Soft-bodied apparatus and method for opening eyelid
US12121229B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 5, 2021 |
| Grant date | Oct 22, 2024 |
| Priority date | — |
| Expiry date | Jul 14, 2043 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61F2009/0052
- WIPO fieldMedical technology
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.