CN105397805B - Remote motion center mechanism - Google Patents
Remote motion center mechanism Download PDFInfo
- Publication number
- CN105397805B CN105397805B CN201510980681.7A CN201510980681A CN105397805B CN 105397805 B CN105397805 B CN 105397805B CN 201510980681 A CN201510980681 A CN 201510980681A CN 105397805 B CN105397805 B CN 105397805B
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- CN
- China
- Prior art keywords
- rotating shaft
- connecting rod
- support bar
- transmission case
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/02—Parts of sliding-contact bearings
- F16C33/04—Brasses; Bushes; Linings
- F16C33/06—Sliding surface mainly made of metal
- F16C33/12—Structural composition; Use of special materials or surface treatments, e.g. for rust-proofing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/66—Special parts or details in view of lubrication
- F16C33/6696—Special parts or details in view of lubrication with solids as lubricant, e.g. dry coatings, powder
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2204/00—Metallic materials; Alloys
- F16C2204/10—Alloys based on copper
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
The invention discloses a remote motion center mechanism which comprises a motor box, a connecting rod device, a transmission case and a fixture, wherein the motor box is internally provided with a first motor; the connecting rod device comprises a first connecting rod, a second connecting rod, a first support rod, a second support rod and a support rod bracket; the transmission case comprises two stand plates arranged symmetrically; a first rotating shaft, a second rotating shaft and a third rotating shaft are sequentially arranged between the two stand plates from right to left; the two ends of the first rotating shaft are fixedly connected with one end of the first connecting rod and one end of the first support rod respectively; the other end of the first connecting rod is fixedly connected with an output shaft of the first motor; first synchronous belt wheels are arranged on the first rotating shaft and the third rotating shaft; first synchronous belts surround the two first synchronous belt wheels; and the fixture is fixed at the end part of one end of the third rotating shaft. The remote motion center mechanism can not obstruct operation or vision of a doctor, and realizes the effects of accurate positioning and control on postures of operative tools.
Description
Technical field
The present invention relates to a kind of remote centre of motion mechanism, belongs to medical instruments field.
Background technology
In order that the volume of robot end is as far as possible little, the change of robot end's attitude does not affect the fortune of whole mechanical arm
Dynamic, craniomaxillofacial surgery auxiliary robot adds the mechanism of the mechanical arm of a Three Degree Of Freedom using remote centre of motion mechanism.
The distribution form of this robot degree of freedom is with earliest by the PAKY machines of the Taylor teaching inventives of Johns Hopkins University
Seemingly, PAKY robots are made up of the mankind the passive mechanical arm and an end effector mechanism of 7 degree of freedom.Mechanical arm control machine
The position of the anchor point of device people end, and there are two degree of freedom in the mechanism of robot end, controls the attitude of operation tool.So
Benefit be when the position of operation tool anchor point is constant but attitude need change when, the mechanical arm of robot can keep not
It is dynamic, it is only necessary to robot end's mechanism kinematic.
As shown in figure 1, by parallelogram BCGH, traditional Remote centre of motion mechanism ensures that axis GH and axis AB begins
Keep eventually synchronous.Remote centre of motion mechanism can make driving rearmounted, and realize the conversion of terminal angle, can eliminate motor
Impact of the volume to doctor.But traditional remote centre of motion mechanism rod is more, occupies very big space, still can shadow
Ring the operation technique of doctor.
The content of the invention
It is an object of the invention to provide the high remote centre of motion mechanism of a kind of compact conformation, precision, will not hinder doctor
Raw operation or sight line, realize being accurately positioned and controlling to operation tool attitude.
The technical scheme for realizing the object of the invention is：A kind of remote centre of motion mechanism, including motor box, linkage,
Transmission case and fixture；The first motor is provided with the motor box；The linkage include first connecting rod, second connecting rod, first
Support bar, second support bar and support bar support；The first connecting rod, second connecting rod, first support bar and second support bar
It is arranged in parallel；The transmission case includes two pieces of symmetrically arranged risers, by positioning pin connection between two pieces of risers；Described two pieces
It is sequentially provided with first rotating shaft, the second rotating shaft and the 3rd rotating shaft, and first rotating shaft, the second rotating shaft and between riser from right to left
The two ends of three rotating shafts are rotated with two pieces of risers respectively and are connected；The two ends of the first rotating shaft are supported with first connecting rod and first respectively
One end of bar is fixedly connected；The two ends of second rotating shaft are rotated with one end of second connecting rod and second support bar respectively and are connected；
The other end of the first connecting rod is fixedly connected with the output shaft of the first motor；The other end of the second connecting rod is turned with motor box
Dynamic connection；The other end of the first support bar and second support bar is connected with support bar holder pivots；The support bar
Frame is fixedly connected with motor box；It is equipped with the first synchronous pulley in the first rotating shaft and the 3rd rotating shaft, and two first same
The first Timing Belt is surrounded with step belt wheel；The fixture is fixed on one end end of the 3rd rotating shaft.
The second motor is additionally provided with the motor box；Steel wire and two steel wires are provided with the second connecting rod of the linkage
Wheel, the two ends of steel wire are fixed respectively and are wrapped on two wire wheels；Described two wire wheels constitute friction pair with second connecting rod,
One of wire wheel is fixed on the output shaft of the second motor, and another wire wheel is fixed on the end of the second rotating shaft；It is described
3rd rotating shaft includes hollow axle and solid shafting, constitutes sliding pair by self lubrication bearing between hollow axle and solid shafting；Described
One synchronous pulley is fixed on hollow axle；The second synchronous pulley, and two are equipped with second rotating shaft and solid shafting
The second Timing Belt is surrounded with two synchronous pulleys；The fixture is fixed on hollow axle.
Two sets of synchronous belt tensioning devices, two sets of synchronous belt tensioning devices point are additionally provided between two pieces of risers of the transmission case
Other the first Timing Belt of tensioner and the second Timing Belt.
Synchronous belt tensioning device between two pieces of risers of the transmission case adopts idle pulley adjusting means.
The wire wheel and second connecting rod of the linkage is made from a variety of materials.
Self lubrication bearing between the hollow axle and solid shafting of the 3rd rotating shaft in the transmission case is using MISUMI (Japan
Meter Si meter companies) MPBZU series axle sleeve.
The GT using MISUMI high accuracy high torques is serial for the first Timing Belt and the second Timing Belt in the transmission case
Timing Belt.
The fixture is provided with T-shaped chute.
Above-mentioned technical proposal is employed, the present invention has following beneficial effect：(1) present invention eliminates traditional Remote fortune
The parallelogram BCGH of disorder of internal organs concentric mechanism, causes first rotating shaft and the 3rd rotating shaft synchronous axial system by the first Timing Belt, realizes
Axis E O is with axis AB holdings synchronous, effectively reduces the obstruction of the operation to doctor or sight line, and realizes to operation
Instrument attitude being accurately positioned and controls.
(2) constituted by self lubrication bearing between the hollow axle and solid shafting of the 3rd rotating shaft of transmission case of the invention and slided
Pair, hollow axle can be used for driving the operation tools such as surgical drill, solid shafting to can be used for driving the operation tools such as operation saw blade, have
Effect extends the scope of application of the present invention.
(3) two sets of synchronous belt tensioning devices are additionally provided between two pieces of risers of transmission case of the invention, two sets of Timing Belts rise
Tight device difference the first Timing Belt of tensioner and the second Timing Belt, further lift positioning and the accuracy for controlling.
(4) wire wheel and second connecting rod of linkage of the invention is made from a variety of materials, and effectively prevents friction pair
Bonding is produced during rotation.
(5) self lubrication bearing between the hollow axle and solid shafting of the 3rd rotating shaft in transmission case of the invention is adopted
The MPBZU series axle sleeves of MISUMI, the axle sleeve adopts high-strength brass alloy, and is inlaid with kollag, and wearability is than dry
Formula bushing is excellent, can bear compared with big load, and frictional force is less.
(6) fixture of the invention is provided with T-shaped chute, as long as the T-shaped chuck on operation tool is inserted T-shaped chute by doctor
In, that is, positioning of the robot to operation tool is realized, is assembled very convenient.
Description of the drawings
In order that present disclosure is easier to be clearly understood, below according to specific embodiment and accompanying drawing is combined, it is right
The present invention is described in further detail, wherein
Schematic diagrams of the Fig. 1 for traditional Remote centre of motion mechanism.
Fig. 2 is the schematic diagram of the present invention.
Fig. 3 is the structural representation of the present invention.
A-A sectional views of the Fig. 4 for Fig. 3.
B-B sectional views of the Fig. 5 for Fig. 3.
Left views of the Fig. 6 for Fig. 3.
Top views of the Fig. 7 for Fig. 3.
Axonometric charts of the Fig. 8 for Fig. 3.
Specific embodiment
(embodiment 1)
See Fig. 2 to Fig. 7, the remote centre of motion mechanism of the present embodiment, including motor box 1, linkage 2,3 and of transmission case
Fixture 4.
The first motor 11 and the second motor 12 are provided with motor box 1.Linkage 2 includes first connecting rod 21, second connecting rod
22nd, first support bar 23, second support bar 24 and support bar support 25.First connecting rod 21, second connecting rod 22, first support bar 23
And second support bar 24 be arranged in parallel.Transmission case 3 includes two pieces of symmetrically arranged risers 31, by fixed between two pieces of risers 31
Position pin 32 connects.It is sequentially provided with first rotating shaft 33, the second rotating shaft 34 and the 3rd rotating shaft 35 between two pieces of risers 31 from right to left, and
And the two ends of first rotating shaft 33, the second rotating shaft 34 and the 3rd rotating shaft 35 are rotated with two pieces of risers 31 respectively and are connected.First rotating shaft 33
Two ends be fixedly connected with one end of first connecting rod 21 and first support bar 23 respectively.The two ends of the second rotating shaft 34 are respectively with second
One end of connecting rod 22 and second support bar 24 rotates connection.The output shaft of the other end of first connecting rod 21 and the first motor 11 is fixed
Connection.The other end of second connecting rod 22 is rotated with motor box 1 and is connected.The other end of first support bar 23 and second support bar 24 is equal
Rotate with support bar support 25 and be connected.Support bar support 25 is fixedly connected with motor box 1.In first rotating shaft 33 and the 3rd rotating shaft 35
It is equipped with the first synchronous pulley 36, and two the first synchronous pulleys 36 and is surrounded with the first Timing Belt.Fixture 4 is fixed on the 3rd
One end end of rotating shaft 35.
Steel wire and two wire wheels 26 are provided with the second connecting rod 22 of linkage 2, and the two ends of steel wire are fixed respectively and twined
It is wound on two wire wheels 26.Two wire wheels 26 constitute friction pair with second connecting rod 22, and one of wire wheel 26 is fixed on
On the output shaft of the second motor 12, another wire wheel 26 is fixed on the end of the second rotating shaft 34.The wire wheel 26 of linkage 2
It is made from a variety of materials with second connecting rod 22, material preferably No. 45 steel of quenching and rustless steel 42040.3rd rotating shaft 35 includes
Hollow axle 351 and solid shafting 352, constitute sliding pair by self lubrication bearing between hollow axle 351 and solid shafting 352.Self-lubricating
MPBZU series axle sleeve of the axle sleeve using MISUMI.First synchronous pulley 36 is fixed on hollow axle 351.Second rotating shaft 34 and reality
It is equipped with heart axle 352 on second synchronous pulley 37, and two the second synchronous pulleys 37 and is surrounded with the second Timing Belt.Fixture 4
It is fixed on hollow axle 351.
First Timing Belt and the second Timing Belt are using the GT series of simultaneous bands of MISUMI high accuracy high torques.Transmission case 3
Two pieces of risers 31 between be additionally provided with two sets of synchronous belt tensioning devices 38, two sets of difference tensioners first of synchronous belt tensioning device 38 are same
Step band and the second Timing Belt.Synchronous belt tensioning device 38 adopts idle pulley adjusting means.
Fixture 4 is provided with T-shaped chute 41.There is a corresponding T-shaped chuck on operation tool, as long as doctor is by T-shaped chuck
Insert in T-shaped chute 41, that is, realize positioning of the robot to operation tool.
When operation tool is the equipment such as surgical drill, it is not necessary to along the degree of freedom that operation tool axis is rotated, solid shafting 352
The degree of freedom for being controlled is reserved degree of freedom, it is not necessary to be attached.Fixture 4 is connected with hollow axle 351, such fixture 4 turn
It is dynamic related to the rotation of first rotating shaft 33.As long as the T-shaped chute 41 for ensureing fixture 4 when mounted and first connecting rod 21, second connect
Bar 22, first support bar 23 and second support bar 24 are parallel, then when robot runs, and surgical drill was put down with the parallel four-bar moment
OK.I.e. as shown in Fig. 2 to realize axis E O by the first Timing Belt synchronous with axis AB holdings, effectively reduce to doctor's
Operation or the obstruction of sight line, and realize being accurately positioned and controlling to operation tool attitude.
When operation tool is the equipment such as operation saw blade, then need to be improved fixture 4 and T-shaped chute 41, will be reserved
The power of degree of freedom is exported by gear drive, controls the direction of blade.
Particular embodiments described above, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further in detail
Describe bright, the be should be understood that specific embodiment that the foregoing is only the present invention in detail, be not limited to the present invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (7)
1. a kind of remote centre of motion mechanism, it is characterised in that：Including motor box (1), linkage (2), transmission case (3) and folder
Tool (4)；The first motor (11) is provided with motor box (1)；Described linkage (2) include that first connecting rod (21), second connect
Bar (22), first support bar (23), second support bar (24) and support bar support (25)；First connecting rod (21), second connect
Bar (22), first support bar (23) and second support bar (24) be arranged in parallel；Described transmission case (3) are symmetrical arranged including two pieces
Riser (31), between two pieces of risers (31) by alignment pin (32) connect；Between two pieces of risers (31) from right to left according to
It is secondary to be provided with first rotating shaft (33), the second rotating shaft (34) and the 3rd rotating shaft (35), and first rotating shaft (33), the second rotating shaft (34) and
The two ends of the 3rd rotating shaft (35) are rotated with two pieces of risers (31) respectively and are connected；The two ends of first rotating shaft (33) are respectively with first
Connecting rod (21) is fixedly connected with one end of first support bar (23)；The two ends of the second rotating shaft (34) respectively with second connecting rod
(22) and second support bar (24) one end rotate connection；The other end of first connecting rod (21) is defeated with the first motor (11)
Shaft is fixedly connected；The other end of second connecting rod (22) is rotated with motor box (1) and is connected；First support bar (23) and
The other end of second support bar (24) is rotated with support bar support (25) and is connected；Support bar support (25) and motor box
(1) it is fixedly connected；The first synchronous pulley (36), and two are equipped with first rotating shaft (33) and the 3rd rotating shaft (35)
One synchronous pulley is surrounded with the first Timing Belt on (36)；Fixture (4) are fixed on one end end of the 3rd rotating shaft (35)；It is described
The second motor (12) is additionally provided with motor box (1)；Steel wire and two steel are provided with the second connecting rod (22) of linkage (2)
Silk wheel (26), the two ends of steel wire are fixed respectively and are wrapped on two wire wheels (26)；Described two wire wheel (26) and second
Connecting rod (22) constitutes friction pair, and one of wire wheel (26) are fixed on the output shaft of the second motor (12), another steel wire
Wheel (26) is fixed on the end of the second rotating shaft (34)；3rd rotating shaft (35) includes hollow axle (351) and solid shafting (352),
Sliding pair is constituted by self lubrication bearing between hollow axle (351) and solid shafting (352)；Described first synchronous pulley (36) are fixed
On hollow axle (351)；The second synchronous pulley (37), and two are equipped with second rotating shaft (34) and solid shafting (352)
The second Timing Belt is surrounded with individual second synchronous pulley (37)；Fixture (4) are fixed on hollow axle (351).
2. a kind of remote centre of motion mechanism according to claim 1, it is characterised in that：Two pieces of transmission case (3)
Two sets of synchronous belt tensioning devices (38) are additionally provided between riser (31), and two sets of synchronous belt tensioning device (38) difference tensioners first are same
Step band and the second Timing Belt.
3. a kind of remote centre of motion mechanism according to claim 2, it is characterised in that：Two pieces of transmission case (3)
Synchronous belt tensioning device (38) between riser (31) adopts idle pulley adjusting means.
4. a kind of remote centre of motion mechanism according to claim 1, it is characterised in that：The steel of linkage (2)
Silk wheel (26) and second connecting rod (22) are made from a variety of materials.
5. a kind of remote centre of motion mechanism according to claim 1, it is characterised in that：In transmission case (3)
MPBZU series axis of the self lubrication bearing between the hollow axle (351) and solid shafting (352) of three rotating shafts (35) using MISUMI
Set.
6. a kind of remote centre of motion mechanism according to claim 1, it is characterised in that：In transmission case (3)
One Timing Belt and the second Timing Belt are using the GT series of simultaneous bands of MISUMI high accuracy high torques.
7. a kind of remote centre of motion mechanism according to claim 1, it is characterised in that：Fixture (4) are provided with T-shaped
Chute (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980681.7A CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980681.7A CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105397805A CN105397805A (en) | 2016-03-16 |
| CN105397805B true CN105397805B (en) | 2017-03-22 |
Family
ID=55463725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510980681.7A Active CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105397805B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236677B (en) * | 2019-04-30 | 2024-04-30 | 汕头大学 | Parallelogram structure minimally invasive surgery mechanical arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000030557A9 (en) * | 1998-11-23 | 2001-07-05 | Microdexterity Systems Inc | Surgical manipulator |
| EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
| WO2012103648A1 (en) * | 2011-02-01 | 2012-08-09 | Leslie Ryan David | Haptic device |
| GB201300490D0 (en) * | 2013-01-11 | 2013-02-27 | Univ Leuven Kath | An apparatus and method for generating motion around a remote centre of motion |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
| NL1020396C2 (en) * | 2002-04-16 | 2003-10-17 | Amc Amsterdam | Manipulator for an instrument for minimally invasive surgery, as well as such an instrument. |
| CN101919739B (en) * | 2010-09-07 | 2011-10-26 | 天津大学 | Minimally invasive robot mechanical arm having large movement space and high structural rigidity |
| EP2740434A4 (en) * | 2011-08-04 | 2015-03-18 | Olympus Corp | Medical manipulator and method for controlling same |
| CN111513852B (en) * | 2012-06-01 | 2023-11-03 | 直观外科手术操作公司 | Redundant axes and degrees of freedom of a hardware-constrained remote center robotic manipulator |
| WO2014000041A1 (en) * | 2012-06-29 | 2014-01-03 | Monash University | Mechanical remote centre of motion |
| CN104224328B (en) * | 2014-10-11 | 2017-05-24 | 天津工业大学 | Robot body structure for supporting minimally-invasive surgery instrument |
| CN104622573B (en) * | 2014-12-12 | 2017-06-09 | 北京航空航天大学 | A kind of four-degree-of-freedom remote centre of motion mechanism with high rigidity |
| CN104908042B (en) * | 2015-06-18 | 2017-02-01 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN205272022U (en) * | 2015-12-23 | 2016-06-01 | 江苏久信医疗科技股份有限公司 | Long -range motorium mechanism |
-
2015
- 2015-12-23 CN CN201510980681.7A patent/CN105397805B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000030557A9 (en) * | 1998-11-23 | 2001-07-05 | Microdexterity Systems Inc | Surgical manipulator |
| EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
| WO2012103648A1 (en) * | 2011-02-01 | 2012-08-09 | Leslie Ryan David | Haptic device |
| GB201300490D0 (en) * | 2013-01-11 | 2013-02-27 | Univ Leuven Kath | An apparatus and method for generating motion around a remote centre of motion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105397805A (en) | 2016-03-16 |
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Address after: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Applicant after: Jiangsu Jiuxin Medical Technology Co., Ltd. Address before: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Applicant before: JIANGSU JIUXIN MEDICAL TECHNOLOGY CO., LTD. |
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| CB03 | Change of inventor or designer information |
Inventor after: Fang Zhigang Inventor after: Yang Changrong Inventor after: Zhou Liang Inventor after: Lu Ye Inventor after: Xu Ting Inventor after: Ji Dan Inventor after: Wang Zhenghua Inventor after: She Xiaomin Inventor before: Fang Zhigang Inventor before: Yang Changrong Inventor before: Zhou Liang Inventor before: Lu Ye Inventor before: Xu Ting Inventor before: Ji Dan |
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Address after: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Patentee after: Jiangsu Dashi Jiuxin Medical Technology Co Ltd Address before: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Patentee before: Jiangsu Jiuxin Medical Technology Co., Ltd. |