公开(公告)号：US12121229B2

公开(公告)日：2024-10-22

申请号：US17277301

申请日：2021-02-05

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Zeyang Xia ,  Yangzhou Gan ,  Hao Deng ,  Jing Xiong

IPC: A61B17/02 ,  A61B3/14 ,  A61B34/32 ,  A61B90/00 ,  A61F9/007 ,  A61G5/12 ,  A61B17/00 ,  A61B34/20 ,  A61F9/00

CPC classification number: A61B17/0231 ,  A61B3/14 ,  A61B34/32 ,  A61B90/361 ,  A61F9/007 ,  A61G5/121 ,  A61B2017/00057 ,  A61B2017/00592 ,  A61B2034/2065 ,  A61B2090/064 ,  A61B2090/364 ,  A61B2090/367 ,  A61F2009/0035

Abstract: A soft-bodied apparatus and a method for opening an eyelid are provided. The apparatus includes: a head support module, a real-time eyelid positioning module, a robot end-effector real-time positioning module, and an automatic eyelid opening operation module. The automatic eyelid opening operation module includes a robot body and a robot control system. The robot body is provided with a multi-axis rigid body mechanical arm and a soft-bodied end-effector. The robot control system takes the real-time poses of the upper and lower eyelids of the user as a motion target, and takes the real-time shape and the pose of the soft-bodied end-effector as feedback information to control motion of the robot body to automatically open the eyelid.