CN107550506A - X-ray production apparatus - Google Patents
X-ray production apparatus Download PDFInfo
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- CN107550506A CN107550506A CN201710944066.XA CN201710944066A CN107550506A CN 107550506 A CN107550506 A CN 107550506A CN 201710944066 A CN201710944066 A CN 201710944066A CN 107550506 A CN107550506 A CN 107550506A
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- ray production
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Abstract
The invention discloses a kind of X-ray production apparatus, including：Main body, supporting part and both ends set the C-arm of mono-tank and detector respectively, the C-arm is connected to the main body by the supporting part, the C-arm is movable in the multiple directions of relatively described main body, the X-ray production apparatus also includes being used for the power for perceiving extraneous application, and the power-assisted unit for aiding in the C-arm to move according to direction initialization according to the extraneous power applied.X-ray production apparatus provided in an embodiment of the present invention, by increasing the power-assisted unit for being used for aiding in C-arm to rotate, when solving the manually operated C-arm of operator, rotate the difficult technical problem of C-arm.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of X-ray production apparatus.
Background technology
Currently, it is widely available that the Medical Devices of diagnostic imaging are carried out to patient using X-ray production apparatus, such as C-arm x-ray machine
Irreplaceable effect is played in current clinical practice as a kind of medical equipment, is widely used in orthopaedics, tumour
In the various operations of Ke Deng section office.
But in use, operator along C-arm circumferentially rotate C-arm when it is harder, i.e., C-arm is along the circumferential direction
It is more difficult to be pulled.
The content of the invention
The embodiments of the invention provide a kind of X-ray production apparatus, when solving the manually operated C-arm of operator, rotate C-arm and be stranded
Difficult technical problem.
In a first aspect, the embodiments of the invention provide a kind of X-ray production apparatus, including：Main body, supporting part and both ends difference
The C-arm of mono-tank and detector is set, and the C-arm is connected to the main body by the supporting part, and the C-arm exists
Movable in the multiple directions of relatively described main body, the X-ray production apparatus also includes being used for the power for perceiving extraneous application, and according to institute
State the power-assisted unit that the power of extraneous application aids in the C-arm to be moved according to direction initialization.
Further, the direction initialization is the circumference of the C-arm.
Further, the power-assisted unit includes：Mechanics sensor, controller, drive mechanism and transmission mechanism, it is described
The external world that controller detects according to the mechanics sensor is applied to the active force in the C-arm, controls the driving machine
Structure drives the transmission mechanism to aid in the C-arm to be moved according to direction initialization.
Further, the controller is applied to the work in the C-arm in the external world that the mechanics sensor detects
When firmly exceeding predetermined threshold value, the torque for adjusting the drive mechanism output drives the transmission mechanism to aid in the C-arm to press
Moved according to direction initialization.
Further, the mechanics sensor is arranged in the C-arm, is applied to detecting the external world in the C-arm
Active force；
The drive mechanism is connected with transmission mechanism and is arranged in the supporting part, and the C-arm is slidably socketed in institute
State supporting part；
The drive mechanism and the mechanics sensor are connected with the controller.
Further, the power-assisted unit also includes handrail, and the mechanics sensor is arranged on the handrail and the C-shaped
Arm junction.
Further, the quantity of the mechanics sensor is at least two.
Further, the handrail is arranged on the upper and lower ends of the C-arm.
Further, the transmission mechanism includes：Belt wheel and transmission belt, the belt wheel are connected with the drive mechanism, institute
Transmission belt is stated to be arranged in the groove that the C-arm outer surface is circumferentially formed along C-arm.
X-ray production apparatus provided in an embodiment of the present invention, by increasing the power for being used for perceiving extraneous application, and according to the external world
The power of application aids in the power-assisted unit that the C-arm is moved according to direction initialization, when solving the manually operated C-arm of operator,
Rotate the difficult technical problem of C-arm.
Brief description of the drawings
Fig. 1 is the structural representation for the X-ray production apparatus that the embodiment of the present invention one provides；
Fig. 2 is the X-ray production apparatus part-structure schematic diagram that the embodiment of the present invention one provides；
Fig. 3 is the method flow schematic diagram that the control X-ray production apparatus C-arm that the embodiment of the present invention two provides rotates；
Fig. 4 is the electrical architecture figure that the power-assisted unit auxiliary C-arm that the embodiment of the present invention two provides rotates；
Fig. 5 is the control loop schematic diagram that the auxiliary C-arm that the embodiment of the present invention two provides rotates.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although every step is described as the processing of order by flow chart, therein to be permitted
Multi-step can be implemented concurrently, concomitantly or simultaneously.In addition, the order of every step can be rearranged.When it
The processing can be terminated when step is completed, it is also possible to the additional step being not included in accompanying drawing.The processing
It can correspond to method, function, code, subroutine, subprogram etc..
Embodiment one
Fig. 1 is the structural representation for the X-ray production apparatus that the embodiment of the present invention one provides.Referring specifically to shown in Fig. 1, the X is penetrated
Line machine includes：Main body 99, supporting part 140 (not shown in Fig. 1, concrete structure is shown in Figure 2) and both ends are set respectively
The C-arm 100 of mono-tank 110 and detector 120, C-arm 100 are connected to main body 99 by supporting part 140, and C-arm 100 exists
Movable in multiple directions with respect to main body 99, the X-ray production apparatus also includes being used for the power for perceiving extraneous application, and according to described
The power that the external world applies aids in the power-assisted unit that the C-arm is moved according to direction initialization.
Wherein, main body 99 is in addition to including some necessary mechanical components for providing supporting C-shaped arm 100, in addition to
Control panel, the control panel can be used for setting exposure parameter, C-arm pendulum position, display fluoroscopy images etc..Mono-tank 110
For emitting x-ray, detector 120 is used to receive the X-ray beam.In order to realize to patient's different parts, different angle
Perspective, C-arm 100 is movable in the multiple directions of relative main body 99, such as C-arm 100 can be in the plane shown in Fig. 1
The circular arc direction of circle is moved clockwise or counter-clockwise where interior edge C-arm 100, i.e., is moved along the circumferential direction of C-arm 100,
Direction signified arrow AB as shown in Figure 1；C-arm 100 can also be perpendicular to the move in plane shown in Fig. 1, i.e. phase
Move forward and backward, side-to-side movement or can also vertically move up and down in the horizontal direction for the paper plane shown in Fig. 1.
Exemplarily, the power-assisted unit is used for the power for perceiving extraneous application, and aids in C according to the extraneous power applied
Circumferential direction (the direction signified arrow AB as shown in Figure 1) motion of shape arm 100 along C-arm 100, i.e., above-mentioned direction initialization
For the circumferential direction of C-arm 100.The extraneous power applied can specifically refer to the power that operator applies to C-arm 100.
Exemplarily, X-ray production apparatus part-structure schematic diagram shown in Figure 2, the power-assisted unit include：Mechanics senses
Device 132, controller (not shown), drive mechanism 134 and transmission mechanism 135；The controller is according to mechanics sensor
132 external worlds detected are applied to the active force in C-arm 100, and control drive mechanism 134 drive transmission device 135 aids in C-shaped
Arm 100 moves according to direction initialization；Specifically：The direction initialization be C-arm 100 circumference, arrow AB as shown in Figure 1
Signified direction.
Further, the external world that the controller detects according to mechanics sensor 132 is applied to the work in C-arm 100
Firmly, controlling the drive transmission device 135 of drive mechanism 134 to aid in C-arm 100 to be moved according to direction initialization can be specifically：Institute
When stating the active force that controller is applied in the external world that mechanics sensor 132 detects in C-arm 100 and exceeding predetermined threshold value, adjust
The torque drive transmission device 135 that section drive mechanism 134 exports aids in C-arm 100 to be moved according to direction initialization.Wherein, set
The purpose of predetermined threshold value is on the one hand to improve operating experience degree when operator operates C-arm 100, allows operator to feel slightly
It is micro- to rotate C-arm 100 with point power can, and without very laborious；On the other hand it is to exclude some malfunctions, for example operates
Person's imprudence has touched C-arm 100, is not intended to rotate C-arm 100, now can be by the effect that is subject to C-arm 100
Power identifies maloperation compared with predetermined threshold value.
Exemplarily, mechanics sensor 132 is arranged in C-arm 100, the work being applied to the detection external world in C-arm 100
Firmly.Drive mechanism 134 is connected and is arranged in supporting part 140 with transmission mechanism 135, and C-arm 100 is slidably socketed in supporting part
140.It is understood that if mechanics sensor 132 is positioned only at the surface of the ad-hoc location of C-arm 100, define only
Apply active force to C-arm 100 by the ad-hoc location just to be detected by mechanics sensor 132；It can be examined to realize
The active force that 100 any position of C-arm is subject to is measured, then mechanics sensor 132 needs the whole outer surface for spreading all over C-arm 100；
Preferably, shown in Figure 2 in this implementation, power-assisted unit also includes handrail 131, and mechanics sensor 132 is arranged on handrail 131
With the junction of C-arm 100；Further, the quantity of mechanics sensor 132 can be at least two, and handrail 131 can include
Upper handrail 1311 and lower handrail 1312, upper handrail 1311 and lower handrail 1312 are separately positioned on the upper and lower ends of C-arm 100.Power
The position that handrail 1311 and lower handrail 1312 are connected with C-arm 100 can be separately positioned on by learning sensor 132, for detecting
The active force that upper handrail 1311 and lower handrail 1312 are subject to, and by the Force feedback to controller, the benefit so set
It is that, when upper handrail 1311 is away from operator, operator can be selected by lower handrail during C-arm 100 is moved
1312 apply external force in C-arm 100, because lower handrail 1312 is also equipped with mechanics sensor with the position that C-arm 100 is connected
132, therefore may also detect that the power of extraneous application；Same reason, when handrail 1312 is away from operator instantly, operator can
External force is applied by upper handrail 1311 in C-arm 100 with selection, operator is so facilitated and rotates C-arm 100.
Drive mechanism 134 and mechanics sensor 132 are connected with controller, when controller receives mechanics sensor
After the active force of 132 feedbacks, according to the output torque of the big minor adjustment drive mechanism 134 of the active force, finally by driving machine
Structure 134 drives C-arm 100 to rotate by transmission mechanism 135, and controller is by adjusting the output torque of drive mechanism 134, most
The active force that mechanics sensor 132 detects can be caused to remain at predetermined threshold value eventually, threshold is preset described in the present embodiment
Value can be [9N, 11N], and the predetermined threshold value can be set according to the actual demand of operator in practical application.
It should be noted that not showing that controller in Fig. 2, the controller can be arranged at the C-arm shown in Fig. 2
On 100, it can also be arranged in the work station of X-ray production apparatus, as long as the controller and mechanics sensor 132 and drive mechanism
134 are connected, and the present embodiment is not defined to the set location of controller, at the same controller and mechanics sensor 132 with
And the connected mode between drive mechanism 134 can be wired or wireless.
Further, drive mechanism 134 includes motor.
Transmission mechanism 135 includes belt wheel and transmission belt, and exemplarily, the kind of drive of transmission mechanism 135 passes for timing belt
Move, including belt wheel 1351 and timing belt 1352, belt wheel 1351 and the band connection of drive mechanism 134, timing belt 1352 are arranged on the C
In the groove that the outer surface of shape arm 100 is circumferentially formed along C-arm；More specifically, timing belt 1352 is around on both ends after belt wheel 1351
It is lower symmetrical to open, then it is fitted tightly in the groove that the outer surface of C-arm 100 is circumferentially formed along C-arm, to drive C-arm edge
It is circumferentially rotated.
Further, in order to increase the contact area of timing belt 1352 and C-arm 100 circumferentially outer surface so that C-arm
Rotation is more easily driven by timing belt 1352, transmission mechanism 135 also includes：Pinch roller 1353, it is symmetricly set on supporting part 140
On, for applying symmetrical pressure to timing belt 1352, timing belt 1352 is circumferentially formed along C-arm with the outer surface of C-arm 100
Groove contact area it is bigger, beneficial to more easily drive C-arm 100 rotate.
The principle that above-mentioned C-arm 100 rotates is：When mechanics sensor 132 detects the active force that handrail 131 is subject to,
By the Force feedback to controller；After controller receives the active force, adjusted in real time according to the size of the active force
The output torque of drive mechanism 134 is saved, and drives C-arm 100 to rotate up to power by transmission mechanism 135 by drive mechanism 134
Learn sensor 132 and detect active force in predetermined threshold value, so as to solve the problems, such as that it is difficult that C-arm 100 rotates manually.Due to
C-arm 100 is slidably socketed on supporting part 140, and C-arm 100 itself has certain gravity, therefore C-arm 100 is static
Drive mechanism 134 in Shi Zhuli units can still export certain torque to offset C-arm 100 gravitational moment of itself, so that C-shaped
Arm 100 can supported portion 140 support.During C-arm 100 is rotated, C-arm 100 gravitational moment of itself can be with
Rotational angle to change, in certain rotational angle range the gravitational moment of itself of C-arm 100 relative to it is static when weight
Torque can diminish, and now controller control drive mechanism 134 reduces output torque；Likewise, in certain rotational angle range
The interior gravitational moment of itself of C-arm 100 relative to it is static when gravitational moment can become big again, now controller then need control driving machine
Structure 134 increases output torque, to overcome the gravitational moment of itself of C-arm 100.Specifically, the rotation direction of C-arm 100 can root
Obtained according to the direction calculating of the active force being applied in C-arm 100 detected.
The X-ray production apparatus that the present embodiment provides, the power for perceiving extraneous application to be used for by increase, and according to the extraneous application
Power aid in the power-assisted unit that the C-arm move according to direction initialization, when solving the manually operated C-arm of operator, rotation C
The difficult technical problem of shape arm.
Embodiment two
Fig. 3 is the method stream that the C-arm of the X-ray production apparatus described in the control embodiment one that the embodiment of the present invention two provides rotates
Cheng Tu, shown in Figure 3, this method specifically includes as follows：
Step 310, the detection external world are applied to the active force in the C-arm.
Specifically, the detection external world is applied to the active force in the C-arm, including：
Extraneous, the work as described in being applied to human hand in C-arm is detected by the mechanics sensor being arranged in the C-arm
Firmly；The application scenarios of the step are that operator's C-arm to be made rotates, and manually can apply one to C-arm makes what it was rotated
Active force；As described in embodiment one, mechanics sensor is arranged in C-arm, can be preferably arranged at mechanics sensor and be helped
The junction of hand and C-arm, in this way, when operator wants to rotate C-arm, it can be acted on by the handrail to C-arm application
Power, now mechanics sensor is that can detect the active force.
Step 320, when the active force exceedes predetermined threshold value, to the C-arm provide power-assisted so that the C-arm
Rotated according to direction initialization.
Specifically, when the active force exceedes predetermined threshold value, power-assisted is provided to the C-arm, so that the C-arm is pressed
Rotated according to direction initialization, including：When the active force exceedes predetermined threshold value, the Force feedback is helped to the C-arm
Controller in power unit；The controller adjusts the defeated of drive mechanism in the C-arm power-assisted unit according to the active force
Go out torque.
C-arm in use as stated in the Background Art be present and rotate the problem of difficult, i.e., it is more difficult to be pulled, therefore lead
Cause operator to use very laborious, therefore, aid in C-arm to rotate by power-assisted unit, specifically when detecting extraneous application
When the active force in C-arm exceedes predetermined threshold value, provided to the C-arm and rotate power-assisted, help operator to rotate C-arm,
Operator is allowed to think that not having to laborious can rotates C-arm, and it is difficult to solve the problems, such as that existing C-arm rotates to realize.Controller
According to the output torque of drive mechanism in the active force regulation C-arm power-assisted unit being applied in C-arm, to cause drive mechanism
Output torque and the power that is applied in C-arm of operator caused by torque sum can overcome the C-arm weight of itself
Torque.As described in embodiment one, because C-arm is slidably socketed on supporting part, and C-arm itself has certain gravity,
Therefore drive mechanism when C-arm is static in power-assisted unit still exports certain torque to offset the gravitational moment of C-arm itself, with
C-arm supported portion is set to support.During C-arm is rotated, the gravitational moment of C-arm itself can be with angle of rotation
Degree changes, and such as becomes big or diminishes, and now, controller control drive mechanism correspondingly increases or reduced current output
Torque；Torque in C-arm is applied to the output torque and operator by drive mechanism to overcome the gravity of C-arm itself
Square.
It should be noted that for drive mechanism, its output is torque, and what mechanics sensor detected is power,
Therefore, the active force that the feedback that controller also needs to receive before the output torque of regulation drive mechanism is come is converted into pair
The torque answered, specifically, can according to formula M=F*L, wherein, M represent torque, F represent power, L represent the arm of force, be calculated
Corresponding torque, wherein making the radius that the arm of force corresponding to the active force of C-arm rotation is circle where C-arm circular arc.
Further, Fig. 4 shows the electrical architecture figure that power-assisted unit auxiliary C-arm rotates, shown in Figure 4, mechanics
Sensor 410 sends the active force being applied in C-arm detected to controller 420, and controller 420 is according to receiving
Active force sends control signal to drive mechanism 430, in the present embodiment, the specially motor of drive mechanism 430, the control
Signal is specifically used for the output torque of control motor, so that what the output torque of motor detected with mechanics sensor 410
Torque sum corresponding to active force is equal to the current time C-arm gravitational moment of itself；And motor is in real time to controller
420 fed-back current signals, so that controller 420 adjusts control letter according to the current signal of current active force and motor
Number, final purpose is that the active force for making the output torque of motor be detected with mechanics sensor 410 is right (in predetermined threshold value)
The torque sum answered is equal to the current time C-arm gravitational moment of itself, to overcome the gravitational moment of C-arm itself, due to being applied to C
Active force (active force that mechanics sensor 410 detects) on shape arm in predetermined threshold value, therefore operator do not have to it is very laborious just
C-arm can be rotated.
Further, the control loop for the electrical architecture figure that the power-assisted unit auxiliary C-arm shown in corresponding diagram 4 rotates is as schemed
Shown in 5, mechanics sensor detection in real time is applied to active force in C-arm, and by the Force feedback to controller, controller
The torque exported according to torque adjusting drive mechanism caused by the active force, until the active force that mechanics sensor detects is pre-
If in threshold value (desired value), and torque sum caused by the torque of current time drive mechanism output and current time active force with
The gravitational moment of C-arm itself offsets.
The method that the C-arm for the control X-ray production apparatus that the present embodiment provides rotates, the C-shaped is applied to by detecting the external world
Active force on arm, when the active force exceedes predetermined threshold value, to the C-arm provide power-assisted so that the C-arm according to
The technological means that direction initialization rotates, the purpose that auxiliary C-arm rotates is realized, operator is applied to the active force of C-arm
A certain setting value is consistently less than, allows operator to feel not having to arduously can just rotate C-arm very, solves existing C-arm
The problem of difficult is rotated manually, improves operating experience degree.
It will be appreciated by those skilled in the art that realize that all or part of step in above-described embodiment method is to pass through
Program instructs the hardware of correlation to complete, and the program storage is in the storage medium, including some instructions are causing one
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) perform each embodiment methods described of the application
All or part of step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (9)
1. a kind of X-ray production apparatus, including：Main body, supporting part and both ends set the C-arm of mono-tank and detector respectively,
The C-arm is connected to the main body by the supporting part, and the C-arm can transport in the multiple directions of relatively described main body
It is dynamic, it is characterised in that the X-ray production apparatus is also including being used to perceive the extraneous power applied, and auxiliary according to the power of the extraneous application
The power-assisted unit for helping the C-arm to be moved according to direction initialization.
2. X-ray production apparatus according to claim 1, it is characterised in that the direction initialization is the circumference of the C-arm.
3. X-ray production apparatus according to claim 1 or 2, it is characterised in that the power-assisted unit includes：Mechanics sensor, control
Device, drive mechanism and transmission mechanism processed, the external world that the controller detects according to the mechanics sensor are applied to the C
Active force on shape arm, the drive mechanism is controlled to drive the transmission mechanism to aid in the C-arm to be moved according to direction initialization.
4. X-ray production apparatus according to claim 3, it is characterised in that the controller detects in the mechanics sensor
The active force that is applied in the C-arm of external world when exceeding predetermined threshold value, adjust the torque driving of the drive mechanism output
The transmission mechanism aids in the C-arm to be moved according to direction initialization.
5. X-ray production apparatus according to claim 3, it is characterised in that
The mechanics sensor is arranged in the C-arm, the active force being applied to the detection external world in the C-arm；
The drive mechanism is connected with transmission mechanism and is arranged in the supporting part, and the C-arm is slidably socketed in the branch
Support part；
The drive mechanism and the mechanics sensor are connected with the controller.
6. X-ray production apparatus according to claim 3, it is characterised in that the power-assisted unit also includes handrail, and the mechanics passes
Sensor is arranged on the handrail and the C-arm junction.
7. X-ray production apparatus according to claim 6, it is characterised in that the quantity of the mechanics sensor is at least two.
8. X-ray production apparatus according to claim 6, it is characterised in that the handrail is arranged on up and down the two of the C-arm
End.
9. X-ray production apparatus according to claim 3, it is characterised in that the transmission mechanism includes：Belt wheel and transmission belt, institute
State belt wheel to be connected with the drive mechanism, the transmission belt is arranged on the groove that the C-arm outer surface is circumferentially formed along C-arm
It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710944066.XA CN107550506A (en) | 2017-09-30 | 2017-09-30 | X-ray production apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710944066.XA CN107550506A (en) | 2017-09-30 | 2017-09-30 | X-ray production apparatus |
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| CN107550506A true CN107550506A (en) | 2018-01-09 |
Family
ID=60983986
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| CN201710944066.XA Pending CN107550506A (en) | 2017-09-30 | 2017-09-30 | X-ray production apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117657903A (en) * | 2024-02-01 | 2024-03-08 | 苏州一目万相科技有限公司 | Cable winding and unwinding device of C-shaped arm and C-shaped arm |
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| CN102686001A (en) * | 2011-03-14 | 2012-09-19 | 西门子公司 | X-ray apparatus and method for controlling the movement of an X-ray apparatus |
| CN103340640A (en) * | 2013-05-20 | 2013-10-09 | 中国科学院深圳先进技术研究院 | Control device and control method for achieving C arm system follow-up motion |
| CN206080549U (en) * | 2016-07-21 | 2017-04-12 | 瑞地玛医学科技有限公司 | C arm image system |
| CN208625723U (en) * | 2017-09-30 | 2019-03-22 | 上海联影医疗科技有限公司 | Mobile power assisting device and mobile X-ray equipment |
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2017
- 2017-09-30 CN CN201710944066.XA patent/CN107550506A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102686001A (en) * | 2011-03-14 | 2012-09-19 | 西门子公司 | X-ray apparatus and method for controlling the movement of an X-ray apparatus |
| CN103340640A (en) * | 2013-05-20 | 2013-10-09 | 中国科学院深圳先进技术研究院 | Control device and control method for achieving C arm system follow-up motion |
| CN206080549U (en) * | 2016-07-21 | 2017-04-12 | 瑞地玛医学科技有限公司 | C arm image system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117657903A (en) * | 2024-02-01 | 2024-03-08 | 苏州一目万相科技有限公司 | Cable winding and unwinding device of C-shaped arm and C-shaped arm |
| CN117657903B (en) * | 2024-02-01 | 2024-05-31 | 苏州一目万相科技有限公司 | Cable winding and unwinding device of C-shaped arm and C-shaped arm |
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Application publication date: 20180109 |
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| RJ01 | Rejection of invention patent application after publication |