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    • 97. 发明申请
    • METHOD AND DEVICE FOR DETERMINING THE COLOR OF TEETH
    • 方法和装置测定牙齿颜色的
    • WO00063661A1
    • 2000-10-26
    • PCT/AT2000/000093
    • 2000-04-18
    • A61B1/24A61B5/00A61C19/10G01J3/50G01J3/46
    • A61B5/6886A61B1/06A61B1/24A61B5/0088A61B5/6844A61C19/10G01J3/50G01J3/508G01J3/513G01J3/524
    • The invention relates to a method and a device for determining the color of teeth, whereby the image of a tooth (1) is recorded by means of an image recording device and the image signals derived therefrom are evaluated. According to the invention, the image of the tooth (1) is recorded with a CCD camera, a reference element (3) is simultaneously recorded with the tooth (1) during every image recording, the color vector (Ra) of said tooth being defined as precisely as possible within the color space and known; the image signals obtained from the tooth (1) and the reference element (3) are assembled to form a (color) image; the color vector (Zg) of the tooth (1) detected from the (color) image and the color vector (Rg) of the reference element (3) detected from the (color) image are linked to determine a color vector (Za) of the tooth (1) and the color vector (Za) is then made available for further evaluation as a representative tooth color of at least one tooth.
    • 本发明涉及一种方法和用于牙齿颜色的确定的装置,其特征在于,齿(1)的拍摄图像与图像拾取单元和衍生被评估的图像信号。 根据本发明,提供的是所述齿(1)用CCD照相机的图像被接收时所采取了在每个图像拾取同时与齿(1)的基准部件(3),所述颜色矢量(Ra)为尽可能精确的颜色空间内定义 并且是已知的; 从牙齿获得的图像信号(1)和从基准件(3),其被组装以形成一个(彩色)图像; 对于用于齿的从(彩色)图像(ZG)确定的颜色矢量的齿(1)颜色矢量(ZA)的参考块的确定(1)和从(彩色)图像(RG)确定的颜色矢量(3 )连接,并且所述颜色矢量(ZA)比用于所述至少一个齿代表用于进一步评估的牙齿的颜色提供。
    • 100. 发明申请
    • DYNAMIC HAPTIC ROBOTIC TRAINER
    • 动态机器人动态训练机
    • WO2018035310A1
    • 2018-02-22
    • PCT/US2017/047319
    • 2017-08-17
    • THE PENN STATE RESEARCH FOUNDATION
    • MILLER, ScarlettMOORE, Jason, Z.HAN, DavidMIRKIN, KatelinPEPLEY, DavidYOVANOFF, MaryKIM, Inki
    • G09B23/28A61B5/00
    • A61B5/00A61B5/1122A61B5/1124A61B5/6885A61B5/6886A61B5/7455G09B23/286
    • A haptic robotic training system (200) includes a haptic robot arm (300), a position tracking system (210 and 212), a scanning surface (208), a monitor (214) and a computer. The robotic arm (300) includes a haptic feedback system and holds a custom syringe (500) in place. The position tracking system includes a position tracking probe (210) shaped like an ultrasound probe and a motion tracker (212). The scanning surface (208) is a soft pad made from a synthetic phantom tissue. A simulation software receives the positioning data for the syringe from the robotic arm, and for the virtual ultrasound probe from the position tracking system and generates a virtual environment which mimics an actual ultrasound image. The user receives a real time feedback in the form of a haptic feel through the robotic arm, a virtual ultrasound image on the screen, and a performance feedback on the simulation software.
    • 触觉机器人训练系统(200)包括触觉机器人臂(300),位置跟踪系统(210和212),扫描表面(208),监视器(214)和计算机 。 机器人手臂(300)包括触觉反馈系统并且将定制注射器(500)保持就位。 位置跟踪系统包括形状像超声探头和运动跟踪器(212)的位置跟踪探头(210)。 扫描表面(208)是由合成幻象组织制成的软垫。 仿真软件从机器人臂接收针筒的定位数据,并从位置追踪系统接收虚拟超声探针,并生成模拟实际超声图像的虚拟环境。 用户通过机器人手臂获得触觉感受的实时反馈,屏幕上的虚拟超声图像以及仿真软件的性能反馈。