Beijing Hjimi Technology Co., Ltd

Beijing Med-zenith, Medical Scientific Co., Ltd.

Beijing Med-zenith Medical Scientific Corporation Limited

Xiaojun Zhou

Shuo Li

Li Li

Hang Wang

Zan Sheng

Jian Meng

Danian Ke

Zhiwei Ma

Zhiwu Zhang

Shengbo Dou

Kang Wu

Baoqi Xie

This application provides a depth-map-based ground detection method and apparatus. The method includes: screening first sample points according to depth values of points in a current depth map; determining space coordinates of the first sample points, and determining space heights of the first sample points according to current gravity acceleration information and the space coordinates; screening second sample points in the first sample points according to the space heights; determining an optimal ground equation according to space coordinates of the second sample points; and determining a ground point in the depth map by using the optimal ground equation. Because the accuracy of the sample points that undergo secondary screening is high, the ground detection precision is high. Because this application is not excessively dependent on a depth value, the calculation complexity is low, and operation can be performed on various hardware.

Depth-map-based ground detection method and apparatus

The present disclosure discloses a knot-tying device and a knot-tying system with the knot-tying device. The knot-tying device comprises a shear knife provided at a front end of a driving rod. Hilts of the shear knife () are opened by an elastic member, and the hilts are pressed by the driving rod to close and cut a suture. The shear knife is used as a substitute for a cutter in the related art, and is driven to close by the driving rod so as to realize a shearing function. When the suture is cut off by the shear knife, a requirement for sharpness of blades are greatly reduced, and the blades are able to be realized by a common processing method, thereby greatly reducing cost while ensuring reliability. In addition, abrasion on the blades from the suture is reduced, thereby greatly prolonging the service life of the product.

Knot-tying device and knot-tying system with knot-tying device

A method of determining whether a ground is to be re-detected is provided. In an example, the method includes: an i-th gravitational acceleration vector corresponding to an i-th image frame is acquired from a collecting device; when the i-th gravitational acceleration vector changes relative to an (i&#x2212;1)-th gravitational acceleration vector corresponding to an (i&#x2212;1)-th image frame, a value is set to a flag bit of the i-th image frame; it is determined whether the collecting device tends to be stable after a motion according to a number of set flag bits in consecutive image frames; when the collecting device tends to be stable after the motion, a similarity between the i-th gravitational acceleration vector and a ground normal vector corresponding to a current ground equation is determined; and when the similarity is less than a similarity threshold, it is determined that the ground is to be re-detected.

Determining whether ground is to be re-detected

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Beijing, China

Xiaojun Zhou