CN107320156B - Control device of ultrasonic knife and minimally invasive surgery robot - Google Patents
Control device of ultrasonic knife and minimally invasive surgery robot Download PDFInfo
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- CN107320156B CN107320156B CN201710642848.8A CN201710642848A CN107320156B CN 107320156 B CN107320156 B CN 107320156B CN 201710642848 A CN201710642848 A CN 201710642848A CN 107320156 B CN107320156 B CN 107320156B
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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
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
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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
- A61B17/32—Surgical cutting instruments
- A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- General Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Dentistry (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control device of an ultrasonic knife and a minimally invasive surgery robot, which comprise an opening and closing driving part, a rotary driving part, an energy conversion part, a screw rod, a sleeve and a guide rod, wherein: the sleeve is sleeved on the screw rod; the opening and closing driving part controls the opening and closing angle of the cutter head of the ultrasonic cutter; the rotating angle of the cutter head of the ultrasonic cutter of the rotary driving part around the axial extension line of the sleeve; the energy converter in the energy conversion part transmits energy to the cutter head of the ultrasonic knife through the guide rod and the screw rod, and the technical problem that the control device of the ultrasonic knife for the minimally invasive surgery robot in the prior art is not flexible enough in controlling the ultrasonic knife is solved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a control device of an ultrasonic knife and a minimally invasive surgery robot.
Background
In minimally invasive surgery, a surgeon is often required to manually perform tissue cutting, stripping, suturing, etc., and ultrasound is generally applied by converting or transmitting ultrasonic energy into biological tissue through surgical equipment to produce physiological effects, particularly cauterizing, stopping bleeding, cutting, etc. the tissue by using the generated heat. In a surgical instrument ultrasonic blade, a generator generates high frequency electrical energy, and a transducer converts the high frequency energy into mechanical vibrations using piezoelectric or electromagnetically compressible materials, and amplifies and transmits the vibrations to a tip effector.
The ultrasonic scalpel in the market at present needs the doctor to hold the operation, and for some complicated surgical operations, when the doctor stands for a long time and holds the miniature surgical instrument to perform the operation, the doctor is tired very easily, thereby influences the quality of the operation. At present, the robot-assisted minimally invasive surgery is gradually applied to actual clinical applications, and a control device applied to a robotic ultrasonic scalpel is not flexible enough to control the ultrasonic scalpel, for example, when a more complicated minimally invasive surgery is performed, requirements of a doctor on the degree of freedom, flexibility and sensitivity of the ultrasonic scalpel during the surgery cannot be met, so that the control device for the robotic ultrasonic scalpel for the minimally invasive surgery in the prior art has a technical problem of being flexible enough to control the ultrasonic scalpel.
Disclosure of Invention
The embodiment of the invention provides a control device of an ultrasonic knife and a minimally invasive surgery robot, which are used for solving the technical problem that the control device of the ultrasonic knife used for the minimally invasive surgery robot in the prior art is not flexible enough in controlling the ultrasonic knife.
In a first aspect, an embodiment of the present invention provides a control device for an ultrasonic scalpel, which is applied to a minimally invasive surgery robot, and includes an opening and closing driving portion, a rotation driving portion, an energy conversion portion, a lead screw, a sleeve, and a guide rod, wherein:
the sleeve is sleeved on the screw rod;
the opening and closing driving part comprises a first driving assembly, a sliding block and a first bearing, wherein the sliding block and the first bearing are driven by the driving assembly; the first driving assembly drives the sliding block to reciprocate, the sliding block drives the screw rod to reciprocate through the first bearing, and the screw rod pulls the cutter head of the ultrasonic knife to open and close;
the rotary driving part comprises a second driving component and a driven gear driven by the second driving component, and the driven gear is relatively and fixedly connected with the sleeve; the second driving assembly drives the driven gear to rotate, and the driven gear drives the sleeve to pull the cutter head of the ultrasonic knife to rotate around the axial extension line of the sleeve;
the energy conversion part comprises an energy converter and a fixing component, the energy converter is provided with a through hollow structure and is fixed in the fixing component, the guide rod penetrates through the hollow structure and then is fixedly connected with the near end of the screw rod, and the energy converter transmits energy to the cutter head of the ultrasonic knife through the guide rod and the screw rod.
Optionally, the first driving assembly includes a first motor and a first transmission shaft, the first motor is fixedly connected to the first transmission shaft, the first transmission shaft is connected to the slider through a thread, the first motor drives the first transmission shaft to rotate, and the first transmission shaft drives the slider to reciprocate.
Optionally, the first motor includes a first locking mechanism, and the first locking mechanism is used for maintaining the opening and closing angle of the cutter head.
Optionally, the second driving assembly includes a second motor, a second transmission shaft and a driving gear, the second motor is fixedly connected to the second transmission shaft, the second transmission shaft is fixedly connected to the driving gear, and the driving gear is engaged with the driven gear.
Optionally, the second motor comprises a second locking mechanism for maintaining a rotation angle of the cutter head about an axial extension of the sleeve.
Optionally, the control device further includes a base, the fixing component includes a first semicircular ring and a second semicircular ring, and the first semicircular ring and the second semicircular ring are fixed on the base through screws.
Optionally, the transducer is clamped inside the fixing component, so that the transducer does not rotate radially in the fixing component.
Optionally, the relative fixed connection between the driven gear and the sleeve specifically includes:
the near end of the driven gear is fixedly connected with the inner ring of the third bearing relatively, the far end of the driven gear is fixedly connected with the inner ring of the fourth bearing, the outer ring of the third bearing is fixedly connected with the base of the control device, and the outer ring of the fourth bearing is fixedly connected with the base.
In a second aspect, an embodiment of the present invention provides a minimally invasive surgery robot, including a control device of the ultrasonic blade according to the embodiment of the first aspect.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
the control device can flexibly control the opening, closing and rotation of the ultrasonic knife head, and does not influence the energy transfer, so that the flexibility of the operation by utilizing the ultrasonic knife is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a control device of an ultrasonic blade according to an embodiment of the present invention.
Fig. 2A is a side view of a control device for an ultrasonic blade according to an embodiment of the present invention.
Fig. 2B is a cross-sectional view of a plane a-a of a control device of an ultrasonic blade according to an embodiment of the present invention.
FIG. 3A is a schematic view of a first semi-circular ring of a retaining assembly according to an embodiment of the present invention;
FIG. 3B is a schematic view of a second half-ring of the fastening assembly according to an embodiment of the present invention;
FIG. 3C is a cross-sectional view of the B-B side of the fastening assembly.
Detailed Description
In order to solve the technical problem, the technical scheme in the embodiment of the invention has the following general idea: referring to fig. 1, 2A and 2B, fig. 1 is a schematic diagram of a control device of an ultrasonic blade according to an embodiment of the present invention, fig. 2A is a side view of the control device of the ultrasonic blade according to the embodiment of the present invention, a plane of the side view is defined as a-a plane, and fig. 2B is a cross-sectional view of the a-a plane of the control device of the ultrasonic blade according to the embodiment of the present invention. A control device of an ultrasonic knife is applied to a minimally invasive surgery robot and comprises an opening and closing driving part 1, a rotary driving part 2, an energy conversion part 3, a screw rod 4, a sleeve 5 and a guide rod 6, wherein:
the sleeve 5 is sleeved on the screw rod 4;
the opening and closing driving part 1 comprises a first driving component 11, a sliding block 12 driven by the driving component and a first bearing 13, wherein the outer ring of the first bearing 13 is fixedly connected with the sliding block 12, and the inner ring of the first bearing is fixedly connected with the near end 41 of the screw rod 4; the first driving component 11 drives the sliding block 12 to reciprocate, the sliding block 12 drives the screw rod 4 to reciprocate through the first bearing 13, and the screw rod 4 pulls the cutter head of the ultrasonic knife to open and close;
the rotary driving part 2 comprises a second driving assembly 21 and a driven gear 22 driven by the second driving assembly, and the driven gear 22 is fixedly connected with the sleeve 5; the second driving assembly 21 drives the driven gear 22 to rotate, and the driven gear 22 drives the sleeve 5 to pull the cutter head of the ultrasonic knife to rotate around the axial extension line of the sleeve;
the energy conversion part 3 comprises a transducer 31 and a fixing component 32, the transducer has a through hollow structure, the transducer 31 is fixed in the fixing component 32, the guide rod 6 penetrates through the hollow structure and then is fixedly connected with the near end 41 of the screw rod 4, and the transducer 31 transmits energy to the cutter head of the ultrasonic knife through the guide rod 6 and the screw rod 4.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1, 2A and 2B, an embodiment of the present invention provides a control device for an ultrasonic scalpel, which is applied to a minimally invasive surgery robot, and includes an opening and closing driving portion 1, a rotation driving portion 2, an energy conversion portion 3, a lead screw 4, a sleeve 5 and a guide rod 6, wherein:
the sleeve 5 is sleeved on the screw rod 4;
the opening and closing driving part 1 comprises a first driving component 11, a sliding block 12 driven by the driving component and a first bearing 13, wherein the outer ring of the first bearing 13 is fixedly connected with the sliding block 12, and the inner ring of the first bearing is fixedly connected with the near end 41 of the screw rod 4; the first driving component 11 drives the sliding block 12 to reciprocate, the sliding block 12 drives the screw rod 4 to reciprocate through the first bearing 13, and the screw rod 4 pulls the cutter head of the ultrasonic knife to open and close;
the rotary driving part 2 comprises a second driving assembly 21 and a driven gear 22 driven by the second driving assembly, and the driven gear 22 is fixedly connected with the sleeve 5; the second driving assembly 21 drives the driven gear 22 to rotate, and the driven gear 22 drives the sleeve 5 to pull the cutter head of the ultrasonic knife to rotate around the axial extension line of the sleeve;
the energy conversion part 3 comprises a transducer 31 and a fixing component 32, the transducer has a through hollow structure, the transducer 31 is fixed in the fixing component 32, the guide rod 6 penetrates through the hollow structure and then is fixedly connected with the near end 41 of the screw rod 4, and the transducer 31 transmits energy to the cutter head of the ultrasonic knife through the guide rod 6 and the screw rod 4. The energy converter can be further connected with an energy adjusting device, and the energy adjusting device can adjust the energy transmitted to the cutter head of the ultrasonic knife.
The control device also comprises a base 7, and the opening and closing driving part 1, the rotation driving part 2 and the energy conversion part 3 are respectively arranged on the base.
The first driving assembly 11 comprises a first motor and a first transmission shaft 111, the first motor is fixedly connected with the first transmission shaft 111 relatively, the first transmission shaft is connected with the sliding block through threads, the first motor drives the first transmission shaft to rotate, and the first transmission shaft drives the sliding block to reciprocate. The first motor is not shown in the drawings, and the first motor may be fixedly connected to the first transmission shaft 111 through the latch 112, or may adopt other connection manners, which is not limited herein. The first motor comprises a first locking mechanism, and the first locking mechanism is used for keeping the opening and closing angle of the ultrasonic knife head. For example, the opening and closing angle of the ultrasonic knife head is kept at 30 degrees.
The second driving assembly 21 includes a second motor, a second transmission shaft 211 and a driving gear 212, the second motor is relatively fixedly connected to the second transmission shaft 211, the second transmission shaft 311 is relatively fixedly connected to the driving gear, and the driving gear is engaged with the driven gear. The second motor is not shown in the drawings, and the second motor may be fixedly connected to the second transmission shaft 211 through the latch 213, or may adopt other connection manners, which is not limited herein. The second motor comprises a second locking mechanism for maintaining the rotation angle of the cutter head around the axial extension line of the sleeve.
The relative fixed connection of the driven gear 22 and the sleeve 5 is specifically as follows:
the near-end of driven gear 22 and the inner circle relatively fixed connection of third bearing 23, the distal end of driven gear 22 and the inner circle fixed connection of fourth bearing 24, the outer lane of third bearing 23 with controlling means's base 7 fixed connection, the outer lane of fourth bearing 24 with base 7 fixed connection.
Referring to fig. 3A and 3B, the fixing assembly 32 includes a first semicircular ring 321 and a second semicircular ring 322, and the first semicircular ring 321 and the second semicircular ring 322 are fixed on the base 7 by screws. The transducer 31 is snapped into the interior of the fixed component 32 so that the transducer 31 does not rotate radially within the fixed component 32.
The first semicircular ring 321 has two screw holes 3211 and 3212, the second semicircular ring 322 has two screw holes 3221 and 3222, and the second semicircular ring 322 has a hollow portion 3223, and the first semicircular ring 321 and the second semicircular ring 322 are fixed on the base 7 through the 4 screw holes by screws.
Fig. 3C is a sectional view of a B-B surface of the fixing member, which is a plane perpendicular to a line on which the screw rod is located, and the first semicircular ring 321 and the second semicircular ring 322 are fixed to the base 7 by screws through the 4 screw holes.
Based on the structure of the control device of the ultrasonic knife in the embodiment, when the first motor drives the sliding block 12 to do reciprocating motion, the sliding block 12 drives the near end 41 of the screw rod to do reciprocating motion through the bearing 13, so that the opening and closing angle of the ultrasonic knife head can be controlled by the first motor, concretely, when the first motor drives the sliding block to do horizontal motion towards the near end direction, the opening angle of the ultrasonic knife head is larger and larger, when the first motor drives the sliding block to do horizontal motion towards the far end direction, the opening angle of the ultrasonic knife head is smaller and smaller until the ultrasonic knife head is closed, the first motor comprises a locking mechanism, the angle required at any position can be locked, in addition, the maximum opening angle of the knife head can be limited by the locking mechanism of the first motor, and the angle. When the second motor drives the driving gear 212 to rotate, the cutter head of the ultrasonic knife also rotates along with the driven gear, so that the second motor can control the rotation angle of the ultrasonic knife around the axial extension line of the sleeve.
The first motor and the second motor can respectively control the cutter head of the ultrasonic knife and can also control the cutter head of the ultrasonic knife together, and the control device realizes the control of the opening and closing angle of the cutter head of the ultrasonic knife and the rotation angle of the cutter head of the ultrasonic knife around the axial extension line of the sleeve.
The second embodiment of the invention provides a minimally invasive surgery robot which comprises the control device of the ultrasonic knife in the first embodiment.
The technical scheme in the embodiment of the invention at least has the following technical effects or advantages:
the control device can flexibly control the opening, closing and rotation of the ultrasonic knife head, and does not influence the energy transfer, so that the flexibility of the operation by utilizing the ultrasonic knife is greatly improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. The utility model provides a controlling means of supersound sword, is applied to minimal access surgery robot which characterized in that, including opening and shutting drive section, rotation drive section, energy conversion part, lead screw, sleeve pipe and guide arm, wherein:
the sleeve is sleeved on the screw rod;
the opening and closing driving part comprises a first driving assembly, a sliding block and a first bearing, wherein the sliding block and the first bearing are driven by the first driving assembly; the first driving assembly drives the sliding block to reciprocate, the sliding block drives the screw rod to reciprocate through the first bearing, and the screw rod pulls the cutter head of the ultrasonic knife to open and close;
the rotary driving part comprises a second driving assembly and a driven gear driven by the second driving assembly, the second driving assembly comprises a second motor, a second transmission shaft and a driving gear, and the driven gear is relatively fixedly connected with the sleeve; the second driving assembly drives the driven gear to rotate, and the driven gear drives the sleeve to pull the cutter head of the ultrasonic knife to rotate around the axial extension line of the sleeve;
the energy conversion part comprises an energy converter and a fixing component, the energy converter is provided with a through hollow structure and is fixed in the fixing component, the guide rod penetrates through the hollow structure and then is fixedly connected with the near end of the screw rod, and the energy converter transmits energy to the cutter head of the ultrasonic knife through the guide rod and the screw rod.
2. The device of claim 1, wherein the first motor is fixedly connected to the first transmission shaft, the first transmission shaft is threadedly connected to the slider, the first motor drives the first transmission shaft to rotate, and the first transmission shaft drives the slider to reciprocate.
3. The device of claim 2, wherein the first motor comprises a first locking mechanism for maintaining an opening and closing angle of the cutting head.
4. The apparatus of claim 1, wherein said second motor is fixedly coupled to said second drive shaft, said second drive shaft is fixedly coupled to said drive gear, and said drive gear is in meshing engagement with said driven gear.
5. The apparatus of claim 4, wherein the second motor includes a second locking mechanism for maintaining a rotational angle of the cutting head about an axially extending line of the cannula.
6. The device of claim 1, wherein the control device further comprises a base, and the securing assembly comprises a first semi-circular ring and a second semi-circular ring, the first semi-circular ring and the second semi-circular ring being secured to the base by screws.
7. The apparatus of claim 6, wherein the transducer is snap-fit to the interior of the stationary component such that the transducer does not rotate radially within the stationary component.
8. The device as claimed in claim 1, wherein the relative fixed connection of the driven gear and the sleeve is embodied as follows:
the near end of the driven gear is fixedly connected with the inner ring of the third bearing relatively, the far end of the driven gear is fixedly connected with the inner ring of the fourth bearing, the outer ring of the third bearing is fixedly connected with the base of the control device, and the outer ring of the fourth bearing is fixedly connected with the base.
9. A minimally invasive surgical robot comprising the control device of the ultrasonic blade according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710642848.8A CN107320156B (en) | 2017-07-31 | 2017-07-31 | Control device of ultrasonic knife and minimally invasive surgery robot |
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| CN201710642848.8A CN107320156B (en) | 2017-07-31 | 2017-07-31 | Control device of ultrasonic knife and minimally invasive surgery robot |
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| CN107320156A CN107320156A (en) | 2017-11-07 |
| CN107320156B true CN107320156B (en) | 2021-04-13 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110353765B (en) * | 2019-07-29 | 2021-09-03 | 河南理工大学 | Ultrasonic scalpel with replaceable scalpel head |
| CN113951987B (en) * | 2020-10-20 | 2023-09-12 | 成都博恩思医学机器人有限公司 | Ultrasonic knife surgical instrument |
| CN112401983B (en) * | 2020-11-19 | 2022-04-01 | 昆山雷盛医疗科技有限公司 | Ultrasonic knife applied to surgical robot |
| CN113251130A (en) * | 2021-06-16 | 2021-08-13 | 成都博恩思医学机器人有限公司 | Quick-release instrument |
| CN113693715B (en) * | 2021-10-29 | 2022-01-18 | 极限人工智能(北京)有限公司 | Energy adapter and minimally invasive surgery robot |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3999715B2 (en) * | 2003-08-28 | 2007-10-31 | オリンパス株式会社 | Ultrasonic treatment device |
| CN1754586B (en) * | 2004-09-30 | 2010-09-01 | 重庆海扶(Hifu)技术有限公司 | Ultrasonic therapy head and ultrasonic therapy instrument containing same |
| CN101297991B (en) * | 2007-04-30 | 2010-06-23 | 重庆融海超声医学工程研究中心有限公司 | Hand-hold ultrasonic treatment gun |
| US8931682B2 (en) * | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
| WO2010078344A1 (en) * | 2008-12-31 | 2010-07-08 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system input device |
| US20140001234A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
| US20140001231A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
| CN103431913B (en) * | 2013-09-12 | 2015-04-29 | 哈尔滨工业大学 | Robotic surgery micro-device for minimally invasive surgery |
| DE102014117408A1 (en) * | 2014-11-27 | 2016-06-02 | avateramedical GmBH | Device for robotic surgery |
| CN105287002B (en) * | 2015-12-02 | 2017-10-27 | 吉林大学 | A kind of robot assisted Minimally Invasive Surgery micro- apparatus of Flexible Multi-joint operation |
| CN205866829U (en) * | 2016-05-26 | 2017-01-11 | 吉林大学 | A steel wire quick change mechanism for minimal access surgery device is assisted by robot |
| CN106137342B (en) * | 2016-08-08 | 2019-02-01 | 哈尔滨理工大学 | A kind of ultrasonic vibration puncture soft tissue device |
| CN208259741U (en) * | 2017-07-31 | 2018-12-21 | 成都博恩思医学机器人有限公司 | A kind of control device and micro-wound operation robot of ultrasound knife |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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