Tianjin University

Guokai Zhang

Shuxin Wang

Jinhua Li

Ning Xu

Anan Liu

Jianmin Li

Junbo Wei

Dezhong Gao

Zhenxuan Hu

Lanjun Wang

Yongdong Zhang

Xuyang Ren

Yuting Su

Zufeng Shang

The present disclosure discloses a cross-modal image-watermark joint generation and detection device and method thereof. The device includes a multimodal encoder, an image-watermark feature co-embedding module, an image-watermark feature fusion module, an up-sampling generator, a non-cooperative game decoupling module configured to decouple an unwatermarked image and a reconstructed watermark from a composite image through two decoders by developing allocation strategies according to a non-cooperative game theory and a Shannon information theory; a strategy allocation module configured to set an composite image discriminator, keeping the consistency between the composite image and input text by multi-specification down-sampling convolution kernels and set the objective functions to constrain watermark reconstruction and unwatermarked image decoding; and a post-processing attack module configured to simulate various attacks for ensuring the robustness of watermarks.

Cross-modal image-watermark joint generation and detection device and method thereof

A sponge-based variable-stiffness support structure for natural orifice surgical instrument is to support the surgical instrument and includes: a variable-stiffness sponge pipeline connected with the natural orifice surgical instrument and configured to support the natural orifice surgical instrument in a natural orifice; a hydrophobic breathable film attached to an outer wall of the variable-stiffness sponge pipeline, and configured to isolate the variable-stiffness sponge pipeline from body fluid in the natural orifice; and a gas delivery assembly connected with the variable-stiffness sponge pipeline, and configured to inject high-pressure air or water vapor into a variable-stiffness sponge pipe of the variable-stiffness sponge pipeline; wherein the variable-stiffness sponge pipeline has a stiffness inversely proportional to content of the water vapor.

Sponge-based variable-stiffness support structure for natural orifice surgical instrument and method for using the same

A surgical robot mechanism with single-port and multi-port minimally invasive surgery functions includes: a bracket; and a manipulator connected to the bracket, and supported by the bracket, the manipulator includes: a support arm movable along the bracket; a function conversion frame fixed on the support arm and configured for the surgical robot mechanism to switch between a single-port minimally invasive surgery mode and a multi-port minimally invasive surgery mode; a plurality of posture adjustment arm assemblies connected to the function conversion frame, each posture adjustment arm assembly configured to adjust a position and posture of a surgical tool connected thereto for performing a surgical operation.

Surgical robot mechanism with single-port and multi-port minimally invasive surgery functions

Disclosed is a natural orifice translumenal minimally invasive surgical apparatus comprising a control box assembly sequentially connected with a hose assembly, a serpentine structure and a tip assembly at a middle position at a distal end of the control box assembly. Axes of the hose assembly and the serpentine structure are coincident with an axis of the tip assembly. The control box assembly is configured to position and replace a minimally invasive surgical instrument, support the surgical tool when being operated, and perform a minimally invasive surgery. The hose assembly is configured to provide passageways for the minimally invasive surgical instrument and a transmission wire and to output motions and loads. The tip assembly is configured to support the minimally invasive surgical instrument when being operated and enable the surgical instrument to have an enlarged motion space range. The apparatus has advantages including convenient operation, accurate actions and good real-time performance, achieves the basic goal of minimally invasive surgery, expands the flexibility of the movement, increases the operating space of the surgical instruments, and enables the minimally invasive surgery to be carried out in a handheld manner.

Natural orifice translumenal minimally invasive surgical apparatus

Growing community of inventors

Tianjin, China

Guokai Zhang