传感器领域，具体涉及一种触觉传感器，旨在解决现有触觉传感器容易受到外界环境干扰，鲁棒性不强的问题，其包括刚性连接的底壳和顶盖，底壳与顶盖之间形成有腔室，顶盖开设有第一通孔；腔室中设置有光源、弹性且透光的弹性部件以及光敏传感器；光源和光敏传感器分别位于弹性部件的相背离两侧；光敏传感器的光敏区域接收透过弹性部件的光；弹性部件远离底壳的一侧设置有刚性且不透光的触感部件，触感部件抵触底壳和顶盖，触感部件从第一通孔中伸出；触感部件挤压弹性部件时，触感部件将光敏传感器的光敏区域局部遮挡。 【EN】The invention belongs to the field of sensors, and particularly relates to a touch sensor, which aims to solve the problems that the existing touch sensor is easily interfered by external environment and has poor robustness and comprises a bottom shell and a top cover which are rigidly connected, wherein a cavity is formed between the bottom shell and the top cover, and the top cover is provided with a first through hole; the cavity is internally provided with a light source, an elastic and light-transmitting elastic component and a photosensitive sensor; the light source and the photosensitive sensor are respectively positioned on two opposite sides of the elastic component; the photosensitive area of the photosensitive sensor receives the light transmitted through the elastic component; a rigid and lightproof touch part is arranged on one side, away from the bottom shell, of the elastic part, the touch part abuts against the bottom shell and the top cover, and the touch part extends out of the first through hole; when the touch sensing part presses the elastic part, the touch sensing part partially shields the photosensitive area of the photosensitive sensor.

摘要：【中文】本发明属于医疗器械技术领域，具体涉及一种外骨骼式上肢康复机器人，旨在解决现有技术中上肢康复机器人使用有安全风险，舒适性差，不方便同时施加其他治疗手段的问题。本发明提供一种外骨骼式上肢康复机器人，其包括依次连接的肩关节训练模块、肘关节训练模块、腕关节训练模块，功能全面，能够主动康复训练和被动康复训练，适合各类上肢运动功能障碍的患者使用。本发明基于人体生理学的结构设计，多个关节固定部均可自由调节，能够满足不同上肢长度的患者需求。在使用过程中本发明始终设置于人体下方，对周边环境无干涉，保证安全性的同时提升使用舒适度，本发明在使用过程中同时可以施加手法、电、磁等物理治疗进行辅助康复训练，实用性强。 【EN】The invention belongs to the technical field of medical instruments, and particularly relates to an exoskeleton type upper limb rehabilitation robot, aiming at solving the problems that in the prior art, the upper limb rehabilitation robot has safety risk, poor comfort and inconvenience in applying other treatment means at the same time. The invention provides an exoskeleton type upper limb rehabilitation robot which comprises a shoulder joint training module, an elbow joint training module and a wrist joint training module which are sequentially connected, has comprehensive functions, can perform active rehabilitation training and passive rehabilitation training, and is suitable for patients with various upper limb movement dysfunctions. The invention is based on the structural design of human physiology, a plurality of joint fixing parts can be freely adjusted, and the requirements of patients with different upper limb lengths can be met. The multifunctional rehabilitation training aid is always arranged below a human body in the using process, has no interference to the surrounding environment, ensures the safety and simultaneously improves the using comfort level, can apply physical treatments such as manipulation, electricity, magnetism and the like to perform auxiliary rehabilitation training in the using process, and has strong practicability.

摘要：【中文】本发明属于康复机器人技术领域，具体涉及一种基于径向基函数神经网络的康复机器人自适应控制方法、系统、装置，旨在解决康复机器人无法根据人的运动能力提供最优的辅助力的问题。本系统包括获取机器人末端手柄t时刻的位置及运动速度，作为第一位置、第一运动速度；获取t时刻机器人末端手柄的期望位置和运动速度，计算其与第一位置、第一运动速度的误差，作为第一位置误差、运动速度误差；基于第一位置误差、运动速度误差，获取滑动变量；通过预设的自适应算法获取自适应控制率,并结合预设的控制周期，更新权重向量；通过自适应控制器计算机器人末端手柄需要施加的辅助力。本发明能根据人的运动能力，通过预构建的自适应控制器获取最优辅助力。 【EN】The invention belongs to the technical field of rehabilitation robots, and particularly relates to a rehabilitation robot self-adaptive control method, system and device based on a radial basis function neural network, aiming at solving the problem that the rehabilitation robot cannot provide optimal auxiliary force according to the motion capability of a human. The system comprises the steps of obtaining the position and the movement speed of a handle at the tail end of the robot at the moment t as a first position and a first movement speed; acquiring an expected position and a movement speed of a handle at the tail end of the robot at the time t, and calculating errors of the expected position and the movement speed with a first position and a first movement speed to serve as a first position error and a movement speed error; acquiring a sliding variable based on the first position error and the movement speed error; acquiring a self-adaptive control rate through a preset self-adaptive algorithm, and updating a weight vector by combining a preset control period; the auxiliary force required to be applied by the end handle of the robot is calculated by the adaptive controller. The invention can obtain the optimal auxiliary force through the pre-constructed self-adaptive controller according to the movement ability of people.

摘要：【中文】本发明提供一种多旋翼无人机起飞降落控制方法，包括步骤：S1：在多旋翼无人机的底部设置多个位置传感器；S2：多旋翼无人机发动位置传感器开启；S3：通过位置传感器实时获取距离起停面的第一距离数据；S4：计算获得姿势调整数据；S5：根据姿势调整数据调整飞行姿势；S6：实时监测多旋翼无人机与起停面的第二距离数据；S7：判断第二距离数据与预设阈值的大小，并根据结果控制起落架的收放和位置传感器的开闭；S8：返回步骤S3。本发明的一种多旋翼无人机起飞降落控制方法，可在起飞和降落时自动调整机体的飞行姿势，从而提高多旋翼无人机在海洋环境起降的性能。 【EN】The invention provides a takeoff and landing control method for a multi-rotor unmanned aerial vehicle, which comprises the following steps: s1: arranging a plurality of position sensors at the bottom of the multi-rotor unmanned aerial vehicle; s2: starting a position sensor of the multi-rotor unmanned aerial vehicle; s3: acquiring first distance data from a start-stop surface in real time through a position sensor; s4: calculating to obtain posture adjustment data; s5: adjusting the flight attitude according to the attitude adjustment data; s6: monitoring second distance data between the multi-rotor unmanned aerial vehicle and the start-stop surface in real time; s7: judging the size of the second distance data and a preset threshold value, and controlling the retraction and release of the undercarriage and the opening and closing of the position sensor according to the result; s8: return is made to step S3. The take-off and landing control method of the multi-rotor unmanned aerial vehicle can automatically adjust the flying posture of the body during take-off and landing, so that the take-off and landing performance of the multi-rotor unmanned aerial vehicle in the marine environment is improved.

摘要：【中文】本发明涉及图像处理技术领域，具体涉及一种医疗器械图像检测方法及装置。为了解决现有技术难以准确识别医疗图像中医疗器械的问题，本发明提出一种医疗器械图像检测方法，包括基于预先获取的原始医疗图像，通过预设的图像增强模型获取与所述原始医疗图像对应的增强医疗图像；基于所述增强医疗图像，通过预设的目标检测模型中的特征提取网络提取所述增强医疗图像的图像特征；基于所述增强医疗图像的图像特征，通过所述目标检测模型中的标记定位网络获取多个目标标记框；基于多个所述目标标记框，通过所述目标检测模型的目标检测网络获取所述增强医疗图像中医疗器械的位置和类别。本发明的方法能够准确识别医疗图像中医疗器械。 【EN】The invention relates to the technical field of image processing, in particular to a medical instrument image detection method and device. In order to solve the problem that the medical instrument in the medical image is difficult to accurately identify in the prior art, the invention provides a medical instrument image detection method, which comprises the steps of obtaining an enhanced medical image corresponding to an original medical image through a preset image enhancement model based on the original medical image obtained in advance; extracting image features of the enhanced medical image through a feature extraction network in a preset target detection model based on the enhanced medical image; acquiring a plurality of target mark frames through a mark positioning network in the target detection model based on the image characteristics of the enhanced medical image; and acquiring the position and the category of the medical instrument in the enhanced medical image through a target detection network of the target detection model based on the plurality of target mark frames. The method of the invention can accurately identify the medical instrument in the medical image.

摘要：【中文】本发明公开了一种发动机冷却系统，发动机冷却系统包括节温器、机械水泵，散热器，缸体水套、缸盖水套和暖风管路子系统；机械水泵、缸体水套和散热器形成一个完整水路循环，节温器设置在机械水泵与散热器之间，节温器用于控制机械水泵与散热器之间的通断；缸体水套与缸盖水套连通，缸盖水套的出水口与暖风管路子系统的进水口连通，暖风管路子系统的出水口与机械水泵的进水口相连通；缸盖水套与暖风管路子系统之间设置有第一截止阀，第一截止阀用于控制缸盖水套与暖风管路子系统之间的通断。本发明的发动机冷却系统在发动机低温时，散热器和暖风管路子系统不参与循坏，散热装置减少，使得发动机能够尽快达到正常工作温度。 【EN】The invention discloses an engine cooling system which comprises a thermostat, a mechanical water pump, a radiator, a cylinder body water jacket, a cylinder cover water jacket and a warm air pipeline subsystem, wherein the thermostat is connected with the mechanical water pump; the mechanical water pump, the cylinder water jacket and the radiator form a complete water path circulation, the thermostat is arranged between the mechanical water pump and the radiator, and the thermostat is used for controlling the on-off of the mechanical water pump and the radiator; the cylinder body water jacket is communicated with the cylinder cover water jacket, a water outlet of the cylinder cover water jacket is communicated with a water inlet of the warm air pipeline subsystem, and a water outlet of the warm air pipeline subsystem is communicated with a water inlet of the mechanical water pump; and a first stop valve is arranged between the cylinder cover water jacket and the warm air pipeline subsystem and is used for controlling the on-off between the cylinder cover water jacket and the warm air pipeline subsystem. When the engine cooling system is at low temperature, the radiator and the warm air pipeline subsystem do not participate in circulation, and the number of the heat radiating devices is reduced, so that the engine can reach normal working temperature as soon as possible.