公开(公告)号：US20210173540A1

公开(公告)日：2021-06-10

申请号：US16768636

申请日：2018-05-23

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Mingxin LENG ,  Huijun LI ,  Hong ZENG ,  Baoguo XU ,  Lifeng ZHU

IPC: G06F3/041 ,  G06F3/0354 ,  G06F3/044

Abstract: An artificial fingertip sliding tactile sensor includes a PVDF film, a rubber fingertip, a filling liquid, a sealing plug, a hydraulic sensor, a housing, an inner framework, and strain gauges. The rubber fingertip is a hemispherical cavity. The PVDF film is attached to the outside of the rubber fingertip. The sealing plug seals the rubber fingertip, and the hydraulic sensor is installed at the bottom of the sealing plug. The main body of the housing is a rigid cylindrical structure. The top of the housing is provided with a circular opening, and the bottom of the housing is a flange-like structure. Four circular through holes are uniformly distributed on the flange-like structure. The inner framework includes a cylindrical head, a vertical strain rod and a base. The strain gauges are respectively attached on four sides of the vertical strain rod and adjacent to the base.

公开(公告)号：US20240428430A1

公开(公告)日：2024-12-26

申请号：US18648456

申请日：2024-04-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Huiran HU ,  Yuzhen XIE ,  Linhu WEI ,  Huijun LI ,  Lifeng ZHU

IPC: G06T7/33 ,  G06T7/38 ,  G06V10/36 ,  G06V10/75 ,  G06V10/762 ,  G06V10/80

Abstract: Disclosed is a digital image calculation method and system for RGB-D camera multi-view matching based on a variable template, the method includes six steps: acquiring data, preprocessing point cloud data, performing feature point matching, re-registering a variable template, calculating point cloud data transformation relationships among large-view images, and performing point cloud fusion. A size of a non-adjacent image matching template is adjusted based on registration results of adjacent angles of view, and correct registration of feature points of images from non-adjacent angles of view is accordingly achieved, which improves matching accuracy, eliminates cumulative errors in image sets, and provides more accurate initial values for subsequent iterations of point cloud fusion, such that the number of iterations is reduced, and three-dimensional reconstruction of images is implemented.

公开(公告)号：US20240216086A1

公开(公告)日：2024-07-04

申请号：US18544390

申请日：2023-12-18

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiaoliang JIN ,  Aiguo SONG ,  Lifeng ZHU

IPC: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/76 ,  A61B2034/301 ,  A61B2034/303

Abstract: A force tactile feedback device at master end of robot assisted system for vascular interventional surgery includes a surgeon operating rod, a circumferential directional surgeon operation action capturing and force tactile feedback unit, a compressible and extendable rhombus structure, a transmission directional surgeon operation action capturing and force tactile feedback unit, a housing and a support plate. The force tactile feedback device at master end of robot assisted system for vascular interventional surgery keeps consistent with a traditional manual vascular interventional surgery in operation mode, and not only reduces a learning cycle and use difficulty for a surgeon on a master end apparatus, but also allows the surgeon to make full use of accumulated experience and skills.

公开(公告)号：US20220206505A1

公开(公告)日：2022-06-30

申请号：US17535671

申请日：2021-11-25

Applicant: SOUTHEAST UNIVERSITY

Inventor： Lifeng ZHU ,  Shuai YAO ,  Aiguo SONG

IPC: G05D1/02

Abstract: A method for generating a geometric folding full coverage path for a robot is provided. A conventional full coverage path planning algorithm is based on a zigzag pattern, a spiral pattern or a combination thereof. A traversal order is restricted by a linear traversal manner or a traversal manner from inside to outside and therefore lacks flexibility. In the method, a geometric folding operation is used to generate a full coverage path pattern for the robot, referred to as a geometric folding path pattern. The full coverage path has a flexible traversal order. A representation method for the geometric folding path pattern is modeled in the method, and subsequently the method for randomly generating the geometric folding full coverage path and a search method for a geometric folding path within a constraint of passing through specified points in a given order are provided.

公开(公告)号：US20220107237A1

公开(公告)日：2022-04-07

申请号：US17288534

申请日：2020-07-01

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Shuyan YANG ,  Baoguo XU ,  Huijun LI ,  Hong ZENG ,  Lifeng ZHU

IPC: G01L25/00 ,  G01L1/14 ,  G06F3/044 ,  G06F3/041

Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.