A NC machine for stretch bending and monitoring method for clamping force of round clamp thereof is invented, which includes a round head clamp, a hydraulic system and a clamping force monitoring device. The round head clamp includes a housing, an internal module arranged in the housing and a positioning member for positioning the internal module in the housing. The hydraulic system includes a hydraulic rod and a hydraulic ram for pushing the hydraulic rod. The clamping force monitoring device includes a sensor and a data processing module. The present invention is suitable for the workpiece of different shapes and sizes. In this invention, the clamping force can be adjusted in real time when it needs to be changed, and this not only can avoid the problems of excessive energy consumption, excessive clamping marks and damage of the workpiece, but also save energy and protect the workpiece.

A machine for bending oblong elements, preferably metal, includes a feed unit configured to feed at least one of the oblong elements along a longitudinal axis. A bending device is located downstream of the feed unit and a curving unit is disposed downstream of the bending device and is configured to curve the oblong element along part of its oblong development.

A machine for bending oblong elements, preferably metal, includes a feed unit configured to feed at least one of the oblong elements along a longitudinal axis. A bending device is located downstream of the feed unit and a curving unit is disposed downstream of the bending device and is configured to curve the oblong element along part of its oblong development.

Provided herein are an apparatus and method for bending wire. The apparatus includes a feeding system with at least one feed roller pair and a controllable feed motor, at least one control platform axis, and at least one bending unit. The method includes i) providing the apparatus of claim 1; ii) advancing a wire with the feeding system; iii) engaging the wire with the at least one bending unit; iv) bending the wire with the at least one bending unit; v) retracting the at least one bending unit; and optionally repeating steps ii-v to form a desired structure. Also provided herein are algorithms for feeding, engaging, and bending the wire.

Provided herein are an apparatus and method for bending wire. The apparatus includes a feeding system with at least one feed roller pair and a controllable feed motor, at least one control platform axis, and at least one bending unit. The method includes i) providing the apparatus of claim 1; ii) advancing a wire with the feeding system; iii) engaging the wire with the at least one bending unit; iv) bending the wire with the at least one bending unit; v) retracting the at least one bending unit; and optionally repeating steps ii-v to form a desired structure. Also provided herein are algorithms for feeding, engaging, and bending the wire.

A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.

A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.

A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.

A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.

An apparatus is provided for bending a pipe and checking a bent shape of the pipe. The apparatus includes a bender for forming a bend in the pipe and at least two cameras for determining an alignment of the pipe in proximity to the free end of the pipe.