CN208598523U - Medical operation robot master arm - Google Patents
Medical operation robot master arm Download PDFInfo
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- CN208598523U CN208598523U CN201721523184.5U CN201721523184U CN208598523U CN 208598523 U CN208598523 U CN 208598523U CN 201721523184 U CN201721523184 U CN 201721523184U CN 208598523 U CN208598523 U CN 208598523U
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Abstract
The utility model provides a kind of medical operation robot master arm, belongs to the field of medical instrument technology.It solves the problems, such as that existing operating robot master arm occupied space is big, extending range is small.This medical operation robot master arm, including supporter, the support arm on supporter and the travelling arm on support arm, travelling arm is equipped with the surgical instrument with instrument hand, the side of support arm is equipped with arc-shaped rail one, travelling arm is equipped with sliding block, driving assembly one for driving sliding block slide along guide rail one is equipped between support arm and travelling arm, during travelling arm is moved along guide rail one described in instrument hand radially extending along guide rail one always.The utility model has many advantages, such as that extending range is big, small in size.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of micro-wound operation robot, especially a kind of medical
Operating robot master arm.
Background technique
With the application and development of robot technology, the especially development of computing technique, medical operation robot is in clinic
In effect be increasingly valued by people.Micro-wound operation robot can mitigate the physical strength labor of doctor in the course of surgery
It is dynamic, while reaching precisely operation purpose, make that patient's Micro trauma, blood loss are few, postoperative infection is few, post-operative recovery is fast.Minimally Invasive Surgery machine
Device people system is usually using master slave control mode: for operator when operating to main hand, hand exercise will drive main hand
It moves therewith, sensor can measure motion information at main swivel of hand, then be mapped the movement of main hand by master & slave control algorithm
Surgical instrument is driven to realize corresponding sports to from hand master arm from each joint passive movement of hand master arm.Micro-wound operation robot
Master arm key components mainly include remote centre of motion mechanism and surgical instrument, and the design superiority and inferiority of mechanical structure is direct
The performance of micro-wound operation robot is affected, the research and development and design of other component in system are also restrict.
For example, Chinese patent discloses a kind of assisted minimally invasive surgical operation robot mechanical arm, [application publication number is
CN105748153A], including the axis and connecting rod III, connecting rod IV and attachment base VIII axis of attachment base I and connecting rod II, connecting rod II
The parallel lines of line constitute parallelogram OPQR.Under motor I driving, axis II drive link III is rotated around P point, axis IV driving
Connecting rod IV is rotated around Q point, and axis VI is drivingly connected seat VIII and rotates around R point, and mechanical arm is centered on fixed point O point connecting rod II's
Parallelogram, which is done, in the plane that the parallel lines of axis and connecting rod III, connecting rod IV and attachment base VIII axis are constituted swings movement.
Under motor II driving, connecting rod II is put centered on fixed point O point around the axis of connecting rod II around itself axial rotation, mechanical arm
Dynamic movement.
In order to make the axis of attachment base VIII pass through O point always, when connecting rod III swing after attachment base VIII need swing with
Linkage structure is arranged in the identical angle of connecting rod III swing angle in connecting rod IV, complex degree of structure is high, overall volume is big,
Weight is big.Since connecting rod III and connecting rod IV is straight-bar, in order to reach bigger motion range, the swing of connecting rod III and connecting rod IV
Angle is big, then the space needed is big, causes whole occupied space big, is not available in some narrow places, is applicable in model
It encloses small.
Summary of the invention
The purpose of this utility model is the presence of the above problem in view of the prior art, proposes a kind of doctor to occupy little space
With operating robot master arm.
The purpose of this utility model can be realized by the following technical scheme:
Medical operation robot master arm, including supporter, the support arm on supporter and on support arm
Travelling arm, the travelling arm are equipped with the surgical instrument with instrument hand, which is characterized in that the side of the support arm is equipped with circle
Arc-shaped guide rail one, the travelling arm are equipped with sliding block, are equipped between the support arm and travelling arm for driving sliding block edge
The driving assembly one that guide rail one slides, the instrument hand is always along guide rail one during travelling arm is moved along guide rail one
It radially extends.
In above-mentioned medical operation robot master arm, the support arm is arc-shaped and the circular arc that is made of support arm
The central axes of section and the central axes for the arc section being made of guide rail one are coaxial, the instrument hand and the circular arc being made of guide rail one
The central axes of section are crossed to form an apocenter, and the instrument hand is during travelling arm is moved along guide rail one with apocenter
Centre swinging.
In above-mentioned medical operation robot master arm, the driving assembly one includes being set on support arm inner ring surface
Arc-shaped rack one, be fixed on travelling arm driving motor one, with driving motor one be sequentially connected retarder one and be set to
Gear one on one output shaft of retarder, the gear one are engaged with arc-shaped rack one, are made of the arc-shaped rack one
The central axes of arc section and the central axes for the arc section being made of guide rail one are coaxial.
In above-mentioned medical operation robot master arm, the supporter is equipped with linking arm, the linking arm
Side is equipped with arc-shaped rail two, and the support arm arc-shaped is led with what guide rail two cooperated being equipped with the opposite side of guide rail one
Slot two, the central axes for the arc section being made of the arc-shaped guide groove two and the central axes for the arc section being made of guide rail one are same
Axis, the central axes for the arc section being made of the arc-shaped guide groove two and the central axes for the arc section being made of guide rail two are coaxial,
The support arm is snug fit on guide rail two by arc-shaped guide groove two, is equipped with and is used between the support arm and linking arm
In the driving assembly two that driving support arm is slided along guide rail two.
In above-mentioned medical operation robot master arm, the support arm is arc-shaped, and the driving assembly two wraps
Include the arc-shaped rack two set on support arm outer ring surface, the fixed retarder two driven by driving motor two on the connecting arm and
Gear two on two output shaft of retarder, the gear two are engaged with arc-shaped rack two, are made of arc-shaped rack two
The central axes of arc section and the central axes for the arc section being made of guide rail one are coaxial.
In above-mentioned medical operation robot master arm, the supporter is equipped with fixed arm, the fixed arm
Side is equipped with arc-shaped rail three, and the linking arm arc-shaped is led with what guide rail three cooperated being equipped with the opposite side of guide rail two
Slot three, the central axes for the arc section being made of arc-shaped guide groove three and the central axes for the arc section being made of guide rail two are coaxial, by
The connection coaxial, described with the central axes for the arc section being made of guide rail three of the central axes for the arc section that arc-shaped guide groove three is constituted
Arm is snug fit on guide rail three by arc-shaped guide groove three, is equipped between the linking arm and fixed arm for being drivingly connected
The driving assembly three that arm is slided along guide rail three.
In above-mentioned medical operation robot master arm, the fixed arm is arc-shaped, the driving assembly three guarantees
Include the arc-shaped rack three set on linking arm outer ring surface, the retarder three driven by driving motor three that is fixed on fixed arm and
Gear three on three output shaft of retarder, the gear three are engaged with arc-shaped rack three, are made of arc-shaped rack three
The central axes of arc section and the central axes for the arc section being made of guide rail two are coaxial.
In above-mentioned medical operation robot master arm, roll motor is fixed on the supporter, described consolidates
Fixed arm is sequentially connected by roll motor and supporter, and the central axes of the roll motor are intersected with apocenter, the fixation
Arm is fixed on roll motor.Specific fixed form is that the side of roll motor is provided with attachment base, and fixed arm is fixed
On attachment base, then the output shaft of roll motor is connected with supporter.
In above-mentioned medical operation robot master arm, the retarder two is set to one of linking arm far from supporter
End；The retarder three is set to the one end of fixed arm far from supporter.
In above-mentioned medical operation robot master arm, the both ends of the guide rail one are respectively equipped with limiting section one, described
Sliding block sliding be set to two limiting sections one between guide rail one on；Limit is equipped between the arc-shaped guide groove two and guide rail two
Component one is equipped with limit assembly two between the arc-shaped guide groove three and guide rail three.
In above-mentioned medical operation robot master arm, the limit assembly one includes the limit on guide rail two
The protrusion one and limiting slot one in arc-shaped guide groove two, the central axes for the arc section being made of the limiting slot one with by justifying
The central axes for the arc section that arc guide barrel two is constituted are coaxial, and the retention bead one stretches in limiting slot one.
Limiting slot one is arc groove closed at both ends, after retention bead one is inserted into limiting slot one, by limiting slot
One two closed ends are limited, and prevent guide rail two from deviating from out of guide groove two in the movement direction.
In above-mentioned medical operation robot master arm, the limit assembly two includes the limit on guide rail three
The protrusion two and limiting slot two in arc-shaped guide groove three, the central axes for the arc section being made of the limiting slot two with by justifying
The central axes for the arc section that arc guide barrel three is constituted are coaxial, and the retention bead two stretches in limiting slot two.
Limiting slot two is arc groove closed at both ends, after retention bead two is inserted into limiting slot two, by limiting slot two
Two closed ends limited, prevent guide rail three from deviating from out of guide groove three in the movement direction.
When driving motor three works, band moving gear three rotates, so that it is flexible along guide rail three to control linking arm；Driving motor
When two work, band moving gear two rotates, so that it is flexible along guide rail two to control support arm；When driving motor one works, band movable tooth
One rotation of wheel, is slided to control travelling arm along guide rail one；Surgical instrument drives instrument hand to be axially moved.
Support arm and linking arm are from contraction state to extended state, driving motor one, driving motor two and driving motor three
It can work independently, can also link, driving motor one controls travelling arm preferential motion to extreme position, and subsequent driving motor two is controlled
Support arm processed moves to extreme position, and the last control of driving motor three linking arm moves to the limit can band when roll motor works
Dynamic fixed arm, linking arm, support arm and travelling arm move synchronously, and in entire motion process, instrument hand is directed toward apocenter always.
Compared with prior art, this medical operation robot master arm has the advantage that
Arc-shaped rail is respectively set on support arm, linking arm and fixed arm, lesser guide rail has biggish movement
Range, it is small in size；Straight line apocenter (will not influence the position in apocenter) among instrument hand during exercise, can be effectively ensured peace
Quan Xing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of preferred embodiment provided by the utility model.
Fig. 2 is the unfolding state figure of master arm provided by the utility model.
Fig. 3 is the contraction state figure of master arm provided by the utility model.
In figure, 1, supporter；2, support arm；3, travelling arm；4, instrument hand；5, guide rail one；6, sliding block；7, rack gear one；8,
Motor one；9, retarder one；10, linking arm；11, guide rail two；12, rack gear two；13, retarder two；14, gear two；15, fixed
Arm；16, guide rail three；17, rack gear three；18, retarder three；19, gear three；20, roll motor.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
Medical operation robot master arm as shown in Figure 1,2 and of support arm including supporter 1, on supporter 1
Travelling arm 3 on support arm 2, travelling arm 3 are equipped with the surgical instrument with instrument hand 4, and the side of support arm 2 is equipped with circular arc
Shape guide rail 1, travelling arm 3 are equipped with sliding block 6, are equipped between support arm 2 and travelling arm 3 for driving sliding block 6 sliding along guide rail 1
Dynamic driving assembly one, the instrument hand 4 is always along the radial direction of guide rail 1 during travelling arm 3 is moved along guide rail 1
Extend.
As shown in Figures 2 and 3, support arm 2 is arc-shaped and the central axes of arc section that are made of support arm 2 with by guide rail one
The central axes of 5 arc sections constituted are coaxial, and it is remote that the central axes of instrument hand 4 and the arc section being made of guide rail 1 are crossed to form one
Heart point, instrument hand 4 is using apocenter as centre swinging during travelling arm 3 is moved along guide rail 1.
As shown in Fig. 2, driving assembly one includes the arc-shaped rack 1 being set on 2 inner ring surface of support arm, is fixed on travelling arm
The retarder 1 and the tooth on one 9 output shaft of retarder that driving motor 1 and driving motor 1 on 3 are sequentially connected
Wheel one, gear one is engaged with arc-shaped rack 1, and the central axes for the arc section being made of arc-shaped rack 1 are constituted with by guide rail 1
Arc section central axes it is coaxial.
As shown in Fig. 2, supporter 1 is equipped with linking arm 10, the side of linking arm 10 is equipped with arc-shaped rail 2 11, support
Arm 2 is being equipped with the arc-shaped guide groove two cooperated with guide rail 2 11, the circle being made of arc-shaped guide groove two with the opposite side of guide rail 1
The central axes of segmental arc and the central axes for the arc section being made of guide rail 1 are coaxial, the arc section being made of arc-shaped guide groove two
Central axes and the central axes for the arc section being made of guide rail 2 11 are coaxial, and support arm 2 is snug fit at by arc-shaped guide groove two
The driving assembly for driving support arm 2 to slide along guide rail 2 11 is equipped on guide rail 2 11, between support arm 2 and linking arm 10
Two.
As shown in Fig. 2, support arm 2 is arc-shaped, driving assembly two includes the arc-shaped rack two set on 2 outer ring surface of support arm
12, the retarder 2 13 driven by driving motor two that is fixed on linking arm 10 and on 2 13 output shaft of retarder
Gear 2 14, gear 2 14 are engaged with arc-shaped rack 2 12, the central axes for the arc section being made of arc-shaped rack 2 12 with by leading
The central axes for the arc section that rail 1 is constituted are coaxial.
As depicted in figs. 1 and 2, supporter 1 is equipped with fixed arm 15, and the side of fixed arm 15 is equipped with arc-shaped rail three
16, linking arm 10 is being equipped with the arc-shaped guide groove three cooperated with guide rail 3 16 with the opposite side of guide rail 2 11, by arc-shaped guide groove
The central axes of three arc sections constituted and the central axes for the arc section being made of guide rail 2 11 are coaxial, are made of arc-shaped guide groove three
Arc section central axes and the arc section being made of guide rail 3 16 central axes it is coaxial, linking arm 10 passes through arc-shaped guide groove three
It is snug fit on guide rail 3 16, is equipped between linking arm 10 and fixed arm 15 and is slided for being drivingly connected arm 10 along guide rail 3 16
Driving assembly three.
As shown in Fig. 2, fixed arm 15 is arc-shaped, driving assembly three includes the arc-shaped rack three set on 10 outer ring surface of linking arm
17, the retarder 3 18 driven by driving motor three that is fixed on fixed arm 15 and on 3 18 output shaft of retarder
Gear 3 19, gear 3 19 are engaged with arc-shaped rack 3 17, the central axes for the arc section being made of arc-shaped rack 3 17 with by leading
The central axes for the arc section that rail 2 11 is constituted are coaxial.
As shown in Figure 1-3, being fixed with roll motor 20 on supporter 1, fixed arm 15 passes through roll motor 20 and supporter 1
Transmission connection, the central axes of roll motor 20 are intersected with apocenter, and fixed arm 15 is fixed on roll motor 20.It is specific fixed
Mode is that the side of roll motor 20 is provided with attachment base, and fixed arm 15 is fixed on attachment base, then by roll motor
20 output shaft and supporter 1 is connected.
As shown in Figure 1, retarder 2 13 is set to the one end of linking arm 10 far from supporter 1；Retarder 3 18, which is set to, to be fixed
The one end of arm 15 far from supporter 1.
In the present embodiment, be respectively equipped with limiting section one at the both ends of guide rail 1, the sliding of sliding block 6 be set to two limiting sections one it
Between guide rail 1 on；Limit assembly one, arc-shaped guide groove three and guide rail 3 16 are equipped between arc-shaped guide groove two and guide rail 2 11
Between be equipped with limit assembly two.
Specifically, limit assembly one includes retention bead one on the guide rail 2 11 and in arc-shaped guide groove two
Limiting slot one, the central axes for the arc section being made of limiting slot one and the central axes for the arc section being made of arc-shaped guide groove two are same
Axis, retention bead one stretch in limiting slot one.Limiting slot one is arc groove closed at both ends, when retention bead one is inserted into
After in limiting slot one, is limited by two closed ends of limiting slot one, prevent guide rail 2 11 in the movement direction out of guide groove two
Abjection.
Limit assembly two includes the retention bead two on guide rail 3 16 and the limiting slot in arc-shaped guide groove three
Two, the central axes for the arc section being made of limiting slot two and the central axes for the arc section being made of arc-shaped guide groove three are coaxial, limit
Position protrusion two stretches in limiting slot two.Limiting slot two is arc groove closed at both ends, when retention bead two is inserted into limit
After slot two, is limited by two closed ends of limiting slot two, prevent guide rail 3 16 from deviating from out of guide groove three in the movement direction.
When driving motor three works, band moving gear 3 19 rotates, so that it is flexible along guide rail 3 16 to control linking arm 10；It drives
When dynamic motor two works, band moving gear 2 14 rotates, so that it is flexible along guide rail 2 11 to control support arm 2；One 8 work of driving motor
When making, band moving gear one rotates, and slides to control travelling arm 3 along guide rail 1；Surgical instrument drives the axial fortune of instrument hand 4
It is dynamic.
Support arm 2 and linking arm 10 are from contraction state to extended state, driving motor 1, driving motor two and driving electricity
Machine three can work independently, and can also link, and driving motor 1 controls 3 preferential motion of travelling arm to extreme position, and then driving is electric
Machine two controls support arm 2 and moves to extreme position, and last driving motor three controls linking arm 10 and moves to the limit, roll motor 20
When work, fixed arm 15, linking arm 10, support arm 2 and travelling arm 3 can be driven to move synchronously, in entire motion process, instrument
Hand 4 is directed toward apocenter always.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (9)
1. a kind of medical operation robot master arm including supporter (1), the support arm (2) being set on supporter (1) and is set to
Travelling arm (3) on support arm (2), the travelling arm (3) are equipped with the surgical instrument with instrument hand (4), which is characterized in that
The side of the support arm (2) is equipped with arc-shaped rail one (5), and the travelling arm (3) is equipped with sliding block (6), the branch
The driving assembly one for driving sliding block (6) to slide along guide rail one (5) is equipped between brace (2) and travelling arm (3), in travelling arm
(3) instrument hand (4) described during guide rail one (5) movement radially extending along guide rail one (5) always.
2. medical operation robot according to claim 1 master arm, which is characterized in that the support arm (2) is in arc
The central axes of shape and the arc section being made of support arm (2) and the central axes for the arc section being made of guide rail one (5) are coaxial, described
Instrument hand (4) be crossed to form an apocenter with the central axes of arc section being made of guide rail one (5), led on travelling arm (3) edge
Rail one (5) instrument hand (4) described during moving is using apocenter as centre swinging.
3. medical operation robot according to claim 2 master arm, which is characterized in that the driving assembly one includes
Arc-shaped rack one (7) on support arm (2) inner ring surface, the driving motor one (8) being fixed on travelling arm (3), with driving
The retarder one (9) of motor one (8) transmission connection and the gear one being set on retarder one (9) output shaft, the gear one
It engages, the central axes for the arc section being made of the arc-shaped rack one (7) and is made of guide rail one (5) with arc-shaped rack one (7)
Arc section central axes it is coaxial.
4. medical operation robot according to claim 2 master arm, which is characterized in that set on the supporter (1)
Have linking arm (10), the side of the linking arm (10) is equipped with arc-shaped rail two (11), the support arm (2) with guide rail
The opposite side of one (5) is equipped with the arc-shaped guide groove two cooperated with guide rail two (11), the circular arc being made of the arc-shaped guide groove two
The central axes of section and the central axes for the arc section being made of guide rail one (5) are coaxial, the circular arc being made of the arc-shaped guide groove two
The central axes of section and the central axes for the arc section being made of guide rail two (11) are coaxial, and the support arm (2) is led by arc-shaped
Slot two is snug fit on guide rail two (11), is equipped between the support arm (2) and linking arm (10) for driving support arm
(2) driving assembly two slided along guide rail two (11).
5. medical operation robot according to claim 4 master arm, which is characterized in that the support arm (2) is in arc
Shape, the driving assembly two include the arc-shaped rack two (12) for being set to support arm (2) outer ring surface, are fixed on linking arm (10)
The retarder two (13) driven by driving motor two and be set to retarder two (13) output shaft on gear two (14), it is described
Gear two (14) engaged with arc-shaped rack two (12), the central axes for the arc section being made of arc-shaped rack two (12) with by guide rail
The central axes for the arc section that one (5) are constituted are coaxial.
6. medical operation robot according to claim 4 master arm, which is characterized in that set on the supporter (1)
Have fixed arm (15), the side of the fixed arm (15) is equipped with arc-shaped rail three (16), the linking arm (10) with lead
The opposite side of rail two (11) is equipped with the arc-shaped guide groove three cooperated with guide rail three (16), the arc section being made of arc-shaped guide groove three
Central axes and the arc section being made of guide rail two (11) central axes it is coaxial, in the arc section be made of arc-shaped guide groove three
The central axes of axis and the arc section being made of guide rail three (16) are coaxial, and the linking arm (10) is sliding by arc-shaped guide groove three
It is actively tied on guide rail three (16), is equipped between the linking arm (10) and fixed arm (15) for being drivingly connected arm (10) edge
The driving assembly three of guide rail three (16) sliding.
7. medical operation robot according to claim 6 master arm, which is characterized in that the fixed arm (15) is in arc
Shape, the driving assembly three include the arc-shaped rack three (17) for being set to linking arm (10) outer ring surface, are fixed on fixed arm (15)
On the retarder three (18) driven by driving motor three and be set to retarder three (18) output shaft on gear three (19), institute
The gear three (19) stated is engaged with arc-shaped rack three (17), the central axes for the arc section being made of arc-shaped rack three (17) with by leading
The central axes for the arc section that rail two (11) is constituted are coaxial.
8. medical operation robot according to claim 6 master arm, which is characterized in that solid on the supporter (1)
Surely have roll motor (20), the fixed arm (15) is sequentially connected by roll motor (20) and supporter (1), the roll
The central axes of motor (20) are intersected with apocenter, and the fixed arm (15) is fixed on roll motor (20).
9. medical operation robot according to claim 7 master arm, which is characterized in that the retarder two (13) is set
In the one end of linking arm (10) far from supporter (1)；The retarder three (18) is set to fixed arm (15) far from supporter (1)
One end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721523184.5U CN208598523U (en) | 2017-11-15 | 2017-11-15 | Medical operation robot master arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721523184.5U CN208598523U (en) | 2017-11-15 | 2017-11-15 | Medical operation robot master arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208598523U true CN208598523U (en) | 2019-03-15 |
Family
ID=65658954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721523184.5U Active CN208598523U (en) | 2017-11-15 | 2017-11-15 | Medical operation robot master arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208598523U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042208A (en) * | 2017-11-15 | 2018-05-18 | 重庆金山医疗器械有限公司 | Micro-wound operation robot master arm |
| WO2023160488A1 (en) * | 2022-02-22 | 2023-08-31 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm and medical trolley |
-
2017
- 2017-11-15 CN CN201721523184.5U patent/CN208598523U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042208A (en) * | 2017-11-15 | 2018-05-18 | 重庆金山医疗器械有限公司 | Micro-wound operation robot master arm |
| CN108042208B (en) * | 2017-11-15 | 2024-05-03 | 重庆金山医疗机器人有限公司 | Active arm of minimally invasive surgery robot |
| WO2023160488A1 (en) * | 2022-02-22 | 2023-08-31 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm and medical trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210126 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Patentee before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |
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| TR01 | Transfer of patent right |