CN106181988B - Fluorescence navigation snake-shaped robot - Google Patents
Fluorescence navigation snake-shaped robot Download PDFInfo
- Publication number
- CN106181988B CN106181988B CN201610797296.3A CN201610797296A CN106181988B CN 106181988 B CN106181988 B CN 106181988B CN 201610797296 A CN201610797296 A CN 201610797296A CN 106181988 B CN106181988 B CN 106181988B
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- 239000000523 sample Substances 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims abstract description 25
- 238000011946 reduction process Methods 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 2
- 238000004590 computer program Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000001413 cellular effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000003365 glass fiber Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000002073 fluorescence micrograph Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000010534 mechanism of action Effects 0.000 description 1
- 230000029052 metamorphosis Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 244000144985 peep Species 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- G06T5/70—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10064—Fluorescence image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30028—Colon; Small intestine
Abstract
The invention provides a kind of fluorescence navigation snake-shaped robot, including：Near-infrared light source launches equipment, for launching the near infrared light of different-waveband；Light output is popped one's head in, for launching the near infrared light to search coverage；Image capture device, for gathering the near-infrared fluorescent image of detected object reflection of the near infrared light Jing Guo the search coverage；Image processing equipment, for carrying out noise reduction process to the near-infrared fluorescent image；Probe-head control module, for adjusting the movement locus of the light output probe according to the spatial positional information of the search coverage；Presentation device is imaged, for the pretreated near-infrared fluorescent image to be pre-processed and shown to the near-infrared fluorescent image after noise reduction process.Utilize the present invention, it is possible to achieve the precision navigation and real time imagery of molecular image.
Description
Technical field
The present invention is to peep molecular image technology on interior, especially with regard to a kind of fluorescence navigation snake-shaped robot.
Background technology
With the continuous development of image technology, the traditional image technology of emerging molecular image technological break-through be only capable of displaying by
Cellular elements changes the limitation of caused anatomical structure change, and changing traditional ex vivo approach can not be in body Continuous Observation medicine
The limitation of the mechanism of action and therapeutic effect, the bridge being connected with each other is erected between molecular biology and clinical medicine.Molecule
Image documentation equipment can realize organism physiology, the real-time of pathology, dynamic, imaging in vivo on cellular and molecular level, and there is nothing to put
The advantages that penetrating property, high sensitivity, quick measurement, represent the new direction of Medical Imaging Technology development.In addition, operation also towards
It is minimally invasive, accurately direction is developed.Minimally Invasive Surgery has the advantages that bleeding is few, healing is fast, pain is small.
Existing spy molecular image navigation system is relative complex and troublesome in poeration, in performance and design aspect
Need further to be improved.
The content of the invention
The embodiment of the present invention provides a kind of fluorescence navigation snake-shaped robot, to realize the precision navigation of molecular image and in real time
Imaging, fluorescence navigation snake-shaped robot include：
Near-infrared light source launches equipment, for launching the near infrared light of different-waveband；
Light output is popped one's head in, and the near-infrared light source transmitting equipment is connected, for launching the near infrared light to search coverage；
Image capture device, for gathering the near red of detected object reflection of the near infrared light Jing Guo the search coverage
Outer fluoroscopic image；
Image processing equipment, described image collecting device is connected, for being carried out to the near-infrared fluorescent image at noise reduction
Reason；
Probe-head control module, the light output probe is connected, for being adjusted according to the spatial positional information of the search coverage
Save the movement locus of the light output probe；
Presentation device is imaged, described image processing equipment is connected, for the near-infrared fluorescent figure after noise reduction process
As being pre-processed and showing the pretreated near-infrared fluorescent image.
In one embodiment, the near-infrared light source transmitting equipment includes：
First near infrared laser, for producing the first near infrared light of the first setting wavelength；
Second near infrared laser, for producing the second near infrared light of the second setting wavelength；
Light source coupler, first near infrared laser and the second near infrared laser are connected, near red by first
Outer light is coupled to obtain coupling light with the second near infrared light, and coupling light output to the light output is popped one's head in.
In one embodiment, light output probe is the snakelike probe of multi-joint, under the control of probe-head control module along
Moved in search coverage.
In one embodiment, described image collecting device includes：
Optical filter, for being filtered to the coupling light after search coverage reflection；
CCD camera, for gathering the filtered coupling light, obtain near-infrared fluorescent image.
In one embodiment, described image processing equipment includes：Microprocessor, high-pass filter, low pass filter and image
Noise reduction module, the microprocessor are used to control the high-pass filter, low pass filter and image noise reduction module to described near
IR fluorescence image carries out high-pass filtering successively, low pass filtered involves noise reduction process.
In one embodiment, described image processing equipment also includes：Pedal controller, the CCD camera is connected, for controlling
The CCD camera is made to be taken pictures.
In one embodiment, fluorescence navigation snake-shaped robot also includes：Multiple sensors, it is arranged on the snakelike spy in the joint
On the joint of head, for detecting the spatial positional information of search coverage.
In one embodiment, the probe-head control module includes：
Sensing module, the spatial positional information detected for obtaining the sensor；
Intelligent processor, the movement locus of the snakelike probe in joint is adjusted according to the spatial positional information, made described
The snakelike probe in joint moves according to the spatial positional information in the search coverage.
In one embodiment, the imaging presentation device includes：
Signal processor, for handling the near-infrared fluorescent image, obtain the near-infrared fluorescent of diversified forms
Image；
Image display, for showing the near-infrared fluorescent image.
In one embodiment, described image display device includes：Computer monitor and TV.
In the embodiment of the present invention, it is possible to achieve following technique effect：
By the structure design of spy, the precision navigation and real time imagery of molecular image are realized, meets hommization
Design requirement.In addition, also effectively realizing the intellectuality of equipment in molecule image system application, extend optical molecular image and lead
The application space of boat.
By automatically adjusting for snakelike probe, Consumer's Experience is improved, improves the convenience of system operatio.
By the design of pedal controller, liberated the both hands of operating personnel, can with the picture needed for real-time capture or
Video data.
By the combination of high-pass filter and low pass filter, the ratio of search coverage signal and background signal is improved,
So that imaging effect is more preferable, navigation is more accurate.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the fluorescence navigation snake-shaped robot of one embodiment of the invention；
Fig. 2 is the structural representation of the fluorescence navigation snake-shaped robot of another embodiment of the present invention；
Fig. 3 is the structural representation of the fluorescence navigation snake-shaped robot of yet another embodiment of the invention；
Fig. 4 is the structural representation of the snakelike probe of multi-joint of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1 is the structural representation of the fluorescence navigation snake-shaped robot of the embodiment of the present invention, as shown in figure 1, the fluorescence is led
Boat snake-shaped robot includes：
Near-infrared light source launches equipment 101, for launching the near infrared light of different-waveband；
Light output probe 102, the near-infrared light source transmitting equipment is connected, for launching the near-infrared to search coverage
Light；
Image capture device 103, for gathering detected object reflection of the near infrared light Jing Guo the search coverage
Near-infrared fluorescent image；
Image processing equipment 104, described image collecting device is connected, for carrying out noise reduction to the near-infrared fluorescent image
Processing；
Probe-head control module 105, the light output probe is connected, for the spatial positional information according to the search coverage
Adjust the movement locus of the light output probe；
Presentation device 106 is imaged, described image processing equipment is connected, for the near-infrared fluorescent after noise reduction process
Image is pre-processed and shows the pretreated near-infrared fluorescent image.
As one embodiment of the invention, near-infrared light source transmitting equipment 101 can send the near red of two kinds of different-wavebands
Outer light.As shown in Fig. 2 near-infrared light source transmitting equipment 101 includes：Near infrared laser 201, near infrared laser 202.
Near infrared laser 201 can be used for the near infrared light for producing specific wavelength.Alternatively, near infrared laser 201
The near infrared light that wavelength is 805 nanometers can be produced, the invention is not restricted to this.
Near infrared laser 202 can be used for the near infrared light for producing another specific wavelength.Alternatively, near infrared laser
202 can produce the near infrared light that wavelength is 940 nanometers, and the invention is not restricted to this.
Near infrared laser 201 and near infrared laser 202 can pop one's head in 102 (not shown in Fig. 2) by light output will
Caused near infrared light is exported to search coverage 203.
Alternatively, as shown in figure 3, near-infrared light source transmitting equipment 101 can also include：Light source coupler 204, connection are near
Infrared laser 201 and near infrared laser 202, for will be close to caused by infrared laser 201 and near infrared laser 202
Near infrared light couples, and obtains coupling light, and will couple light output to light output probe 102.
As one embodiment of the invention, image capture device 103 includes：CCD camera 204, swash for gathering near-infrared
Near infrared light caused by light device 201 and near infrared laser 202 gathers the coupling light of the two, obtains near-infrared fluorescent image,
And transmit to image processing equipment 104, the CCD camera can be Near Infrared CCD camera.
Alternatively, as shown in figure 3, image capture device 103 can also include：Optical filter 216, for passing through the spy
The coupling light surveyed after the reflection of region is filtered, such as obtains 800-945nm coupling light.
As one embodiment of the invention, image processing equipment 104 includes：Microprocessor 205, image noise reduction module 206
And pedal controller 207.Image noise reduction module 206 drops under the control of microprocessor 205 to near-infrared fluorescent image
Make an uproar processing.Pedal controller 207 connects CCD camera 204, and under the control of microprocessor 205, control CCD camera 204 is carried out
Take pictures.
Alternatively, the image processing equipment 104 also includes：High-pass filter and low pass filter (not shown),
Under the control of microprocessor 205, high-pass filtering, LPF are carried out successively to near-infrared fluorescent image, dropped subsequently into image
Module of making an uproar 206 carries out noise reduction process.
The present invention is when it is implemented, fluorescence navigation snake-shaped robot also includes：Multiple sensor (not shown)s, set
In 102 many places of light output probe, the spatial positional information of the search coverage for detecting detected object.Spatial positional information can be with
For the bending status of the bending status of detected object, such as enteron aisle.
As one embodiment of the invention, light output probe 102 can be the snakelike probe of multi-joint, the snakelike probe of multi-joint
Articulation structure be similar to snake-shaped robot.Illustrate as an example, as shown in figure 4, the articulation structure includes multiple joint modules, often
One joint module includes portable plate 41, rotating shaft 42, connecting plate 43 and controller 44, and the portable plate 41 and connecting plate 43 are U-shaped
Opening, connecting plate 43 are connected by rotating shaft 42 with portable plate 41, and controller 44 is arranged on inside connecting plate 43.One snakelike joint
The connecting plate 43 of module forms orthogonal joint module with the vertical connection of portable plate 41 of next joint module.The joint module is
Vertical to place, connected joint module is horizontal positioned.The multi-joint modular structure of the snakelike probe in joint, it is possible to achieve more
The bending of the individual free degree.
Flexible rubber hose can be arranged on the outside of the snakelike probe of multi-joint, includes a glass fibre, the glass fibre one end and light
Source coupler is connected, for that will couple light projection to search coverage.
Multiple sensors can be arranged on above-mentioned multiple joint modules, detect the space bit of the search coverage of detected object
Confidence ceases.
As one embodiment of the invention, as shown in Fig. 2 probe-head control module 105 includes：At sensing module 210, intelligence
Manage device 211 and shape controller 212.
Sensing module 201 connects the sensor, is detected for obtaining sensor under the control of intelligent processor 211
Spatial positional information.Shape controller 212 connects intelligent processor 211 and is connected to the snakelike probe in joint, in Intelligent treatment
Under the control of device 211, the movement locus of the snakelike probe in joint can be adjusted according to spatial positional information, makes the snakelike probe root in joint
Moved according to spatial positional information in the search coverage.As an example, sensing module 201 obtains the bending of enteron aisle by sensor
Condition, shape controller 212 adjust the metamorphosis of the snakelike probe in joint according to the bending situation, adjust movement locus so that close
Save snakelike probe and light is projected to suitable search coverage.
Using the snakelike probe in joint of the present invention, the unnecessary wound of normal tissue organ on the one hand can be reduced；Separately
On the one hand, heeling-in focus can be accurately positioned, realizes the thorough excision of focus.
As one embodiment of the invention, as shown in Fig. 2 imaging presentation device 106 includes：Signal processor 213 and figure
As display device.
Signal processor 213 is used to handle near-infrared fluorescent image, obtains the near-infrared fluorescent figure of diversified forms
Picture, the processing include scaling, rotation and form conversion etc..The near-infrared fluorescent figure that image display is used for after display processing
Picture.Image display can include：Computer monitor 214 and TV215.Signal processor 213 can be by image processing equipment
Manage obtained near-infrared fluorescent image and be converted into various video form, such as AVI, ASF and FLV, so as in computer monitor and
Shown simultaneously on the display terminals such as TV.In addition, signal processor 213 can also repair the video text of some accidental damages
Part.
In summary, the present invention is utilized, it is possible to achieve following technique effect：
By the structure design of spy, the precision navigation and real time imagery of molecular image are realized, meets hommization
Design requirement.In addition, also effectively realizing the intellectuality of equipment in molecule image system application, extend optical molecular image and lead
The application space of boat.
By automatically adjusting for snakelike probe, Consumer's Experience is improved, improves the convenience of system operatio.
By the design of pedal controller, liberated the both hands of operating personnel, can with the picture needed for real-time capture or
Video data.
By the combination of high-pass filter and low pass filter, the ratio of search coverage signal and background signal is improved,
So that imaging effect is more preferable, navigation is more accurate.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Apply specific embodiment in the present invention to be set forth the principle and embodiment of the present invention, above example
Explanation be only intended to help understand the present invention method and its core concept；Meanwhile for those of ordinary skill in the art,
According to the thought of the present invention, there will be changes in specific embodiments and applications, in summary, in this specification
Appearance should not be construed as limiting the invention.
Claims (6)
- The snake-shaped robot 1. a kind of fluorescence navigates, it is characterised in that including：Near-infrared light source launches equipment, for launching the near infrared light of different-waveband；Light output is popped one's head in, and the near-infrared light source transmitting equipment is connected, for launching the near infrared light to search coverage；Image capture device, the near-infrared for gathering detected object reflection of the near infrared light Jing Guo the search coverage are glimmering Light image；Image processing equipment, described image collecting device is connected, for carrying out noise reduction process to the near-infrared fluorescent image；Probe-head control module, the light output probe is connected, for adjusting institute according to the spatial positional information of the search coverage State the movement locus of light output probe；The light output probe is the snakelike probe of multi-joint, under the control of probe-head control module Moved along in search coverage；Multiple sensors, it is arranged on the joint of the snakelike probe in the joint, for detecting search coverage Spatial positional information；The probe-head control module includes：Sensing module, the space bit detected for obtaining the sensor Confidence ceases；Intelligent processor, the movement locus of the snakelike probe in joint is adjusted according to the spatial positional information, makes the pass Snakelike probe is saved to be moved in the search coverage according to the spatial positional information；Presentation device is imaged, described image processing equipment is connected, for entering to the near-infrared fluorescent image after noise reduction process Row pre-processes and shows the pretreated near-infrared fluorescent image；The near-infrared light source transmitting equipment includes：First near infrared laser, for producing the first near infrared light of the first setting wavelength；Second near infrared laser, for producing the second near infrared light of the second setting wavelength；Light source coupler, first near infrared laser and the second near infrared laser are connected, for by the first near infrared light Couple to obtain coupling light with the second near infrared light, and coupling light output to the light output is popped one's head in.
- The snake-shaped robot 2. fluorescence according to claim 1 navigates, it is characterised in that described image collecting device includes：Optical filter, for being filtered to the coupling light after search coverage reflection；CCD camera, for gathering the filtered coupling light, obtain near-infrared fluorescent image.
- The snake-shaped robot 3. fluorescence according to claim 1 navigates, it is characterised in that described image processing equipment includes： Microprocessor, high-pass filter, low pass filter and image noise reduction module, the microprocessor are used to control the high-pass filtering Device, low pass filter and image noise reduction module carry out high-pass filtering successively to the near-infrared fluorescent image, low pass filtered involves drop Make an uproar processing.
- The snake-shaped robot 4. fluorescence according to claim 2 navigates, it is characterised in that described image processing equipment is also wrapped Include：Pedal controller, the CCD camera is connected, for controlling the CCD camera to be taken pictures.
- The snake-shaped robot 5. fluorescence according to claim 1 navigates, it is characterised in that the imaging presentation device includes：Signal processor, for handling the near-infrared fluorescent image, obtain the near-infrared fluorescent image of diversified forms；Image display, for showing the near-infrared fluorescent image.
- The snake-shaped robot 6. fluorescence according to claim 5 navigates, it is characterised in that described image display device includes： Computer monitor and TV.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610797296.3A CN106181988B (en) | 2016-08-31 | 2016-08-31 | Fluorescence navigation snake-shaped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797296.3A CN106181988B (en) | 2016-08-31 | 2016-08-31 | Fluorescence navigation snake-shaped robot |
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| CN106181988A CN106181988A (en) | 2016-12-07 |
| CN106181988B true CN106181988B (en) | 2018-02-16 |
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| CN106695803A (en) * | 2017-03-24 | 2017-05-24 | 中国民航大学 | Continuous robot posture control system |
| CN109909987B (en) * | 2019-03-29 | 2020-10-30 | 长安大学 | Rescue mechanical snake based on positioning and imaging technology and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101224472A (en) * | 2008-02-03 | 2008-07-23 | 东北大学 | Plate head bending shape detection device based on nearing fared image and method thereof |
| CN101283906B (en) * | 2008-05-19 | 2010-11-10 | 深圳先进技术研究院 | Coupled fiber near infrared light biology tissue function image forming apparatus |
| CN103300812A (en) * | 2013-06-27 | 2013-09-18 | 中国科学院自动化研究所 | Endoscope-based multispectral video navigation system and method |
| US20150087969A1 (en) * | 2013-09-20 | 2015-03-26 | Children's National Medical Center | Systems and methods for optically guided placement and monitoring of medical implants |
| CN103505185A (en) * | 2013-10-21 | 2014-01-15 | 江苏雷奥生物科技有限公司 | Integrated mammary gland infrared diagnostic device with camera shooting function |
| CN104352230A (en) * | 2014-11-10 | 2015-02-18 | 电子科技大学 | Non-invasive thrombosis detector |
| CN206048186U (en) * | 2016-08-31 | 2017-03-29 | 北京数字精准医疗科技有限公司 | Fluorescence navigation snake-shaped robot |
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Effective date of registration: 20190116 Address after: 519040 Zhuhai International Health Port Testing Office Building A 103A, 628 Airport West Road, Sanzao Town, Jinwan District, Zhuhai City, Guangdong Province Patentee after: Zhuhai Dipu Medical Technology Co., Ltd. Address before: Room 106-387, No. 2 Building, 8 Yuan, Xingsheng South Road, Miyun County, Beijing 101500 Patentee before: Beijing digital precision medical technology Co., Ltd. |