CN112754598B - Miniature thrombus removal robot based on chemical reaction technology - Google Patents
Miniature thrombus removal robot based on chemical reaction technology Download PDFInfo
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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
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/02007—Evaluating blood vessel condition, e.g. elasticity, compliance
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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
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22082—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for after introduction of a substance
- A61B2017/22084—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for after introduction of a substance stone- or thrombus-dissolving
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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
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22082—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for after introduction of a substance
- A61B2017/22091—Explosive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention belongs to the field of medical instruments, and particularly relates to a micro thrombus removal robot based on a chemical reaction technology, which comprises a detectable head shell, a core driving shell and a medicine storage and release shell, wherein a monitoring device, a wireless communication module and a processor module are arranged on the detectable head shell, the front and the back of an inner cavity of the core driving shell are divided into a first reaction chamber, a control chamber and a second reaction chamber, a chemical energy release reaction raw material module and a chemical energy release reaction excitation module are arranged in the control chamber, a first piston push plate is matched in the first reaction chamber in a sliding manner, a second piston push plate is matched in the second reaction chamber in a sliding manner, the first piston push plate and the second piston push plate are respectively matched and connected with a water scratching mechanism, and a medicine spray system is used for releasing medicines. The invention has the advantages of higher movement speed, larger driving force, stronger environmental adaptability, simple structure and the like, and is beneficial to solving the defects of low driving speed and small driving force of the medical micro-robot in vivo.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a micro thrombus removal robot based on a chemical reaction technology.
Background
According to statistics, the number of death caused by thrombus can reach 51% of the total number of people in the world every year, so that the thrombus in blood vessels becomes the first killer threatening the health of human beings. Intravascular thrombi are mainly large and small, small thrombi can be completely dissolved and absorbed, while large thrombi cannot be dissolved and absorbed generally, so that the intravascular thrombi need to be treated by means of medicines or micro-technology. With the development of micro-robot manufacturing technology and integrated circuit process, medical micro-robots have been applied to the medical field and are pushing the development of modern medical technology with strong push. Chinese patent publication No. CN110327098A discloses a vascular robot and a method for using the same, which includes a robot body, a flow guide hole, fan blades, a vibration component, a control circuit board, a fixing frame, a vibration rod, a cam disk, a first micro motor, an arc panel, a rotation cushion, a second micro motor and a rolling skin layer, wherein the flow guide hole is formed at the tail of the robot body, and the second micro motor is fixed at one end of an inner cavity of the robot body; through being provided with the camshaft in the middle-end, can be after the clearance, can vibrate the remaining blood clot of clearance blood vessel wall side, clearance that can be better. The vascular robot has the problems that the nano motor is utilized to provide power for walking, the power is not large enough, the vascular robot walks slowly, and time is consumed during operation.
Therefore, in view of the above disadvantages, the inventor group proposed a micro medical robot driven by a chemical discharging reaction, which can generate intense energy in a short time, so that the micro medical robot can generate a driving force at least 10 times higher than that of other soft robots in a very short time.
Disclosure of Invention
In order to make up the defects of the prior art, the invention provides a technical scheme of a micro thrombus removal robot based on a chemical reaction technology.
The micro thrombus removal robot based on the chemical reaction technology is characterized by comprising
The robot comprises a detectable head shell, wherein a monitoring device, a wireless communication module and a processor module are arranged on the detectable head shell, the monitoring device is used for detecting the position of a blood vessel focus, the wireless communication module is used for realizing the wireless control of personnel on the robot, and the processor module is used for receiving and sending instructions and processing information;
the core driving shell is characterized in that the inner cavity of the core driving shell is divided into a first reaction chamber, a control chamber and a second reaction chamber in the front and back, a chemical energy releasing reaction raw material module and a chemical energy releasing reaction excitation module are arranged in the control chamber, the chemical energy releasing reaction raw material module is used for conveying chemical energy releasing reaction raw materials for the first reaction chamber and the second reaction chamber, the chemical energy releasing reaction excitation module is used for exciting the chemical energy releasing reaction raw materials in the first reaction chamber and the second reaction chamber to carry out chemical energy releasing reaction, a first piston push plate is in front-back sliding fit in the first reaction chamber, a second piston push plate is in front-back sliding fit in the second reaction chamber, the first piston push plate is connected with the second piston push plate, the first piston push plate and the second piston push plate are respectively in matching connection with a water paddling mechanism, and when the piston push plates move back and forth, the corresponding paddling mechanism can be driven to paddle paddling, to drive the robot to move; and
a storage and release drug housing having a drug spray system disposed therein for releasing a drug.
The miniature thrombus removing robot based on the chemical reaction technology is characterized in that the paddling mechanism comprises a connecting rod in running fit with the piston push plate and a paddling in running fit with the wall of the reaction chamber shell, the connecting rod is used for running fit with the paddling and supporting the paddling, the connecting rod can be driven to rotate when the piston push plate moves back and forth, and the connecting rod can drive the paddling to paddle.
The micro thrombus cleaning robot based on the chemical reaction technology is characterized in that the side wall of the reaction chamber is provided with an opening for the movement of the connecting rod and the paddle.
The micro thrombus removing robot based on the chemical reaction technology is characterized in that 2-8 water-paddling mechanisms are annularly distributed on the periphery of the side surface of the reaction chamber.
A miniature thrombus removal robot based on chemical reaction technique, a serial communication port medicine spray system includes medicine bottle, piston rod, goes out pencil, first automatically controlled valve and spring, piston rod one end is slided to be inserted and is joined in marriage in the medicine bottle, through spring coupling between the other end and the medicine bottle, it all is connected with the medicine bottle cooperation and extends outside the storage release medicine casing to go out the pencil, first automatically controlled valve sets up in going out the pencil, and when first automatically controlled valve was opened, the medicine in the pencil can be extruded to spring and piston rod, makes the medicine release the focus position through going out the pencil.
The miniature thrombus removal robot based on the chemical reaction technology is characterized in that an inner cavity of a storage and release medicine shell is used for storing medicines, the medicine spray system further comprises a medicine adding pipe, an electric control pump and a second electric control valve are arranged on the medicine adding pipe, and the electric control pump is used for conveying the medicines in the inner cavity of the storage and release medicine shell into a medicine bottle.
A miniature thrombus removal robot based on chemical reaction technique, its characterized in that the spring housing is located the piston rod and is located one end outside the medicine bottle, spring one end is connected with the medicine bottle, the other end is connected with the boss on the piston rod.
The micro thrombus removal robot based on the chemical reaction technology is characterized in that the monitoring device is a camera; the detectable head housing contains a contrast imaging agent.
The micro thrombus removing robot based on the chemical reaction technology is characterized in that a connecting column is fixedly connected between the first piston push plate and the second piston push plate and penetrates through the wall of the shell among the first reaction chamber, the control chamber and the second reaction chamber.
The micro thrombus clearing robot based on the chemical reaction technology can be directly injected into a human body vessel through an injector. The invention takes chemical energy release reaction as a driving source, converts the instantaneous high-energy chemical energy release reaction into mechanical motion, namely the motion of the piston push plate, and further pushes the paddle to move, thereby realizing the aim of instantaneous acceleration of the invention. The invention has the advantages of higher movement speed, larger driving force, stronger environmental adaptability, simple structure and the like, and can control the movement speed of the device based on different chemical energy release reaction degrees, in other words, the device can realize the removal and treatment of thrombi with different sizes aiming at different energy release degrees. The invention of the design is beneficial to solving the defects of low driving speed and small driving force of the medical micro robot in vivo.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
fig. 3 is a schematic diagram of a system of a drug spray according to the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
The invention will be further explained with reference to the drawings.
As shown in the figure, a micro thrombus removal robot based on chemical reaction technology comprises
The robot comprises a detectable head shell 1, wherein a monitoring device 101, a wireless communication module 104 and a processor module 102 are arranged on the detectable head shell 1, the monitoring device 101 is used for detecting the position of a blood vessel lesion, the wireless communication module 104 is used for realizing the wireless control of a person on the robot, and the processor module 102 is used for receiving and sending instructions and processing information;
the core driving shell 2, the inner cavity of the core driving shell 2 is divided into a first reaction chamber 201, a control chamber 213 and a second reaction chamber 205 in the front and back, the chambers are separated by a partition, a chemical energy release reaction raw material module 204 and a chemical energy release reaction excitation module 203 are arranged in the control chamber 213, the chemical energy release reaction raw material module 204 is used for conveying chemical energy release reaction raw materials for the first reaction chamber 201 and the second reaction chamber 205, the chemical energy release reaction excitation module 203 is used for exciting the chemical energy release reaction raw materials in the first reaction chamber 201 and the second reaction chamber 205 to perform chemical energy release reaction, the first piston push plate 202 is in front and back sliding fit in the first reaction chamber 201, the second piston push plate 208 is in front and back sliding fit in the second reaction chamber 205, the first piston push plate 202 is connected with the second piston push plate 208, and the first piston push plate 202 and the second piston push plate 208 are respectively in matching connection with a paddling mechanism, when the piston push plate moves back and forth, the corresponding paddling mechanism can be driven to paddle, so that the robot is driven to move; and
a storage and release drug housing 3, a drug spray system 303 disposed within the storage and release drug housing 3, the drug spray system 303 configured to release a drug.
The chemical energy discharge reaction raw material module 204 can be two gas cylinders respectively filled with methane and oxygen or one gas cylinder filled with methane and oxygen premix, the gas cylinders are provided with flow valves, the gas cylinders are communicated into the reaction chamber through pipelines, gas discharge is controlled through the flow valves, the chemical energy discharge reaction excitation module 203 can be a pulse signal transmitter and an electric spark transmitter, pulse signals are generated by the pulse signal transmitter, the signals are transmitted to the electric spark transmitter at the tail end of the pulse signal transmitter through leads, and raw material gas can be detonated by electric sparks to generate power.
As an optimization: the rowing mechanism comprises a connecting rod 207 in running fit with the piston push plate and a rowing paddle 206 in running fit with the wall of the reaction chamber shell, the connecting rod 207 is used for running fit with the rowing paddle 206 and supporting the rowing paddle 206, the connecting rod 207 can be driven to rotate when the piston push plate moves back and forth, and the connecting rod 207 can drive the rowing paddle 206 to rowing.
Further, the side wall of the reaction chamber is provided with an opening for the connecting rod 207 and the paddle 206 to move.
As an optimization: 2-8 paddling mechanisms are annularly distributed on the periphery of the side face of the reaction chamber.
As an optimization: medicine spray system 303 includes medicine bottle 307, piston rod 304, goes out pencil 311, first automatically controlled valve 310 and spring 305, piston rod 304 one end is slided and is inserted and join in marriage in medicine bottle 307, is connected through spring 305 between the other end and the medicine bottle 307, it all is connected and extends to store and release outside medicine casing 3 with the cooperation of medicine bottle 307 to go out pencil 311, and first automatically controlled valve 310 sets up in going out pencil 311, and when first automatically controlled valve 310 was opened, spring 305 and piston rod 304 can extrude the medicine in the medicine bottle 307, make the medicine release to the focus position through going out pencil 311.
Further, the inner cavity of the storage and release medicine housing 3 is used for storing medicines, the stored medicines comprise focus healing medicines and contrast imaging agents, the medicine spray system 303 further comprises a medicine adding pipe 309, an electric control pump 301 and a second electric control valve 308 are arranged on the medicine adding pipe 309, and the electric control pump 301 is used for conveying the medicines in the inner cavity of the storage and release medicine housing 3 into a medicine bottle 307.
Further, the end of the piston rod 304 located inside the medicine bottle 307 is slidably fitted with the medicine bottle 307 through a piston pad 306.
Further, the spring 305 is sleeved on one end of the piston rod 304 outside the medicine bottle 307, one end of the spring 305 is connected with the medicine bottle 307, and the other end is connected with a boss on the piston rod 304.
Further, the monitoring device 101 is a camera.
Further, a connecting column 212 is fixedly connected between the first piston push plate 202 and the second piston push plate 208, and the connecting column 212 penetrates through the wall of the first reaction chamber 201, the control chamber 213 and the second reaction chamber 205.
As an optimization: the outer surface of the robot is made of human tissue substitute materials, and good compatibility with human tissues can be realized.
As an optimization: the detectable head housing 1 also contains a contrast imaging agent, the presence of which enables the tracking localization of the present invention.
As an optimization: the invention is in capsule shape and can enter human body by injection.
As an optimization: the invention is additionally provided with a battery to provide electric energy for each part.
The circuit connection relationship of the invention is as follows: the processor module 102 is electrically connected with the monitoring device 101, the wireless communication module 104, the chemical discharging reaction raw material module 204, the chemical discharging reaction excitation module 203, the first electric control valve 310, the second electric control valve 308 and the electric control pump 301 respectively.
In the treatment process of the invention, firstly, the robot starts the wireless communication module 104 to interact with the outside operator, the monitoring device 101 is started to search the surrounding condition of the lesion, the magnitude of the driving force is determined according to the magnitude of the thrombus lesion, the driving raw material is injected into the first reaction chamber 201 through the chemical energy release reaction raw material module 204, the chemical energy release reaction excitation module 203 is started, the first piston push plate 202 moves forwards under pressure to drive the connecting rod 207 to move, the connecting rod 207 is connected with the paddle 206, the paddle 206 starts to move, the micro-robot generates the movement of impacting thrombus forwards, the driving raw material is injected into the second reaction chamber 205 through the chemical energy release reaction raw material module 204, the chemical energy release reaction excitation module 203 is started, the second piston push plate 208 moves backwards under pressure, the micro-robot returns to the initial state, the storage and release medicine shell 3 provides larger resistance, the treatment device can ensure that the treatment device can not move backwards after being restored to the initial state, the operation is repeated until the thrombus focus is broken through, and finally, the treatment drug is sprayed to the focus position through the drug spray system 303 at the focus position for accurate treatment. The detectable head housing 1 and the storage and release drug housing 3 also contain contrast imaging agents to determine the location of the present invention within the body.
The drug spray system 303 works as follows: the first electrically controlled valve 310 is opened, the spring 305 pulls the piston rod 304 to push backwards, the piston pad 306 pushes the medicine out of the medicine bottle 307, and the medicine is sprayed to the focus part through the pipeline 311. When the medicine in the medicine bottle 307 is insufficient, the second electrically controlled valve 308 is opened, the electrically controlled pump 301 is started, and the medicine stored in the storage and release medicine housing 3 is introduced into the medicine bottle 307 through the medicine adding tube 309 by using the electrically controlled pump 301.
Compared with the prior art: the invention can generate larger driving force and higher movement speed, and the movement speed and the driving force of the invention are far 10 times higher than those of the traditional medical micro-robot. In particular to a micro medical robot which can move at high speed, has larger penetrating power and can effectively remove thrombus accumulated in blood vessels.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A micro thrombus removal robot based on a chemical reaction technology is characterized by comprising
The robot head detection device comprises a detectable head shell (1), wherein a monitoring device (101), a wireless communication module (104) and a processor module (102) are arranged on the detectable head shell (1), the monitoring device (101) is used for detecting the position of a blood vessel lesion, the wireless communication module (104) is used for realizing wireless control of personnel on the robot, and the processor module (102) is used for receiving and sending instructions and processing information;
the core driving shell (2), the inner cavity of the core driving shell (2) is divided into a first reaction chamber (201), a control chamber (213) and a second reaction chamber (205) from front to back, a chemical energy release reaction raw material module (204) and a chemical energy release reaction excitation module (203) are arranged in the control chamber (213), the chemical energy release reaction raw material module (204) is used for conveying chemical energy release reaction raw materials for the first reaction chamber (201) and the second reaction chamber (205), the chemical energy release reaction excitation module (203) is used for exciting the chemical energy release reaction raw materials in the first reaction chamber (201) and the second reaction chamber (205) to carry out chemical energy release reaction, the first piston push plate (202) is in front-back sliding fit in the first reaction chamber (201), the second piston push plate (208) is in front-back sliding fit in the second reaction chamber (205), and the first piston push plate (202) is connected with the second piston push plate (208), the first piston push plate (202) and the second piston push plate (208) are respectively connected with a paddling mechanism in a matching manner, and when the piston push plates move forwards and backwards, the corresponding paddling mechanisms can be driven to paddle so as to drive the robot to move; and
a storage-release drug housing (3), a drug spray system (303) disposed within the storage-release drug housing (3), the drug spray system (303) being configured to release a drug;
the paddle mechanism comprises a connecting rod (207) in rotating fit with the piston push plate and a paddle (206) in rotating fit with the wall of the reaction chamber shell, the connecting rod (207) is used for rotating fit with the paddle (206) and supporting the paddle (206), the connecting rod (207) can be driven to rotate when the piston push plate moves back and forth, and the connecting rod (207) can drive the paddle (206) to paddle;
the side wall of the reaction chamber is provided with an opening for the connecting rod (207) and the paddle (206) to move;
a connecting column (212) is fixedly connected between the first piston push plate (202) and the second piston push plate (208), and the connecting column (212) penetrates through the wall of the shell among the first reaction chamber (201), the control chamber (213) and the second reaction chamber (205).
2. The micro thrombus removal robot based on the chemical reaction technology according to claim 1, wherein 2-8 water-scraping mechanisms are annularly distributed around the side surface of the reaction chamber.
3. The micro thrombus cleaning robot based on the chemical reaction technology as claimed in claim 1, wherein the drug spray system (303) comprises a drug bottle (307), a piston rod (304), a drug outlet tube (311), a first electric control valve (310) and a spring (305), one end of the piston rod (304) is slidably inserted into the drug bottle (307), the other end of the piston rod is connected with the drug bottle (307) through the spring (305), the drug outlet tube (311) is connected with the drug bottle (307) in a matched manner and extends out of the storage and release drug housing (3), the first electric control valve (310) is arranged on the drug outlet tube (311), and when the first electric control valve (310) is opened, the spring (305) and the piston rod (304) can extrude the drug in the drug bottle (307) so that the drug is released to the lesion site through the drug outlet tube (311).
4. The micro thrombus cleaning robot based on the chemical reaction technology as claimed in claim 3, wherein the inner cavity of the drug storage and release housing (3) is used for storing the drug, the drug spray system (303) further comprises a drug feeding tube (309), the drug feeding tube (309) is provided with an electrically controlled pump (301) and a second electrically controlled valve (308), and the electrically controlled pump (301) is used for delivering the drug in the inner cavity of the drug storage and release housing (3) into the drug bottle (307).
5. The robot for removing thrombus based on chemical reaction technique as claimed in claim 3, wherein the end of the piston rod (304) located inside the medicine bottle (307) is slidably engaged with the medicine bottle (307) through a piston pad (306).
6. The micro thrombus cleaning robot based on the chemical reaction technology according to claim 3, wherein the spring (305) is sleeved on one end of the piston rod (304) outside the medicine bottle (307), one end of the spring (305) is connected with the medicine bottle (307), and the other end is connected with a boss on the piston rod (304).
7. The micro thrombus removal robot based on the chemical reaction technology according to claim 1, wherein the monitoring device (101) is a camera; the shell (1) of the detectable head contains contrast imaging agent.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011457827.7A CN112754598B (en) | 2020-12-13 | 2020-12-13 | Miniature thrombus removal robot based on chemical reaction technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011457827.7A CN112754598B (en) | 2020-12-13 | 2020-12-13 | Miniature thrombus removal robot based on chemical reaction technology |
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| Publication Number | Publication Date |
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| CN112754598A CN112754598A (en) | 2021-05-07 |
| CN112754598B true CN112754598B (en) | 2022-08-12 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1017174A (en) * | 1963-07-26 | 1966-01-19 | Salterpak Ltd | Buoyancy means for vehicles |
| CN107158552A (en) * | 2016-03-07 | 2017-09-15 | 上海理工大学 | Drug delivery capsule and medicament delivery method |
| CN108065999A (en) * | 2016-11-11 | 2018-05-25 | 贺利氏医疗有限公司 | For storing and mixing the device and method of bone cement |
| CN110327098A (en) * | 2019-07-08 | 2019-10-15 | 吉林大学 | A kind of vascular micro-robot and its application method |
| CN112022279A (en) * | 2020-06-19 | 2020-12-04 | 吉林大学 | Bionic vascular robot for cleaning thrombus |
-
2020
- 2020-12-13 CN CN202011457827.7A patent/CN112754598B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1017174A (en) * | 1963-07-26 | 1966-01-19 | Salterpak Ltd | Buoyancy means for vehicles |
| CN107158552A (en) * | 2016-03-07 | 2017-09-15 | 上海理工大学 | Drug delivery capsule and medicament delivery method |
| CN108065999A (en) * | 2016-11-11 | 2018-05-25 | 贺利氏医疗有限公司 | For storing and mixing the device and method of bone cement |
| CN110327098A (en) * | 2019-07-08 | 2019-10-15 | 吉林大学 | A kind of vascular micro-robot and its application method |
| CN112022279A (en) * | 2020-06-19 | 2020-12-04 | 吉林大学 | Bionic vascular robot for cleaning thrombus |
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| CN112754598A (en) | 2021-05-07 |
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