CN105534599B - Blood vessel intervention operation robot main side device for force feedback and its method of work - Google Patents
Blood vessel intervention operation robot main side device for force feedback and its method of work Download PDFInfo
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- CN105534599B CN105534599B CN201610057103.0A CN201610057103A CN105534599B CN 105534599 B CN105534599 B CN 105534599B CN 201610057103 A CN201610057103 A CN 201610057103A CN 105534599 B CN105534599 B CN 105534599B
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- 210000004204 blood vessel Anatomy 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 title abstract description 11
- 239000007787 solid Substances 0.000 claims abstract description 55
- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 description 6
- 230000005622 photoelectricity Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002627 tracheal intubation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
A kind of blood vessel intervention operation robot main side device for force feedback, it is characterised in that it includes cylindrical magnetic conductive rod, action bars, conduit, the junction button for including bearing, solid photoelectric encoder, hollow photoelectric encoder, coil, bobbin, guided way, magnet；Method of work：When measuring the anglec of rotation, rotary guide pipe drives the interior axle rotation of hollow photoelectric encoder to measure the anglec of rotation；When measurement is axially moved information, the solid shafting of solid photoelectric encoder follows action bars to rotate and advanced potential transfer is turned into the anglec of rotation by guided way；From the operating physical force of operator main operation device force feedback.Superiority：The design focuses on the Real-time Feedback of operation technique power, can be directly fed back in real time by the operation pipe on main operation device device on the manipulator of doctor from the operating physical force of side operator device, and feedback is directly perceived, meets the security of operation and the demand of doctor's operation；The axial information of doctor's operation is obtained using way of electromagnetic induction, efficiently and does not increase additional load.
Description
(1) technical field：
The invention belongs to technical field of medical equipment, especially a kind of principal and subordinate's interventional surgery robot assisted system
System main side console device for force feedback, and it is used for blood vessel intervention operation robot system doctor main side specifically related to one kind is new
The device for force feedback and its method of work of console.
(2) background technology：
Investigated according to the World Health Organization, the patient numbers for dying from cardiovascular and cerebrovascular disease every year are up to 15,000,000, serious threat
The health of the mankind.Treatment method generally has traditional open operation and intubation intervention operation.Clinic shows：Minimally Invasive Surgery is
Current maximally effective treatment means, it has the advantages that wound is small, safe, post-operative recovery is fast, few intercurrent disease.But its shortcoming
It is exactly the radiation menisectomy that doctor will be exposed to X-ray；Surgical risks coefficient is high, requires very high to the operation skill of doctor；Finally
It is operating time length, operation safety can be reduced because of the fatigue operation of doctor.
Remote operating principal and subordinate's interventional surgery robot assisted system turns into a study hotspot, many remote operatings
The tactile data of system can not feed back to doctor, it is more likely that can also have one because of misoperation or too quickly damage and puncture blood vessel
A little systems have been related to force feedback, and they are by motor, intellectual material magnetic flow liquid, ER fluid Polymer material mostly
Realize force feedback, but these feedback systems are difficult in main side true reappearance, and by mistake the force information from end operator detection
Difference is excessive to be led to not directly apply to actual operation operating platform.
Therefore a kind of apparatus and method for being capable of accurate feedback haptic force are needed.
(3) content of the invention：
It is an object of the invention to provide a kind of blood vessel intervention operation robot main side device for force feedback and its method of work,
It can be with overcome the deficiencies in the prior art, and real-time power being felt to, information is intuitively fed back and be given to the device of doctor on hand, accords with
The requirement of ergonomics is closed, and it is simple in construction, it is easy to operate.
Technical scheme：A kind of blood vessel intervention operation robot main side device for force feedback, it is characterised in that it is wrapped
Include cylindrical magnetic conductive rod, action bars, conduit, the junction button for including bearing, solid photoelectric encoder, hollow photoelectric encoder, line
Circle, bobbin, guided way, magnet；The cylindrical magnetic conductive rod both ends set magnet；The bobbin is enclosed on cylindrical magnetic conduction
Rod；The coil is entangled in one end of bobbin；Described action bars one end is fixed with bobbin, and the other end is connected with junction button；Institute
Tube at one end is stated to be connected with the bearing in junction button, the other end passes through hollow photoelectric encoder, and with hollow photoelectric encoder
Axle is fixed；The solid shafting of the guided way and solid photoelectric encoder is fixed, and the periphery of guided way is connected with action bars；The circle
Cylindricality magnetic conductive rod, solid photoelectric encoder and hollow photoelectric encoder are supported by supporting construction install respectively.
The cylindrical magnetic conductive rod fixes support installation by support frame；The hollow photoelectric encoder passes through hollow coding
Device installing plate fixes support installation；The hollow encoder installing plate connects and composes with slide rail to be slidably installed.
The solid photoelectric encoder fixes support installation by support.
The guided way is vertical direction mounted in pairs, and one of guided way is fixed with solid photoelectric encoder, another
Individual guided way passes through support and fixed plate support installation；The action bars passes through between two guided ways.
The guided way is circle.
The conduit is fixed with hollow photoelectric encoder interior axle by jackscrew.
The solid photoelectric encoder uses the solid photoelectric encoder of 2500 lines；The hollow photoelectric encoder uses 2500
The hollow photoelectric encoder of line.
The cylindrical magnetic conductive rod is using the good cylindrical iron staff of magnetic conductivity.
The magnet and a diameter of 10-13mm in cylindrical magnetic conductive rod section.
A diameter of 0.1-0.3mm of the coil.
The slide rail range is 0-100mm.
Support frame as described above, slide rail, support and fixed plate are installed on adjustable for height bottom plate.
The cylindrical magnetic conductive rod, action bars, coil, bobbin and magnet form axial force feedback unit.
The method of work of a kind of blood vessel intervention operation robot main side device for force feedback, it is characterised in that it includes following step
Suddenly：
(1) realization of operation：When measuring the anglec of rotation, rotary guide pipe drives the interior axle rotation of hollow photoelectric encoder
Measure the anglec of rotation；When measurement is axially moved information, action bars advances simultaneously with conduit, and drives the coiling fixed with action bars
Pipe moves simultaneously, and the solid shafting of solid photoelectric encoder follows action bars to rotate and advanced potential transfer is turned into rotation by guided way
Angle；After bobbin moves to top, action bars is recalled, starts the operation of a new round；
(2) extraction of operation information：
Ith, action bars is followed to turn by guided way for the collection of axial movement information, solid photoelectric encoder solid shafting
It is dynamic, advanced potential transfer is turned into the anglec of rotation；
IIth, for rotation information, conduit drives the interior axle rotation of hollow photoelectric encoder to measure the anglec of rotation；
(3) from the operating physical force of operator main operation device force feedback:
For axial operation force feedback, the hot-wire coil that bobbin one end is entangled in by application moves generation in magnetic field：
Cylindrical magnetic conductive rod is wrapped in inside bobbin by bobbin, will action bars and fixation among wire winding pole, so as to the power measured more
Add precisely, promote conduit, allow hot-wire coil to be moved in magnetic field, so as to produce electromagnetic induction power, electromagnetism caused by hot-wire coil
Power is the antihunt signal to action bars, damping force caused by one end reception hot-wire coil of action bars, doctor is passed to by conduit
Raw hand；Resistance caused by different electric currents is also different, by the size of control electric current, ensure resistance with from end catheter interior
Contact force be consistent, this power is fed directly to doctor so as to form closed-loop system.
Hollow photoelectric encoder moves on slide rail in the step (1), so as to reduce force of sliding friction.
Solid photoelectric encoder uses the solid photoelectric encoder of 2500 lines in the step (2), by quadrature decoder chip
4 frequencys multiplication are formed, turning around needs 10000 steps, and the girth of guided way circumference is 91.06-97.34mm, so solid photoelectric coding
Device precision is 0.01mm, and advance displacement is exported by the angle of rotation；Hollow photoelectric encoder is compiled using the hollow photoelectricity of 2500 lines
Code device, 4 frequencys multiplication are formed with quadrature decoder chip, turns around and needs also exist for 10000 steps, precision is 0.036 degree.
The superiority of the present invention：1st, principal and subordinate end is simultaneously synchronous is carried out, so doctor can make full use of traditional operation to be accumulated
Experience and skill；2nd, the design focuses on the Real-time Feedback of operation technique power, can be real-time from the operating physical force of side operator device
It is directly fed back to by the operation pipe on main operation device device on the manipulator of doctor, feedback is directly perceived, meets the security of operation
With the demand of doctor's operation；3rd, the axial information of doctor's operation is obtained using way of electromagnetic induction, efficiently and is not increased additional negative
Carry；4th, doctor can directly operate conduit, operation is had more authenticity, meet the requirement of ergonomics.
(4) illustrate：
Fig. 1 is a kind of principal and subordinate's interventional surgery robot assisted system main side console force feedback involved by the present invention
The structured flowchart of device.
Wherein, 1 is support frame, and 2 be coil, and 3 be bobbin, and 4 be conduit, and 5 be junction button, and 6 be solid photoelectric encoder,
7 be hollow photoelectric encoder, and 8 be hollow encoder installing plate, and 9 be slide rail, and 10 be guided way, and 11 be magnet, and 12 be action bars,
13 be bottom plate, and 14 be fixed plate, and 15 be support.
(5) embodiment：
Embodiment：A kind of principal and subordinate's interventional surgery robot assisted system doctor main side console device for force feedback
(see Fig. 1), it is characterised in that it includes cylindrical magnetic conductive rod, action bars 12, conduit 4, the junction button 5 for including bearing, solid light
Photoelectric coder 6, hollow photoelectric encoder 7, coil 2, bobbin 3, guided way 10, magnet 11；The cylindrical magnetic conductive rod both ends
Magnet 11 is set；The bobbin 3 is enclosed on cylindrical magnetic conductive rod；The coil 2 is entangled on bobbin 3；The action bars 12 1
End is fixed with bobbin 3, and the other end is connected with junction button 5；Described one end of conduit 4 is connected with the bearing in junction button 5, the other end
Fixed through hollow photoelectric encoder 7, and with hollow photoelectric encoder 7；The guided way 10 is solid with solid photoelectric encoder 6
Fixed, the periphery of guided way 10 is connected with action bars 12；The cylindrical magnetic conductive rod, solid photoelectric encoder 6 and hollow photoelectricity are compiled
Code device 7 is supported by supporting construction respectively to be installed.
The cylindrical magnetic conductive rod is supported by support frame 1；The hollow photoelectric encoder 7 is installed by hollow encoder
The installation support of plate 8；The hollow encoder installing plate 8 connects and composes with slide rail 9 to be slidably installed.(see Fig. 1)
The solid photoelectric encoder 6 is supported by support 15.(see Fig. 1)
The guided way 10 is vertical direction mounted in pairs, and one of guided way 10 is fixed with solid photoelectric encoder 6,
Another guided way 10 passes through support 15 and the support installation of fixed plate 14；The action bars 12 passes through between two guided ways 10.(see
Fig. 1)
The guided way 10 is circle.(see Fig. 1)
The conduit 4 is fixed with hollow photoelectric encoder 7 by jackscrew.
The solid photoelectric encoder 6 uses the solid photoelectric encoder of 2500 lines；The hollow photoelectric encoder 7 uses
The hollow photoelectric encoder of 2500 lines.
The cylindrical magnetic conductive rod is using the good cylindrical iron staff of magnetic conductivity.
The magnet 11 and a diameter of 12mm in cylindrical magnetic conductive rod section.
A diameter of 0.2mm of the coil 11.
The range of slide rail 9 is 0-100mm.
Support frame as described above 1, slide rail 9, support 15 and fixed plate 14 are installed on adjustable for height bottom plate 13.(see Fig. 1)
Doctor operates conduit 4 and moved forward and backward, and the solid solid shafting of photoelectric encoder 6 follows rotation to advance so as to export with after
The displacement moved back；Hollow encoder 7 is driven to rotate by rotary guide pipe, so as to export the number of degrees of rotation, slide rail range is 0-
100mm, bottom plate 13 can adjust height according to the difference of doctor.
Principal and subordinate's interventional surgery robot assisted system doctor main side console device for force feedback uses aluminium
Alloy and stainless steel material.
A kind of work of principal and subordinate's interventional surgery robot assisted system doctor main side console device for force feedback
Method, it is characterised in that it comprises the following steps：
(1) realization of operation：When measuring the anglec of rotation, rotary guide pipe 4 drives the interior axle of hollow photoelectric encoder 7 to rotate i.e.
The anglec of rotation can be measured；When measurement is axially moved information, action bars 12 advances simultaneously with conduit 4, and drives solid with action bars 12
Fixed bobbin 3 moves simultaneously, and the solid shafting of solid photoelectric encoder 6 will follow action bars 12 to rotate by guided way 10 to advance
Displacement is converted into the anglec of rotation；After bobbin 3 moves to top, action bars 12 is recalled, starts the operation of a new round；
(2) extraction of operation information：
Ith, action bars is followed by guided way 10 for the collection of axial movement information, the solid solid shafting of photoelectric encoder 6
12 are rotated, and advanced potential transfer is turned into the anglec of rotation；
IIth, for rotation information, conduit 4, which drives the interior axle of hollow photoelectric encoder 7 to rotate, can measure the anglec of rotation；
(3) from the operating physical force of operator main operation device force feedback:
For axial operation force feedback, the hot-wire coil 2 that the one end of bobbin 3 is entangled in by application moves production in magnetic field
It is raw：Cylindrical magnetic conductive rod is wrapped in inside bobbin by bobbin 3, will be fixed among action bars 12 and wire winding pole 3, so as to measure
Power it is more accurate, promote conduit 4, allow hot-wire coil 2 to be moved in magnetic field, so as to produce electromagnetic induction power, hot-wire coil production
Raw electromagnetic force is the antihunt signal to action bars, and one end of action bars 12 receives damping force caused by hot-wire coil, by leading
Pipe 4 passes to the hand of doctor；Resistance caused by different electric currents is also different, by the size of control electric current, ensure resistance with
It is consistent from the contact force of end catheter interior, this power is fed directly to doctor so as to form closed-loop system.
Hollow photoelectric encoder 7 moves on slide rail 9 in the step (1), so as to reduce force of sliding friction.
Solid photoelectric encoder 6 uses the solid photoelectric encoder of 2500 lines in the step (2), by quadrature decoder chip
4 frequencys multiplication are formed, turning around needs 10000 steps, and the girth of the circumference of guided way 10 is 91.06-97.34mm, so solid photoelectricity is compiled
The code precision of device 6 is 0.01mm, exports advance displacement by the angle of rotation, measurement accuracy is than linear displacement transducer precision more
It is high；Hollow photoelectric encoder 7 uses the hollow photoelectric encoder 7 of 2500 lines, and 4 frequencys multiplication are formed with quadrature decoder chip, turns around same
Sample needs 10000 steps, and precision is 0.036 degree.
Claims (4)
1. a kind of blood vessel intervention operation robot main side device for force feedback, it is characterised in that it includes cylindrical magnetic conductive rod, operation
Bar, conduit, the junction button for including bearing, solid photoelectric encoder, hollow photoelectric encoder, coil, bobbin, guided way, magnetic
Iron；The cylindrical magnetic conductive rod both ends set magnet；The bobbin is enclosed on cylindrical magnetic conductive rod；The coil is entangled in bobbin
One end；Described action bars one end is fixed with bobbin, and the other end is connected with junction button；In the tube at one end and junction button
Bearing connects, and the other end passes through hollow photoelectric encoder, and is fixed with hollow photoelectric encoder interior axle；The guided way with it is solid
The solid shafting of photoelectric encoder is fixed, and the periphery of guided way is connected with action bars；The cylindrical magnetic conductive rod, solid photoelectric coding
Device and hollow photoelectric encoder are supported by supporting construction respectively to be installed；
The cylindrical magnetic conductive rod fixes support installation by support frame；The hollow photoelectric encoder is pacified by hollow encoder
Loading board fixes support installation；The hollow encoder installing plate connects and composes with slide rail to be slidably installed；
The solid photoelectric encoder fixes support installation by support；
Support frame as described above, slide rail, support are installed on adjustable for height bottom plate；
The guided way is vertical direction mounted in pairs, and one of guided way is fixed with solid photoelectric encoder, and another is led
Pass through support and fixed plate support installation to rail；The action bars passes through between two guided ways；The fixed plate is arranged on height
On adjustable bottom plate；
The guided way is circle；
The conduit is fixed with hollow photoelectric encoder interior axle by jackscrew；
The solid photoelectric encoder uses the solid photoelectric encoder of 2500 lines；The hollow photoelectric encoder is empty using 2500 lines
Heart photoelectric encoder.
A kind of 2. blood vessel intervention operation robot main side device for force feedback according to claim 1, it is characterised in that the magnetic
Iron and a diameter of 10-13mm in cylindrical magnetic conductive rod section；
A diameter of 0.1-0.3mm of the coil；
The slide rail range is 0-100mm；
The cylindrical magnetic conductive rod, action bars, coil, bobbin and magnet form axial force feedback unit；
The solid photoelectric encoder uses the solid photoelectric encoder of 2500 lines, forms 4 frequencys multiplication by quadrature decoder chip, turns one
Circle needs 10000 steps, and the girth of guided way circumference is 91.06-97.34mm, so solid photoelectric encoder precision is 0.01mm,
Advance displacement is exported by the angle of rotation；Hollow photoelectric encoder uses the hollow photoelectric encoder of 2500 lines, uses quadrature decoder
Chip forms 4 frequencys multiplication, turns around and needs also exist for 10000 steps, and precision is 0.036 degree.
A kind of 3. blood vessel intervention operation robot main side device for force feedback according to claim 1, it is characterised in that its work
It is as step：
(1) realization of operation：When measuring the anglec of rotation, rotary guide pipe drives the interior axle rotation of hollow photoelectric encoder to measure
The anglec of rotation；When measurement is axially moved information, action bars advances simultaneously with conduit, and drives the bobbin fixed with action bars same
Shi Yundong, the solid shafting of solid photoelectric encoder follow action bars to rotate and advanced potential transfer are turned into the anglec of rotation by guided way
Degree；After bobbin moves to top, action bars is recalled, starts the operation of a new round；
(2) extraction of operation information：
Ith, action bars is followed to rotate by guided way for the collection of axial movement information, solid photoelectric encoder solid shafting, will
Advanced potential transfer turns to the anglec of rotation；
IIth, for rotation information, conduit drives the interior axle rotation of hollow photoelectric encoder to measure the anglec of rotation；
(3) from the operating physical force of operator main operation device force feedback:
For axial operation force feedback, the hot-wire coil that bobbin one end is entangled in by application moves generation in magnetic field：Coiling
Cylindrical magnetic conductive rod is wrapped in inside bobbin by pipe, will be fixed among action bars and wire winding pole, so as to which the power measured is more smart
Standard, conduit is promoted, allows hot-wire coil to be moved in magnetic field, so as to produce electromagnetic induction power, electromagnetic force caused by hot-wire coil is
To the antihunt signal of action bars, damping force caused by one end reception hot-wire coil of action bars, pass to doctor's by conduit
Hand；Resistance caused by different electric currents is also different, by the size of control electric current, ensures resistance and connecing from end catheter interior
Touch is consistent, and this power is fed directly to doctor so as to form closed-loop system.
A kind of 4. blood vessel intervention operation robot main side device for force feedback according to claim 3, it is characterised in that the step
Suddenly hollow photoelectric encoder moves on slide rail in (1), so as to reduce force of sliding friction；
Solid photoelectric encoder uses the solid photoelectric encoder of 2500 lines in the step (2), and 4 are formed by quadrature decoder chip
Frequency multiplication, turning around needs 10000 steps, and the girth of guided way circumference is 91.06-97.34mm, so solid photoelectric encoder precision
It is 0.01mm, advance displacement is exported by the angle of rotation；Hollow photoelectric encoder uses the hollow photoelectric encoder of 2500 lines, uses
Quadrature decoder chip forms 4 frequencys multiplication, turns around and needs also exist for 10000 steps, and precision is 0.036 degree.
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| CN201610057103.0A CN105534599B (en) | 2016-01-27 | 2016-01-27 | Blood vessel intervention operation robot main side device for force feedback and its method of work |
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| CN107049375B (en) * | 2017-05-16 | 2020-05-19 | 郑州大学第一附属医院 | Minimally invasive intervention catheter operating device |
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| CN109199588B (en) * | 2018-09-30 | 2020-11-13 | 上海奥朋医疗科技有限公司 | Electromagnetic damping precession force feedback operating handle for vascular intervention |
| CN109481022A (en) * | 2018-11-14 | 2019-03-19 | 李兴国 | A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot |
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| CN114159156B (en) * | 2021-12-13 | 2023-09-29 | 成都信息工程大学 | Main end touch interaction device of vascular intervention operation robot |
| CN114224502B (en) * | 2022-01-12 | 2023-04-21 | 天津理工大学 | Vascular intervention operation robot main end device with tactile feedback |
| CN115192208B (en) * | 2022-09-14 | 2022-12-27 | 深圳市爱博医疗机器人有限公司 | Force feedback mechanism, main end control device and interventional operation robot |
| CN117814921A (en) * | 2024-03-05 | 2024-04-05 | 北京中科鸿泰医疗科技有限公司 | Interventional operation robot control end handle and vascular interventional operation robot |
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