CN103919591A - Robot for assisting in nasal endoscopic surgery - Google Patents
Robot for assisting in nasal endoscopic surgery Download PDFInfo
- Publication number
- CN103919591A CN103919591A CN201410168059.1A CN201410168059A CN103919591A CN 103919591 A CN103919591 A CN 103919591A CN 201410168059 A CN201410168059 A CN 201410168059A CN 103919591 A CN103919591 A CN 103919591A
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- CN
- China
- Prior art keywords
- rotary joint
- intranasal
- guide rail
- auxiliary robot
- surgery auxiliary
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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
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
-
- 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
Abstract
The invention provides a robot for assisting in a nasal endoscopic surgery. The robot comprises a self-adaption guide rail adaptation mechanism matched with a guide rail, a position coarse-adjustment mechanism and a pose fine-adjustment mechanism, wherein the self-adaption guide rail adaptation mechanism comprises a fixing piece arranged on the inner side of the guide rail, a connection piece arranged outside the guide rail and a fastener for connecting and fixing the fixing piece and the connection piece; the position coarse-adjustment mechanism comprises a first supporting arm, a first rotating joint, a first beam, a second supporting arm, a second rotating joint, a second beam and a parallel four-rod mechanism, the first supporting arm, the first rotating joint, the first beam, the second supporting arm, the second rotating joint, the second beam and the parallel four-rod mechanism are sequentially connected, and the first supporting arm is connected with the connection piece; the pose fine-adjustment mechanism comprises three ball joints, a driving piece and a clamping piece for clamping a nasal endoscope, and the parallel four-rod mechanism, the three ball joints, the driving piece and the clamping piece are sequentially connected. The robot is simple in structure, convenient to adjust, high in stability, safe and reliable.
Description
Technical field
The present invention relates to technical field of medical instruments, relate in particular to a kind of intranasal videoendoscopic surgery auxiliary robot.
Background technology
Intranasal videoendoscopic surgery is to remove nasal cavity focus, and recovery nasal airflow is main purpose.Existing modus operandi is mainly that doctor's left hand is held mirror, and the right hand carries out operation technique.Under this mode of operation, nearly all operation technique is all to lean on doctor's right hand one hand to complete, and for certain operations, (as excision operation) is difficult to be completed by one hand.In addition, holding for a long time mirror and can causing operative doctor aching pain of muscles of left hand, is difficult to keep for a long time operational stability, thereby causes the picture weave in the visual field, and these are all unfavorable for carrying out smoothly of operation, when serious, also can cause extra wound to patient.In order to address the above problem, doctor tends to seek extraneous grasping system and has assisted operation technique.
The Chinese patent that application number is CN200710043740.3 provides a kind of endoscopic auxiliary manipulator for surgery of nasal cavity, and this mechanical hand comprises auxiliary manipulator support, Bai Sheng mechanism, rotating mechanism, luffing mechanism, feed mechanism and control system.The structure of this mechanical hand mainly becomes series connection form, is followed successively by: Aided Machine handset mounting, Bai Sheng mechanism, rotating mechanism, luffing mechanism, feed mechanism; Control system is connected by cable with each mechanism, and the ACTIVE CONTROL that control mode adopts voice to set, has certain time delay and potential danger.
Application number be CN200520110695.5 Chinese patent relate to a kind of nose endoscope support, described nose endoscope support is " factory " font, its support bar is partly lockable rotation loop bar structure, its crossbeam be one can horizontal slip the guide rail of slide block, vertical sliding bar slides up and down under described slide block restriction, the lower end of described vertical sliding bar is connected with vertical rotary bar by a lockable rotation loop bar, vertical rotary bar lower end connects the connection combination with the lockable rotation loop bar of buckle mirror hand fixation pole, card mirror hands is fixed in buckle mirror hand fixation pole, and connect and be combined in rotation and axial-rotation in vertical plane by lockable rotation loop bar.The mode of braking of described nose endoscope support is electromagnetic braking, and wherein all joints all adopt Electromagnetic Control, and is to adopt power-off locking mode.Whole system has counterweight setting, thereby has offset the gravity of system.This system comprises the lockable rotation loop bar of several combinations, and each rotation loop bar and corresponding armature are carved with the card stricture of vagina of working in coordination, too complicated in structure.In addition, the precision of whole mechanism is that the precision coordinating by this card stricture of vagina guarantees entirely, the quality of fit of card stricture of vagina is had to very high requirement, otherwise the rigidity of whole mechanism just cannot guarantee.In magnet control process, there are certain noise and electromagnetic radiation, to navigation in surgical environments, may have potential impact.
Application number is that the Chinese patent of CN01253469.2 relates to a kind of ent surgery nose endoscope support, this bracing frame is made the bracing frame head circle that changes the outfit, be fixed on pedestal, pedestal is linked in sequence respectively and is fixed three sections of support arms and spring steel clip holder by the adjusting knob with damping, and intranasal mirror card within it.This bracing frame can be pressed patient head size adjustment head circle degree of tightness as required, can be freely movable, adapt to different operation angles.This bracing frame can be fixed on patient's head, can not change surgical field of view because patient does not move, and contributes to completing smoothly of operation.Shortcoming is the adjusting of intranasal mirror dumb, and when needs regulate surgical field of view, need to unclamp all damping adjustable rings could regulate, and has and need to tighten one by one fixedly intranasal mirror of damping adjusting knob after adjusting completes.In whole process, regulate more loaded down with trivial detailsly, stability is not high, regulates inconvenient.And the stressed head that all acts on patient by head circle of whole mechanism, fixed form is unfriendly.
Summary of the invention
For the problems referred to above, the present invention proposes a intranasal videoendoscopic surgery auxiliary robot, when meeting operation demand, consider operation in the problems such as simplicity of positioning precision, rigidity and operation.
An intranasal videoendoscopic surgery auxiliary robot, it comprises the adaptive mechanism of the self adaptation guide rail coordinating with guide rail, position coarse adjustment mechanism and pose fine-tuning mechanism; The adaptive mechanism of described self adaptation guide rail comprise be arranged at guide rail inner side fixture, be arranged at the connector in guide rail outside and be connected and fixed the securing member of described fixture and described connector; Described position coarse adjustment mechanism comprises the first support arm, the first rotary joint, first crossbeam, the second support arm, the second rotary joint, second cross beam and the parallelogram lindage being linked in sequence successively, and described the first support arm is connected with described connector; Described pose fine-tuning mechanism comprises the holder of three ball-joints, actuator and clamping intranasal mirror, and described parallelogram lindage, described three ball-joints, described actuator and described holder are linked in sequence successively.
In the present invention's one better embodiment, described fixture and described connector are respectively equipped with the through slot of mutual correspondence, and described securing member is arranged in described through slot.
In the present invention's one better embodiment, described the first rotary joint and described the second rotary joint are rotating shaft perpendicular to the joint that horizontally rotates of operation table.
In the present invention's one better embodiment, described the first rotary joint and described the second rotary joint all adopt manual locking mode.
In the present invention's one better embodiment, when described the first rotary joint and described the second rotary joint rotation, all there is damping, and damping is adjustable.
In the present invention's one better embodiment, described the first rotary joint and described the second rotary joint include rotation hand wheel, compress baffle plate, joggle piece, turning arm, bearing, damping regulating part and fixed axis, between described rotation hand wheel and described fixed axis, are threaded connection; Described compression baffle plate and described fixed axis coordinate by axial keyway; Between described compression baffle plate and described joggle piece, be provided with Compress Spring, the faying face of described compression baffle plate and described joggle piece is provided with intermeshing radial teeth; Between described joggle piece and described turning arm, by screw or bolt, connect; Described bearing and described fixed axis coordinate; Described damping regulating part has female thread structure, the corresponding part coordinating with described damping regulating part in described fixed axis has external screw thread, described fixed axis and described damping regulating part push the lower surface of described turning arm by the upper surface of screw drive damping regulating part, described damping regulating part is by turning arm described in bevel friction, described damping regulating part and described fixed axis are connected by screw thread pair that to realize damping adjustable, and rely on holding screw to guarantee to be threaded and can not unclamp in the process of rotation.
In the present invention's one better embodiment, described parallelogram lindage adopts manual locking mode.
In the present invention's one better embodiment, described three ball-joints all adopt hydraulic pressure or air pressure locking mode.
In the present invention's one better embodiment, described actuator adopts self-locking thread type of drive, and it has the turnbarrel that drives the motion of intranasal mirror turnover nasal cavity.
In the present invention's one better embodiment, described holder adopts V-type clamping structure.
With respect to prior art, that intranasal videoendoscopic surgery auxiliary robot provided by the invention has is simple in structure, easy to adjust, stability is high, the advantage such as safe and reliable.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention, and can be implemented according to the content of description, and for above and other objects of the present invention, feature and advantage can be become apparent, below especially exemplified by embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the structural representation of intranasal videoendoscopic surgery auxiliary robot provided by the invention;
Fig. 2 is the schematic diagram of the adaptive mechanism of self adaptation guide rail in the auxiliary robot of intranasal videoendoscopic surgery shown in Fig. 1;
Fig. 3 is the schematic diagram of rotary joint retaining mechanism in the auxiliary robot of intranasal videoendoscopic surgery shown in Fig. 1.
The specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is further detailed explanation.
Refer to Fig. 1, the invention provides a kind of intranasal videoendoscopic surgery auxiliary robot 10, it comprises the adaptive mechanism 100 of self adaptation guide rail, position coarse adjustment mechanism 200 and pose fine-tuning mechanism 300.
See also Fig. 2, the guide rail (not shown) of the adaptive mechanism 100 of described self adaptation guide rail and operation table side matches, comprise fixture 101, connector 102 and securing member 103, described fixture 101 is arranged at guide rail inner side, described connector 102 is arranged at guide rail outside, and described securing member 103 is connected and fixed described fixture 102 and described connector 102, thus, described intranasal videoendoscopic surgery auxiliary robot 10 can be arranged to guide rail, be fixed or whole along guide rail, slide.In the present embodiment, described fixture 101 and described connector 102 are respectively equipped with the through slot (figure does not indicate) of mutual correspondence, and described securing member 103 is arranged in described through slot; Described securing member 103, for having screw or the bolt of handle, is connected from the both sides of guide rail respectively with nut.
Be understandable that, guide rails assembling, in operation table edge, thus, by the adaptive mechanism 100 of described self adaptation guide rail, can be arranged at operation table side by described intranasal videoendoscopic surgery auxiliary robot.Particularly, before operation, fixture 101 is placed in to operation table guide rail inner side, connector 102 is placed in to the outside of operation table guide rail, securing member 103 is successively through the through slot on fixture 101 and connector 102, and match with the nut of guide rail opposite side, in position, tightening fastener parts 103 can be realized being connected of intranasal videoendoscopic surgery auxiliary robot 10 and operation table guide rail.Thus, utilize the adaptive mechanism 100 of described self adaptation guide rail, can play good fastening effect on the one hand, on the other hand can be at the guide rail that guarantees the simultaneous adaptation different size of intranasal videoendoscopic surgery auxiliary robot 10 coupling stiffnesses.
Be understandable that, the size of described fixture 101 and described connector 102 can design according to the concrete shape of guide rail, structure and size.
Please again consult Fig. 1, described position coarse adjustment mechanism 200 is mainly used in the terminal position of described intranasal videoendoscopic surgery auxiliary robot 10 to adjust roughly, it comprises the first support arm 201, the first rotary joint 202, first crossbeam 203, the second support arm 204, the second rotary joint 205, second cross beam 206 and the parallelogram lindage 207 being linked in sequence successively, and described the first support arm 201 is connected with described connector 102.
In the present embodiment, described the first rotary joint 202 and described the second rotary joint 205 are rotating shaft perpendicular to the joint that horizontally rotates of operation table, all adopt manual locking mode, all have damping, and damping are adjustable during rotation.The present embodiment be take described the first rotary joint 202 and its retaining mechanism is described as example, as shown in Figure 3, described the first rotary joint 202 comprises that rotation hand wheel 2021, compression baffle plate 2022, joggle piece 2023, turning arm 2024, bearing 2025, damping regulating part 2026 and fixed axis 2027 form.Between described rotation hand wheel 2021 and described fixed axis 2027, be threaded connection, described compression baffle plate 2022 and described fixed axis 2027 coordinate by axial keyway, and under the effect of keyway, described compression baffle plate 2022 and described fixed axis 2027 can only be done axial relative sliding, and can not relatively rotate, compress between baffle plate 2022 and joggle piece 2023 and be provided with Compress Spring (not shown), the effect of described Compress Spring is will compress baffle plate 2022 jack-up when described the first rotary joint 202 unclamps, make to compress baffle plate 2022 and depart from engagement with joggle piece 2023, the faying face of described compression baffle plate 2022 and described joggle piece 2023 is provided with radial teeth, and the cooperation between the two is similar to the engagement between side gear pair, between described joggle piece 2023 and described turning arm 2024, by screw or bolt, connect, described bearing 2025 and described fixed axis 2027 coordinate, described damping regulating part 2026 has female thread structure (not shown), the corresponding part coordinating with described damping regulating part 2026 in described fixed axis 2027 has external screw thread, described fixed axis 2027 and described damping regulating part 2026 push the lower surface of described turning arm 2024 by the upper surface of screw drive damping regulating part 2026, described turning arm 2024 and described damping regulating part 2026 produce frictional damping in relative rotation time, be that described damping regulating part 2026 is by turning arm 2024 described in bevel friction, described damping regulating part 2026 and described fixed axis 2027 are connected by screw thread pair that to realize damping adjustable, and rely on holding screw (not shown) to guarantee to be threaded and can not unclamp in the process of rotation.
In the time need to adjusting the rough position of described intranasal videoendoscopic surgery auxiliary robot 10 ends, unclamp rotation hand wheel 2021, compress baffle plate 2022 and under the effect of spring, depart from joggle piece 2023, now can carry out the rough adjustment of position to described intranasal videoendoscopic surgery auxiliary robot 10 ends, adjust intranasal videoendoscopic surgery auxiliary robot 10 ends and arrive nasal cavity entrance top.After desired location adjustment finishes, manually back out rotation hand wheel 2021, compression baffle plate 2022 overcomes spring force compression baffle plate 2022 and joggle piece 2023 is meshed together under the effect of rotation hand wheel 2021, thereby reaches the object of locking rotary joint.When needs unclamp rotary joint (described the first rotary joint 202 and described the second rotary joint 205), counter-rotation rotation hand wheel 2021, now compress baffle plate 2022 and under the effect of spring force, will compress up jack-up of baffle plate 2022, making to compress baffle plate 2022 departs from the mate of joggle piece 2023, now rotary joint, in releasing orientation, can be adjusted the position in joint.In the time need to regulating the damping of rotary joint, by damping due to rotation regulating part 2026, make its upper surface tightly compress turning arm 2024, tighten afterwards holding screw.
Described parallelogram lindage 207 is for realizing the fast lifting of described intranasal videoendoscopic surgery auxiliary robot 10 ends, and it is fixed by screws on second cross beam 206.In the present embodiment, described parallelogram lindage 207 adopts manual locking modes, and tight for being a key hydraulic automatic locking, can instantaneous locking and also coupling mechanism force very strong.
Please again consult Fig. 1, described pose fine-tuning mechanism 300 is adjusted attitude and the position of intranasal mirror end for realizing operation, it comprises the holder 303 of three ball-joints 301, actuator 302 and clamping intranasal mirror, and described parallelogram lindage 207, described three ball-joints 301, described actuator 302 and described holder 303 are linked in sequence successively.
The common attitude adjustment part forming in described intranasal videoendoscopic surgery auxiliary robot 10 of described three ball-joints 301, in the present embodiment, described three ball-joints 301 all adopt hydraulic pressure or air pressure locking mode, be preferably a key fluid pressure type locking, by pedal or by key control locking and release, during operation, by pedal or button, can realize locking.Be understandable that the rotating shaft of described three ball-joints 301 vertical setting of order successively.
Described actuator 302 and the common degree of depth feeding portion forming in described intranasal videoendoscopic surgery auxiliary robot 10 of described holder 303, for realizing intranasal mirror in the turnover campaign of nasal cavity.In the present embodiment, described actuator 302 adopts self-locking thread type of drive, and it has the turnbarrel (figure does not indicate) that drives the motion of intranasal mirror turnover nasal cavity, and operative doctor can drive intranasal mirror turnover nasal cavity to move by rotating described turnbarrel.Because described actuator 201 adopts self-locking thread type of drive, therefore when operative doctor unclamps described turnbarrel, it is motionless that intranasal mirror can remain on the position that nasal cavity sets, and realizes reverse auto lock, now gets final product both hands and carry out operation technique.In the present embodiment, described holder 303 adopts V-type clamping structures, by tightening handle, intranasal mirror can be facilitated and is firmly attached to the end of described intranasal videoendoscopic surgery auxiliary robot 10.
The operation principle of described intranasal videoendoscopic surgery auxiliary robot 10 is as follows: first, lock after the adaptive mechanism 100 of self adaptation guide rail being placed in to the correct position of operation table guide rail; Secondly, unclamp the first rotary joint 202, the second rotary joint 205 and parallelogram lindage 207, the end of described intranasal videoendoscopic surgery auxiliary robot 10 is put after the suitable rough position of patient's nasal cavity entrance top, then distinguished manual locking the first rotary joint 202, the second rotary joint 205 and parallelogram lindage 207; Then, by pedal or button, discharge the internal oil pressure in the fastening system of described three ball-joints 301, adjust intranasal videoendoscopic surgery auxiliary robot 10 ends and enter the fine movement after nasal cavity, adjust after the attitude of intranasal mirror end, target focal zone appears in the middle of the intranasal mirror visual field, now by pedal or button, locks described three ball-joints 301; Finally, actuator 302 and described holder 303 described in manual adjustments, adjust the feed motion of the depth direction of intranasal mirror in nasal cavity.After completing above regulating step, doctor can the armed operation technique that carries out of both hands.
With respect to prior art, passive type intranasal videoendoscopic surgery auxiliary robot 10 that this patent relates to is simple in structure, good rigidly, adjusting is efficient and convenient, coupling mechanism force is strong, the adaptive mechanism 100 of self adaptation guide rail wherein can adapt to the guide rail of the operation table of different size, the locking mode of position coarse adjustment mechanism 200 and pose fine-tuning mechanism 300 is reliable, successful.
The above, only embodiments of the invention, not the present invention is done to any pro forma restriction, although the present invention discloses as above with embodiment, yet not in order to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, when can utilizing the technology contents of above-mentioned announcement to make a little change or being modified to the equivalent embodiment of equivalent variations, in every case be not depart from technical solution of the present invention content, any simple modification of above embodiment being done according to technical spirit of the present invention, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. an intranasal videoendoscopic surgery auxiliary robot, is characterized in that, comprises the adaptive mechanism of the self adaptation guide rail coordinating with guide rail, position coarse adjustment mechanism and pose fine-tuning mechanism; The adaptive mechanism of described self adaptation guide rail comprise be arranged at guide rail inner side fixture, be arranged at the connector in guide rail outside and be connected and fixed the securing member of described fixture and described connector; Described position coarse adjustment mechanism comprises the first support arm, the first rotary joint, first crossbeam, the second support arm, the second rotary joint, second cross beam and the parallelogram lindage being linked in sequence successively, and described the first support arm is connected with described connector; Described pose fine-tuning mechanism comprises the holder of three ball-joints, actuator and clamping intranasal mirror, and described parallelogram lindage, described three ball-joints, described actuator and described holder are linked in sequence successively.
2. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, described fixture and described connector are respectively equipped with the through slot of mutual correspondence, and described securing member is arranged in described through slot.
3. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, described the first rotary joint and described the second rotary joint are rotating shaft perpendicular to the joint that horizontally rotates of operation table.
4. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, described the first rotary joint and described the second rotary joint all adopt manual locking mode.
5. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, all have damping, and damping is adjustable when described the first rotary joint and described the second rotary joint rotation.
6. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, it is characterized in that, described the first rotary joint and described the second rotary joint include rotation hand wheel, compress baffle plate, joggle piece, turning arm, bearing, damping regulating part and fixed axis, between described rotation hand wheel and described fixed axis, are threaded connection; Described compression baffle plate and described fixed axis coordinate by axial keyway; Between described compression baffle plate and described joggle piece, be provided with Compress Spring, the faying face of described compression baffle plate and described joggle piece is provided with intermeshing radial teeth; Between described joggle piece and described turning arm, by screw or bolt, connect; Described bearing and described fixed axis coordinate; Described damping regulating part has female thread structure, the corresponding part coordinating with described damping regulating part in described fixed axis has external screw thread, described fixed axis and described damping regulating part push the lower surface of described turning arm by the upper surface of screw drive damping regulating part, described damping regulating part is by turning arm described in bevel friction, described damping regulating part and described fixed axis are connected by screw thread pair that to realize damping adjustable, and rely on holding screw to guarantee to be threaded and can not unclamp in the process of rotation.
7. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, described parallelogram lindage adopts manual locking mode.
8. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, described three ball-joints all adopt hydraulic pressure or air pressure locking mode.
9. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, described actuator adopts self-locking thread type of drive, and it has the turnbarrel that drives the motion of intranasal mirror turnover nasal cavity.
10. intranasal videoendoscopic surgery auxiliary robot as claimed in claim 1, is characterized in that, described holder adopts V-type clamping structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410168059.1A CN103919591B (en) | 2014-04-24 | 2014-04-24 | A kind of Transnasal endoscopy operation auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410168059.1A CN103919591B (en) | 2014-04-24 | 2014-04-24 | A kind of Transnasal endoscopy operation auxiliary robot |
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| CN103919591A true CN103919591A (en) | 2014-07-16 |
| CN103919591B CN103919591B (en) | 2016-04-13 |
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| CN201410168059.1A Active CN103919591B (en) | 2014-04-24 | 2014-04-24 | A kind of Transnasal endoscopy operation auxiliary robot |
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| CN104546066A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院深圳先进技术研究院 | Passive type nasal endoscopic surgery assisting robot |
| CN104783900A (en) * | 2015-04-03 | 2015-07-22 | 中国科学院深圳先进技术研究院 | Follow-up type nasal endoscope operation auxiliary robot |
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| CN108095824A (en) * | 2018-02-08 | 2018-06-01 | 哈尔滨工业大学深圳研究生院 | A kind of central aeration modularization pneuma-lock motion arm |
| CN109528148A (en) * | 2019-01-22 | 2019-03-29 | 绵阳美科电子设备有限责任公司 | Single wobbling pole hysteroscope clamping device |
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| WO2020063949A1 (en) * | 2018-09-30 | 2020-04-02 | 泗洪县正心医疗技术有限公司 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
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| US10759634B2 (en) | 2014-08-08 | 2020-09-01 | GM Global Technology Operations LLC | Electromechanical system for interaction with an operator |
| CN111821041A (en) * | 2020-07-27 | 2020-10-27 | 宁波市医疗中心李惠利医院 | Operating manipulator of endoscope for otolaryngological department |
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