CN105397805A - Remote motion center mechanism - Google Patents
Remote motion center mechanism Download PDFInfo
- Publication number
- CN105397805A CN105397805A CN201510980681.7A CN201510980681A CN105397805A CN 105397805 A CN105397805 A CN 105397805A CN 201510980681 A CN201510980681 A CN 201510980681A CN 105397805 A CN105397805 A CN 105397805A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- connecting rod
- support bar
- motion mechanism
- transmission case
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/02—Parts of sliding-contact bearings
- F16C33/04—Brasses; Bushes; Linings
- F16C33/06—Sliding surface mainly made of metal
- F16C33/12—Structural composition; Use of special materials or surface treatments, e.g. for rust-proofing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/66—Special parts or details in view of lubrication
- F16C33/6696—Special parts or details in view of lubrication with solids as lubricant, e.g. dry coatings, powder
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2204/00—Metallic materials; Alloys
- F16C2204/10—Alloys based on copper
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
The invention discloses a remote motion center mechanism which comprises a motor box, a connecting rod device, a transmission case and a fixture, wherein the motor box is internally provided with a first motor; the connecting rod device comprises a first connecting rod, a second connecting rod, a first support rod, a second support rod and a support rod bracket; the transmission case comprises two stand plates arranged symmetrically; a first rotating shaft, a second rotating shaft and a third rotating shaft are sequentially arranged between the two stand plates from right to left; the two ends of the first rotating shaft are fixedly connected with one end of the first connecting rod and one end of the first support rod respectively; the other end of the first connecting rod is fixedly connected with an output shaft of the first motor; first synchronous belt wheels are arranged on the first rotating shaft and the third rotating shaft; first synchronous belts surround the two first synchronous belt wheels; and the fixture is fixed at the end part of one end of the third rotating shaft. The remote motion center mechanism can not obstruct operation or vision of a doctor, and realizes the effects of accurate positioning and control on postures of operative tools.
Description
Technical field
The present invention relates to a kind of remote centre of motion mechanism, belong to medical instruments field.
Background technology
In order to make the volume of robot end as far as possible little, the change of robot end's attitude does not affect the motion of whole mechanical arm, and craniomaxillofacial surgery auxiliary robot adopts remote centre of motion mechanism to add the mechanism of the mechanical arm of a Three Degree Of Freedom.The distribution form of this robot free degree is with similar by the PAKY robot of the Taylor teaching inventive of Johns Hopkins University the earliest, and PAKY robot is made up of the passive mechanical arm of 7 frees degree and an end effector mechanism.The position of the anchor point of mechanical arm control machine robot end, and there are two frees degree in the mechanism of robot end, controls the attitude of operation tool.Such benefit be invariant position when operation tool anchor point but attitude needs to change time, the mechanical arm of robot can keep motionless, only needs robot end's mechanism kinematic.
As shown in Figure 1, by parallelogram BCGH, traditional Remote centre of motion mechanism ensures that axis GH remains synchronous with axis AB.Remote centre of motion mechanism can make driving rearmounted, and realizes the conversion of terminal angle, can eliminate the impact of volume on doctor of motor.But traditional remote centre of motion mechanism rod is more, occupies very large space, still can affect the operation technique of doctor.
Summary of the invention
The object of this invention is to provide a kind of compact conformation, remote centre of motion mechanism that precision is high, operation or the sight line of doctor can not be hindered, realize the accurate location to operation tool attitude and control.
The technical scheme realizing the object of the invention is: a kind of remote centre of motion mechanism, comprises motor box, linkage, transmission case and fixture; The first motor is provided with in described motor box; Described linkage comprises first connecting rod, second connecting rod, the first support bar, the second support bar and support bar support; Described first connecting rod, second connecting rod, the first support bar and the second support bar be arranged in parallel; Described transmission case comprises two pieces of symmetrically arranged risers, is connected between two pieces of risers by alignment pin; Be provided with the first rotating shaft, the second rotating shaft and the 3rd rotating shaft between described two pieces of risers from right to left successively, and the two ends of the first rotating shaft, the second rotating shaft and the 3rd rotating shaft are rotationally connected with two pieces of risers respectively; The two ends of described first rotating shaft are fixedly connected with first connecting rod one end with the first support bar respectively; The two ends of described second rotating shaft are rotationally connected with one end of second connecting rod and the second support bar respectively; The other end of described first connecting rod is fixedly connected with the output shaft of the first motor; The other end and the motor box of described second connecting rod are rotationally connected; Described first support bar is all connected with support bar holder pivots with the other end of the second support bar; Described support bar support is fixedly connected with motor box; Described first rotating shaft and the 3rd rotating shaft are equipped with the first synchronous pulley, and two the first synchronous pulleys are surrounded with the first Timing Belt; Described fixture is fixed on the end, one end of the 3rd rotating shaft.
The second motor is also provided with in described motor box; Be provided with steel wire and two wire wheels in the second connecting rod of described linkage, the two ends of steel wire are fixed respectively and are wrapped on two wire wheels; Described two wire wheels and second connecting rod form friction pair, and one of them wire wheel is fixed on the output shaft of the second motor, and another wire wheel is fixed on the end of the second rotating shaft; Described 3rd rotating shaft comprises hollow shaft and solid shafting, forms sliding pair between hollow shaft and solid shafting by self lubrication bearing; Described first synchronous pulley is fixed in hollow shaft; Described second rotating shaft and solid shafting are equipped with the second synchronous pulley, and two the second synchronous pulleys are surrounded with the second Timing Belt; Described fixture is fixed in hollow shaft.
Two cover synchronous belt tensioning devices are also provided with, two cover synchronous belt tensioning devices tensioner first Timing Belt and the second Timing Belt respectively between two pieces of risers of described transmission case.
Synchronous belt tensioning device between two pieces of risers of described transmission case adopts idle pulley adjusting device.
Wire wheel and the second connecting rod of described linkage are made from a variety of materials.
Self lubrication bearing between the hollow shaft of the 3rd rotating shaft in described transmission case and solid shafting adopts the MPBZU series axle sleeve of MISUMI (Japanese rice Si meter company).
The first Timing Belt in described transmission case and the second Timing Belt all adopt the GT series of simultaneous band of MISUMI high accuracy height moment of torsion.
Described fixture is provided with T-shaped chute.
Have employed technique scheme, the present invention has following beneficial effect: (1) present invention eliminates the parallelogram BCGH of traditional Remote centre of motion mechanism, the first rotating shaft and the 3rd rotating shaft synchronous axial system is made by the first Timing Belt, achieve axis E O and keep synchronous with axis AB, effectively reduce the obstruction of operation to doctor or sight line, and the accurate location achieved operation tool attitude and control.
(2) sliding pair is formed by self lubrication bearing between the hollow shaft of the 3rd rotating shaft of transmission case of the present invention and solid shafting, hollow shaft may be used for driving the operation tools such as surgical drill, solid shafting may be used for driving the operation tools such as surgical saw cutter, effectively extends the scope of application of the present invention.
(3) two cover synchronous belt tensioning devices are also provided with between two pieces of risers of transmission case of the present invention, two cover synchronous belt tensioning devices tensioner first Timing Belt and the second Timing Belts respectively, the accuracy promoting location further and control.
(4) wire wheel of linkage of the present invention and second connecting rod are made from a variety of materials, and produce bonding when effectively preventing friction pair from rotating.
(5) self lubrication bearing between the hollow shaft of the 3rd rotating shaft in transmission case of the present invention and solid shafting adopts the MPBZU series axle sleeve of MISUMI, this axle sleeve adopts high-strength brass alloy, and be inlaid with kollag, wearability is more excellent than dry type lining, can bear larger load, and frictional force is less.
(6) fixture of the present invention is provided with T-shaped chute, as long as the T-shaped chuck on operation tool inserts in T-shaped chute by doctor, namely achieves the location of robot to operation tool, assembles very convenient.
Accompanying drawing explanation
In order to make content of the present invention more easily be clearly understood, below according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is the schematic diagram of traditional Remote centre of motion mechanism.
Fig. 2 is schematic diagram of the present invention.
Fig. 3 is structural representation of the present invention.
Fig. 4 is the A-A sectional view of Fig. 3.
Fig. 5 is the B-B sectional view of Fig. 3.
Fig. 6 is the left view of Fig. 3.
Fig. 7 is the top view of Fig. 3.
Fig. 8 is the stereogram of Fig. 3.
Detailed description of the invention
(embodiment 1)
See Fig. 2 to Fig. 7, the remote centre of motion mechanism of the present embodiment, comprise motor box 1, linkage 2, transmission case 3 and fixture 4.
The first motor 11 and the second motor 12 is provided with in motor box 1.Linkage 2 comprises first connecting rod 21, second connecting rod 22, first support bar 23, second support bar 24 and support bar support 25.First connecting rod 21, second connecting rod 22, first support bar 23 and the second support bar 24 be arranged in parallel.Transmission case 3 is comprised between two pieces of symmetrically arranged risers, 31, two pieces of risers 31 and being connected by alignment pin 32.Be provided with the first rotating shaft 33, second rotating shaft 34 and the 3rd rotating shaft 35 between two pieces of risers 31 from right to left successively, and the two ends of the first rotating shaft 33, second rotating shaft 34 and the 3rd rotating shaft 35 are rotationally connected with two pieces of risers 31 respectively.The two ends of the first rotating shaft 33 are fixedly connected with first connecting rod 21 one end with the first support bar 23 respectively.The two ends of the second rotating shaft 34 are rotationally connected with one end of second connecting rod 22 and the second support bar 24 respectively.The other end of first connecting rod 21 is fixedly connected with the output shaft of the first motor 11.The other end and the motor box 1 of second connecting rod 22 are rotationally connected.The other end of the first support bar 23 and the second support bar 24 is all rotationally connected with support bar support 25.Support bar support 25 is fixedly connected with motor box 1.First rotating shaft 33 and the 3rd rotating shaft 35 are equipped with the first synchronous pulley 36, and two the first synchronous pulleys 36 are surrounded with the first Timing Belt.Fixture 4 is fixed on the end, one end of the 3rd rotating shaft 35.
Be provided with steel wire and two wire wheels 26 in the second connecting rod 22 of linkage 2, the two ends of steel wire are fixed respectively and are wrapped on two wire wheels 26.Two wire wheels 26 form friction pair with second connecting rod 22, and one of them wire wheel 26 is fixed on the output shaft of the second motor 12, and another wire wheel 26 is fixed on the end of the second rotating shaft 34.Wire wheel 26 and the second connecting rod 22 of linkage 2 are made from a variety of materials, and material is preferably quenching No. 45 steel and stainless steel 42040.3rd rotating shaft 35 comprises hollow shaft 351 and solid shafting 352, forms sliding pair between hollow shaft 351 and solid shafting 352 by self lubrication bearing.Self lubrication bearing adopts the MPBZU series axle sleeve of MISUMI.First synchronous pulley 36 is fixed in hollow shaft 351.Second rotating shaft 34 and solid shafting 352 are equipped with the second synchronous pulley 37, and two the second synchronous pulleys 37 are surrounded with the second Timing Belt.Fixture 4 is fixed in hollow shaft 351.
First Timing Belt and the second Timing Belt all adopt the GT series of simultaneous band of MISUMI high accuracy height moment of torsion.Also be provided with two cover synchronous belt tensioning devices 38, two between two pieces of risers 31 of transmission case 3 and overlap synchronous belt tensioning device 38 tensioner first Timing Belt and the second Timing Belt respectively.Synchronous belt tensioning device 38 adopts idle pulley adjusting device.
Fixture 4 is provided with T-shaped chute 41.Operation tool there is a corresponding T-shaped chuck, as long as T-shaped chuck inserts in T-shaped chute 41 by doctor, namely achieve the location of robot to operation tool.
When operation tool is the equipment such as surgical drill, do not need the free degree of rotating along operation tool axis, the free degree that solid shafting 352 controls is the reserved free degree, does not need to connect.Fixture 4 is connected with hollow shaft 351, and the rotation of such fixture 4 is relevant to the rotation of the first rotating shaft 33.As long as ensure that the T-shaped chute 41 of fixture 4 is parallel with first connecting rod 21, second connecting rod 22, first support bar 23 and the second support bar 24 when mounted, when so robot runs, surgical drill is parallel with the parallel four-bar moment.Namely as shown in Figure 2, achieve axis E O by the first Timing Belt and keep synchronous with axis AB, effectively reduce the obstruction of operation to doctor or sight line, and the accurate location achieved operation tool attitude and control.
When operation tool is the equipment such as surgical saw cutter, then needs to improve fixture 4 and T-shaped chute 41, the power of the reserved free degree is exported by gear drive, control the direction of blade.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a remote centre of motion mechanism, is characterized in that: comprise motor box (1), linkage (2), transmission case (3) and fixture (4); The first motor (11) is provided with in described motor box (1); Described linkage (2) comprises first connecting rod (21), second connecting rod (22), the first support bar (23), the second support bar (24) and support bar support (25); Described first connecting rod (21), second connecting rod (22), the first support bar (23) and the second support bar (24) be arranged in parallel; Described transmission case (3) comprises two pieces of symmetrically arranged risers (31), is connected between two pieces of risers (31) by alignment pin (32); Be provided with the first rotating shaft (33), the second rotating shaft (34) and the 3rd rotating shaft (35) between described two pieces of risers (31) from right to left successively, and the two ends of the first rotating shaft (33), the second rotating shaft (34) and the 3rd rotating shaft (35) are rotationally connected with two pieces of risers (31) respectively; The two ends of described first rotating shaft (33) are fixedly connected with first connecting rod (21) one end with the first support bar (23) respectively; The two ends of described second rotating shaft (34) are rotationally connected with one end of second connecting rod (22) and the second support bar (24) respectively; The other end of described first connecting rod (21) is fixedly connected with the output shaft of the first motor (11); The other end and the motor box (1) of described second connecting rod (22) are rotationally connected; The other end of described first support bar (23) and the second support bar (24) is all rotationally connected with support bar support (25); Described support bar support (25) is fixedly connected with motor box (1); Described first rotating shaft (33) and the 3rd rotating shaft (35) are equipped with the first synchronous pulley (36), and two the first synchronous pulleys (36) are surrounded with the first Timing Belt; Described fixture (4) is fixed on the end, one end of the 3rd rotating shaft (35).
2. a kind of remote centre of motion mechanism according to claim 1, is characterized in that: be also provided with the second motor (12) in described motor box (1); Be provided with steel wire and two wire wheels (26) in the second connecting rod (22) of described linkage (2), the two ends of steel wire are fixed respectively and are wrapped on two wire wheels (26); Described two wire wheels (26) and second connecting rod (22) form friction pair, one of them wire wheel (26) is fixed on the output shaft of the second motor (12), and another wire wheel (26) is fixed on the end of the second rotating shaft (34); Described 3rd rotating shaft (35) comprises hollow shaft (351) and solid shafting (352), forms sliding pair between hollow shaft (351) and solid shafting (352) by self lubrication bearing; Described first synchronous pulley (36) is fixed in hollow shaft (351); Described second rotating shaft (34) and solid shafting (352) are equipped with the second synchronous pulley (37), and two the second synchronous pulleys (37) are surrounded with the second Timing Belt; Described fixture (4) is fixed in hollow shaft (351).
3. a kind of remote centre of motion mechanism according to claim 2, it is characterized in that: between two pieces of risers (31) of described transmission case (3), be also provided with two cover synchronous belt tensioning devices (38), two covers synchronous belt tensioning device (38) tensioner first Timing Belt and the second Timing Belt respectively.
4. a kind of remote centre of motion mechanism according to claim 3, is characterized in that: the synchronous belt tensioning device (38) between two pieces of risers (31) of described transmission case (3) adopts idle pulley adjusting device.
5. a kind of remote centre of motion mechanism according to claim 2, is characterized in that: wire wheel (26) and the second connecting rod (22) of described linkage (2) are made from a variety of materials.
6. a kind of remote centre of motion mechanism according to claim 2, is characterized in that: the self lubrication bearing between the hollow shaft (351) of the 3rd rotating shaft (35) in described transmission case (3) and solid shafting (352) adopts the MPBZU series axle sleeve of MISUMI.
7. a kind of remote centre of motion mechanism according to claim 2, is characterized in that: the first Timing Belt in described transmission case (3) and the second Timing Belt all adopt the GT series of simultaneous band of MISUMI high accuracy height moment of torsion.
8. a kind of remote centre of motion mechanism according to claim 1, is characterized in that: described fixture (4) is provided with T-shaped chute (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980681.7A CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980681.7A CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105397805A true CN105397805A (en) | 2016-03-16 |
| CN105397805B CN105397805B (en) | 2017-03-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510980681.7A Active CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105397805B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
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| EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
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| US20120041478A1 (en) * | 2002-04-16 | 2012-02-16 | Academisch Medisch Centrum | Instrument for Minimally Invasive Surgery |
| WO2012103648A1 (en) * | 2011-02-01 | 2012-08-09 | Leslie Ryan David | Haptic device |
| US20130035697A1 (en) * | 2011-08-04 | 2013-02-07 | Olympus Corporation | Medical manipulator and method of controllling the same |
| GB201300490D0 (en) * | 2013-01-11 | 2013-02-27 | Univ Leuven Kath | An apparatus and method for generating motion around a remote centre of motion |
| US20130325031A1 (en) * | 2012-06-01 | 2013-12-05 | Intuitive Surgical Operations, Inc. | Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator |
| WO2014000041A1 (en) * | 2012-06-29 | 2014-01-03 | Monash University | Mechanical remote centre of motion |
| CN104224328A (en) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | Robot body structure for supporting minimally-invasive surgery instrument |
| CN104622573A (en) * | 2014-12-12 | 2015-05-20 | 北京航空航天大学 | High-rigidity four-freedom-degree remote motion center mechanism |
| CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN205272022U (en) * | 2015-12-23 | 2016-06-01 | 江苏久信医疗科技股份有限公司 | Long -range motorium mechanism |
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2015
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| US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| CA2273939A1 (en) * | 1996-12-12 | 1998-06-18 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
| WO2000030557A9 (en) * | 1998-11-23 | 2001-07-05 | Microdexterity Systems Inc | Surgical manipulator |
| EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
| US20120041478A1 (en) * | 2002-04-16 | 2012-02-16 | Academisch Medisch Centrum | Instrument for Minimally Invasive Surgery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN110236677B (en) * | 2019-04-30 | 2024-04-30 | 汕头大学 | Parallelogram structure minimally invasive surgery mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN105397805B (en) | 2017-03-22 |
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Address after: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Applicant after: Jiangsu Jiuxin Medical Technology Co., Ltd. Address before: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Applicant before: JIANGSU JIUXIN MEDICAL TECHNOLOGY CO., LTD. |
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| CB03 | Change of inventor or designer information |
Inventor after: Fang Zhigang Inventor after: Yang Changrong Inventor after: Zhou Liang Inventor after: Lu Ye Inventor after: Xu Ting Inventor after: Ji Dan Inventor after: Wang Zhenghua Inventor after: She Xiaomin Inventor before: Fang Zhigang Inventor before: Yang Changrong Inventor before: Zhou Liang Inventor before: Lu Ye Inventor before: Xu Ting Inventor before: Ji Dan |
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Address after: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Patentee after: Jiangsu Dashi Jiuxin Medical Technology Co Ltd Address before: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Patentee before: Jiangsu Jiuxin Medical Technology Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder |