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    • 6. 发明申请
    • Method and device for imaging an organ
    • 用于成像器官的方法和装置
    • US20070100227A1
    • 2007-05-03
    • US11581716
    • 2006-10-16
    • Manfred SchonbornRudolf HeimbergerHerbert KemethWinfried LurzFrank Grasser
    • Manfred SchonbornRudolf HeimbergerHerbert KemethWinfried LurzFrank Grasser
    • A61B5/05
    • A61B6/4441A61B6/503A61B6/541
    • The invention relates to a method and device for imaging a cyclically moving organ of a human or animal body, with a device supported such that it can be rotated at an angular velocity around the body recording images of the organ from different angle positions, with the angular velocity being modulated with a reference signal representing the movement phase of the organ. During the rest phase of the organ images of the organ are recorded at nominal angular speed. In the movement phase of the organ the device is slowed down, turned back and accelerated again such that on entry into the next rest phase the device records images for the next angle range at nominal angular velocity without major angle gaps in respect of the previous angle range, to generate the most complete data record possible.
    • 本发明涉及一种用于对人体或动物身体的循环运动的器官进行成像的方法和装置,其具有被支撑的装置,使得其可以以围绕身体的角速度旋转,从不同的角度位置记录器官的图像, 用表示器官运动相位的参考信号调制角速度。 在器官的器官图像的休息阶段以标称角速度记录。 在器官的运动阶段,装置减速,再回转并再次加速,使得在进入下一个休息阶段时,装置以标称角速度记录下一个角度范围的图像,而在前一角度没有大的角度间隙 范围,以产生最完整的数据记录。
    • 7. 发明申请
    • Robot controlled recording device
    • 机器人控制记录装置
    • US20080013690A1
    • 2008-01-17
    • US11820243
    • 2007-06-19
    • Winfried LurzManfred Schonborn
    • Winfried LurzManfred Schonborn
    • G03B42/04H05G1/02
    • G03B42/04A61B6/4441A61B6/4458A61B34/30A61B2090/376
    • The invention relates to a robot-controlled recording device comprising a robot with a number of axes of movement which are able to be controlled via a robot controller for moving a robotic hand and a recording system fitted to the robotic hand which is able to be moved by the robot for recording data of an object supported on a support unit. The robot controller is connected to an additional drive and controls this for moving the robotic hand synchronized to the axes of movement such that the additional drive would create a relative rotation and/or translation movement between the recording system and the support unit created by the movement of the robotic hand solely by a movement of the support unit with a stationary robotic hand. The drive is however connected not to the support unit but to an encoder for creating a synchronization signal for the recording.
    • 本发明涉及一种机器人控制记录装置,其包括具有多个运动轴的机器人,该机器人能够通过机器人控制器进行控制,用于移动机器人手和装配到能够移动的机器人手的记录系统 用于记录支撑在支撑单元上的对象的数据的机器人。 机器人控制器连接到附加的驱动器并且控制这一点,用于将机器人手同步到运动轴线,使得附加驱动器将在记录系统和由运动产生的支撑单元之间产生相对的旋转和/或平移运动 的机器人手只通过支撑单元的运动与固定机器人手。 然而,驱动器不是连接到支持单元,而是连接到用于创建用于记录的同步信号的编码器。
    • 9. 发明申请
    • METHOD FOR COMPUTER-AIDED MOVEMENT PLANNING OF A ROBOT
    • 机器人计算机辅助运动规划方法
    • US20090271035A1
    • 2009-10-29
    • US12431258
    • 2009-04-28
    • Winfried LurzWerner NeubauerManfred Schonborn
    • Winfried LurzWerner NeubauerManfred Schonborn
    • G06F19/00
    • B25J9/1664A61B6/4441A61B6/4458G05B2219/40495G05B2219/45117
    • A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.
    • 提供了一种用于机器人的计算机辅助运动规划的方法,其中在固定坐标系中计划分配给机器人的空间点的运动轨迹。 基于逆运动学,空间位置从空间点的多个空间位置转换到机器人的配置室中的相应配置位置。 通过机器人的一个或几个旋转或平移运动轴的轴向位置描述各个构造位置,并且对于碰撞进行测试,并且沿着空间点的空间位置形成轨迹,其空间点的各自的构造位置是无碰撞的。 规划运动在固定的坐标系统提高了计划方法的效率,计划的运动更符合机器人周围人员或操作人员的期望。