CN107811797B - Orthopedics robot - Google Patents
Orthopedics robot Download PDFInfo
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- CN107811797B CN107811797B CN201711113196.5A CN201711113196A CN107811797B CN 107811797 B CN107811797 B CN 107811797B CN 201711113196 A CN201711113196 A CN 201711113196A CN 107811797 B CN107811797 B CN 107811797B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/123—Lower body, e.g. pelvis, hip, buttocks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/1235—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/1245—Knees, upper or lower legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2210/00—Devices for specific treatment or diagnosis
- A61G2210/10—Devices for specific treatment or diagnosis for orthopedics
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses an orthopaedics robot which is matched with an operation bed for use, and comprises a butt joint part (100), a far-end platform (200), a near-end platform (300) and a control cylinder box car (400) which are connected in sequence; the control cylinder box vehicle (400) comprises a motion platform (420) with six degrees of freedom, a control box (440) for controlling the motion platform (420), and a connecting column (460) at the far end side, wherein the connecting column (460) can adjust the height of the near end platform (300); the proximal platform (300) includes a side plate assembly forming a slip fit to adjust the distance between the proximal platform (200) and the control cylinder box car (400); the distal platform (200) includes a rotating slide assembly by which the distal platform (200) can rotate in a horizontal plane relative to the proximal platform. The robot is firmly connected with the operation table and provides various adjusting capabilities in a modularized mode.
Description
Technical Field
The invention relates to an orthopedic robot matched with an operation table for use, in particular to a resetting robot used in a resetting operation.
Background
With the development of robotics, there is a trend to apply robots thereto in surgery for repairing bone fractures, particularly in bone surgery for long bones.
Referring to fig. 1, which is a drawing of the application of the invention of publication number CN105997253a, there is shown an orthopedic surgical system disclosed therein. The system comprises a surgical planning and monitoring device 31, a C-arm X-ray machine 32, an orthopaedic surgical robot 33 and a surgical positioning device 34. The operation planning and monitoring device 31 is a mobile operation table with a graphic workstation computer. By means of software installed on a computer of a graphic workstation, doctors can realize three-dimensional reconstruction of bones, preoperative planning, operation robot control and dynamic image monitoring in operation. The X-ray machine 32 captures X-rays of the patient in both the horizontal and vertical directions, and matches a plurality of spatial coordinate systems through a spatial algorithm to accurately determine the surgical site.
Fig. 2 shows an exploded view of the orthopaedic surgical robot 33. As shown, the robot includes a robot body 233 and a six-axis mechanical arm 232 fixed to the body. In addition, bone drills and other functional modules are also mounted on the robot 33.
In the above-described orthopedic surgical system of the related art, the orthopedic surgical robot 33 is not coupled with the operating bed. Since reduction surgery often requires a large amount of force to pull the fracture site, prior art orthopedic surgical systems have difficulty guaranteeing a stable relative orientation of the reduction instrument to the patient/operating table during reduction surgery.
Thus, there is a need to provide a robot for orthopedic surgery, in particular reduction surgery, which forms a firm rigid connection with the operating table.
Disclosure of Invention
In view of the above, the present invention is directed to an orthopedic robot that is firmly connected to an operating table for cooperation.
In order to achieve the above purpose, the invention provides an orthopaedics robot which is matched with an operation bed for use, wherein the robot comprises a butt joint part, a far-end platform, a near-end platform and a control cylinder box vehicle which are connected in sequence; the control cylinder box vehicle comprises a motion platform with six degrees of freedom, a control box for controlling the motion platform and a connecting column at the far end side, wherein the connecting column can adjust the height of the near end platform; the proximal platform comprises a side plate assembly forming a sliding fit to adjust the distance between the proximal platform and the control cylinder box car; the distal platform includes a rotary slide assembly by which the distal platform is rotatable in a horizontal plane relative to the proximal platform.
Compared with the orthopedic robot in the prior art, the robot can form firm connection with an operating table; furthermore, the robot of the present invention provides height, distance and horizontal angle adjustment capabilities in a modular manner.
Drawings
The invention may be better understood with reference to the drawings and description. The components in the drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. In the drawings:
FIGS. 1 and 2 are schematic views of a prior art orthopedic robotic system and an orthopedic robot therein;
FIG. 3 is a perspective view of an orthopedic robot according to one embodiment of the present invention;
FIG. 4 is a perspective view of a dock of an orthopedic robot according to one embodiment of the present invention;
FIG. 5 is a perspective view from above of a distal platform of an orthopedic robot according to one embodiment of the present invention;
FIGS. 6 and 7 are perspective views of the distal platform of FIG. 5 from below; wherein fig. 7 has the rail mount removed to expose the rail mount and rail;
FIGS. 8 and 9 are perspective views of a proximal platform of an orthopedic robot according to an embodiment of the present invention, wherein FIG. 8 shows a rail mount of the distal platform and a connection block of a control cylinder box car connected to the proximal platform on both sides, respectively;
FIG. 10 is a perspective view of a control cylinder box car of an orthopedic robot according to one embodiment of the present invention;
FIG. 11 is a perspective view of a connecting column of the control cylinder box car of FIG. 10;
fig. 12 is a cross-sectional view of the turnup column of the connecting column of fig. 11.
Detailed Description
The following description relates to an orthopedic robot according to one embodiment of the present invention, which is used in conjunction with an operating table. Referring to fig. 3, the left side thereof is named as a distal side, and the robot includes a docking member 100, a distal platform 200, a proximal platform 300, and a control cylinder box car 400, which are sequentially connected at the distal side.
The control cylinder box car 400 includes a moving platform 420 having six degrees of freedom and a control box 440 controlling the moving platform 420, and a connection post 460 (shown in fig. 10) on a distal end side, the connection post 460 being capable of adjusting the height of the proximal platform 300;
the proximal platform 300 includes side plate assemblies that form a slip fit to adjust the distance between the proximal platform 200 and the control cylinder box car 400;
the distal platform 200 includes a rotating slide assembly by which the distal platform 200 can rotate in a horizontal plane relative to the proximal platform 300.
By providing the butt joint part, the orthopedic robot can form firm connection with the operating table; furthermore, the robot of the present invention provides the ability to adjust height, distance and horizontal angle in different modules, respectively.
Referring to fig. 4, the docking member 100 of the orthopedic robot preferably includes a docking base 120 including a first docking channel and a second docking channel at front and rear sides, respectively; the operating table is provided with a side bar which can enter the second butt joint channel; a side rail 140 rigidly mountable to the distal platform 200, the side rail 140 being accessible to the first docking channel; a first fastener 160 for fastening the side rail 140 to the docking station 100; a second fastener 180 for fastening the side bar of the operating table to the docking station 100.
Still referring to fig. 4, the docking station 120 is preferably C-shaped in cross-section at the first docking channel and the second docking channel.
More preferably, the side rail 140 may have the same size as the side bar of the operating table, and the first docking channel and the second docking channel of the docking station 120 may have the same size. Thus, the docking station 120 is easier to process and more convenient to use.
Referring to fig. 5-7, the distal platform 200 preferably includes: a main body plate 220, the rotary slide rail assembly being located at the lower side of the main body plate 220; butt fitting mounting parts 225 on left and right sides of the body plate 220, on which the butt fitting 100 is mounted 225; wherein the rotary slide assembly includes an arcuate guide rail 240 and a rail seat 260 (shown in fig. 7) having an arcuate track; the rail 240 is mounted to the body plate 220 and the rail mount 260 is rigidly connected to the proximal platform 300.
The distal platform 200 described above provides for adjustment of horizontal angles in a simple and reliable configuration by means of the arcuate guide rail 240 and the rail seat 260 having arcuate rails.
Referring to fig. 6 and to fig. 4, as an example of a connection, preferably the side rail 140 of the docking member 100 includes a mounting post 145, and the distal platform 200 includes a mounting seat 225 corresponding to the mounting post 145.
Still referring to fig. 6, preferably, the distal platform 200 further comprises: a rail mount 270, the rail mount 270 being rigidly connected to the rail mount 260 by a first fastener 275 and to the proximal platform 300 by a second fastener 277.
Specifically, the rail housing 270 includes side sections (upper and lower sides of fig. 6) on both left and right sides, and a middle section connecting the two side sections. The midsection is rigidly connected to the rail seat 260 by the first fasteners 275 and the two side sections are connected to the connection plate 340 of the proximal platform 300 by two second fasteners 277 (see FIG. 8).
Referring to fig. 3 and 5-7, preferably, a perineal post 280 having a perineal flap 285 is mounted on the distal platform 200. Thereby providing support for the patient's hip.
Referring to fig. 3 and 8, preferably, the side plate assembly of the proximal platform 300 comprises: a stacked slide rail 320, a connection plate 340, and a side rail 360; wherein the slide rail 320 is slidable in a proximal-distal direction relative to the connection plate 340; the side rail 360 is rigidly connected to the connection plate 340, the side rail 360 having at least one accessory mount.
Specifically, the accessory mount may be used to mount a leg support bracket 367 (shown in fig. 3), a leg rest 368, and an arm rest 369 (shown in fig. 8).
Referring to fig. 9, the sliding rail 320 preferably includes a first connection portion 325 for connecting to the control cylinder box car 400; the connection plate 340 includes a second connection 345 for connecting to the distal platform 200.
As an example, the second connection portion 345 is a screw hole formed at the distal end side of the connection plate 340 through which a second fastener 277 passes to rigidly connect the connection plate 340 of the proximal stage 300 to the rail housing 270 of the distal stage 200.
Referring to fig. 10 and 11, preferably, the connection post 460 of the control cylinder box car 400 includes a height-adjusting post 462 and a connection block 464, the height of the height-adjusting post 462 is adjustable, and the connection block 464 is detachably connected to the slide rail 320 of the proximal platform 300.
In addition, the control cylinder box car 400 further includes a car body 450 and wheels 455 to facilitate movement thereof.
Referring to fig. 8 and 11 together, as an example, the first connection portion 325 of the slide rail 320 of the proximal stage is four screw holes arranged in a rectangular shape, and the connection block 464 of the control cylinder box car has screw holes corresponding thereto. The connection block 464 is rigidly connected to the first connection portion 325 by using screws, thereby rigidly connecting the control cylinder box car 400 to the proximal platform 300.
Referring to fig. 12, the elevation column 462 preferably includes a rotatable handle 4621 at the top, a rotatable screw 4623 driven by the handle 4621, and a nut rod 4624 surrounding the screw 4623 and forming a screw-fit with the screw 4623, the nut rod 4624 being connected to the bottom of the elevation column 462.
Still referring to FIG. 12, more preferably, the lead screw 4623 is hollow and a rotatable spindle 4625 is positioned within the hollow lead screw (4623. The addition of such spindles can improve the reliability of the concentric positioning of the relevant parts of the turndown column.
Still referring to fig. 12, it is further preferred that the elevation column 462 further includes an elevation column 4626 connected to the handle 4621 and surrounding the nut rod 4624, the elevation column 4626 being elevated when the handle 4621 is rotated.
Referring to fig. 3, the orthopedic robot according to an embodiment of the present invention preferably further includes a support plate 500 mounted on the control cylinder box car 400 to support a patient body part, for example, a patient's lower leg.
In addition, the support plate 500 may be connected with additional fixing means as needed. In the reduction operation, the additional fixing device may fix the proximal or distal end of the fracture of the patient and perform the reduction operation by controlling the driving of the moving platform of the cylinder box car 400.
Although a number of exemplary embodiments have been disclosed, those skilled in the art will appreciate that various changes and modifications can be made, and components that perform the same function can be substituted appropriately without departing from the spirit and scope of the invention. It should be noted that features described with reference to one drawing may be combined with features of other drawings, even if not explicitly mentioned.
Claims (13)
1. An orthopaedics robot which is matched with an operation bed for use comprises a butt joint part (100), a far-end platform (200), a near-end platform (300) and a control cylinder box car (400) which are connected in sequence;
the control cylinder box car (400) comprises a motion platform (420) with six degrees of freedom, a control box (440) controlling the motion platform (420), and a connection post (460) connected to the proximal platform (300) at a distal side, the connection post (460) being capable of adjusting the height of the proximal platform (300);
the proximal platform (300) includes a side plate assembly forming a slip fit to adjust the distance between the proximal platform (300) and the control cylinder box car (400);
the distal platform (200) comprises a rotating slide assembly by which the distal platform (200) is rotatable in a horizontal plane relative to the proximal platform (300);
the docking piece (100) comprises:
the butt joint seat (120) comprises a first butt joint channel and a second butt joint channel at the front side and the rear side respectively; the operating table is provided with a side bar which can enter the second butt joint channel;
a first side rail (140) rigidly mountable to the distal platform (200), the first side rail (140) being accessible to the first docking channel;
-a first fastener (160) for fastening the first side rail (140) to the docking station (120);
a second fastener (180) for fastening the side bar of the operating table to the docking station (120).
2. The robot of claim 1, wherein
The docking station (120) is C-shaped in cross section at the first docking channel and the second docking channel.
3. The robot of claim 2, wherein the distal platform (200) comprises:
a body plate (220), the rotary slide rail assembly being located on the underside of the body plate (220);
butt fitting mounting parts (225) located at left and right sides of the main body plate (220), the butt fitting (100) being mounted on the butt fitting mounting parts (225);
wherein the rotary slide assembly comprises an arcuate guide rail (240) and a rail seat (260) having an arcuate track; the arcuate guide rail (240) is mounted to the body plate (220), and the rail mount (260) is rigidly connected to the proximal platform (300).
4. A robot as claimed in claim 3, wherein
The first side rail (140) of the dock (100) includes a mounting post (145), the dock mounting portion (225) of the distal platform (200) corresponding to the mounting post (145).
5. The robot of claim 4, wherein the distal platform (200) further comprises:
-a rail mount (270), the rail mount (270) being rigidly connected to the rail mount (260) by a third fastener (275) and to the proximal platform (300) by a fourth fastener (277).
6. The robot of claim 4 wherein
A perineal post (280) having a perineal flap (285) is mounted on the distal platform (200).
7. The robot of claim 1, wherein
The side plate assembly of the proximal platform (300) includes: a slide rail (320), a connecting plate (340) and a second side rail (360) stacked together;
wherein the slide rail (320) is slidable in a proximal-distal direction relative to the connection plate (340); the second side rail (360) is rigidly connected to the connecting plate (340), the second side rail (360) having at least one accessory mounting portion.
8. The robot of claim 7 wherein
The skid rail (320) of the proximal platform (300) comprises a first connection (325) for connecting to the control cylinder box car (400); the connection plate (340) of the proximal platform (300) comprises a second connection (345) for connecting to the distal platform (200).
9. The robot of claim 8 wherein
The connection column (460) of the control cylinder box car (400) comprises a height-adjusting column (462) and a connection block (464), the height of the height-adjusting column (462) is adjustable, and the connection block (464) is detachably connected to the slide rail (320) of the proximal platform (300).
10. The robot of claim 9, wherein
The elevation column (462) comprises a rotatable handle (4621) at the top, a rotatable screw (4623) driven by the handle (4621), and a nut rod (4624) surrounding the screw (4623) and forming a screw-fit with the screw (4623), the nut rod (4624) being connected to the bottom of the elevation column (462).
11. The robot of claim 10 wherein
The screw (4623) is hollow and a rotatable spindle (4625) is located within the hollow screw (4623).
12. The robot of claim 11 wherein
The elevation column (462) further comprises an elevation column (4626) connected to the handle (4621) and surrounding the nut rod (4624), the elevation column (4626) being elevated when the handle (4621) is turned.
13. The robot of claim 1, further comprising
A support plate (500) mounted on the control cylinder box car (400) to support a patient body part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711113196.5A CN107811797B (en) | 2017-11-10 | 2017-11-10 | Orthopedics robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711113196.5A CN107811797B (en) | 2017-11-10 | 2017-11-10 | Orthopedics robot |
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| Publication Number | Publication Date |
|---|---|
| CN107811797A CN107811797A (en) | 2018-03-20 |
| CN107811797B true CN107811797B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711113196.5A Active CN107811797B (en) | 2017-11-10 | 2017-11-10 | Orthopedics robot |
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| CN (1) | CN107811797B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019090694A1 (en) * | 2017-11-10 | 2019-05-16 | 唐佩福 | Orthopedic surgical robot |
| CN111202651B (en) * | 2020-01-20 | 2022-01-25 | 武汉联影智融医疗科技有限公司 | Operation auxiliary robot system, supporting unlocking mechanism and unlocking method thereof |
| CN112716603B (en) * | 2021-01-19 | 2021-11-26 | 威海威高骨科手术机器人有限公司 | Orthopedics positioning robot that resets |
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| CN102697543A (en) * | 2012-06-11 | 2012-10-03 | 中国人民解放军总医院 | Long bone resetting robot in series-parallel connection |
| CN104783900A (en) * | 2015-04-03 | 2015-07-22 | 中国科学院深圳先进技术研究院 | Follow-up type nasal endoscope operation auxiliary robot |
| CN105434048A (en) * | 2016-01-25 | 2016-03-30 | 杭州三坛医疗科技有限公司 | Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device |
| CN205251686U (en) * | 2015-12-28 | 2016-05-25 | 苏州点合医疗科技有限公司 | Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet |
| CN106361441A (en) * | 2016-09-19 | 2017-02-01 | 北京瑞盈健康科技有限公司 | Master-slave mode parallel robot system and method for femoral shaft fracture reduction |
| CN209107951U (en) * | 2017-11-10 | 2019-07-16 | 唐佩福 | Orthopedic robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202012100646U1 (en) * | 2012-02-27 | 2013-06-04 | Kuka Systems Gmbh | robotic assembly |
| US9622827B2 (en) * | 2015-05-15 | 2017-04-18 | Auris Surgical Robotics, Inc. | Surgical robotics system |
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2017
- 2017-11-10 CN CN201711113196.5A patent/CN107811797B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102697543A (en) * | 2012-06-11 | 2012-10-03 | 中国人民解放军总医院 | Long bone resetting robot in series-parallel connection |
| CN104783900A (en) * | 2015-04-03 | 2015-07-22 | 中国科学院深圳先进技术研究院 | Follow-up type nasal endoscope operation auxiliary robot |
| CN205251686U (en) * | 2015-12-28 | 2016-05-25 | 苏州点合医疗科技有限公司 | Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet |
| CN105434048A (en) * | 2016-01-25 | 2016-03-30 | 杭州三坛医疗科技有限公司 | Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device |
| CN106361441A (en) * | 2016-09-19 | 2017-02-01 | 北京瑞盈健康科技有限公司 | Master-slave mode parallel robot system and method for femoral shaft fracture reduction |
| CN209107951U (en) * | 2017-11-10 | 2019-07-16 | 唐佩福 | Orthopedic robot |
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| CN107811797A (en) | 2018-03-20 |
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Effective date of registration: 20200107 Address after: 100036 Fuxing Road 28, Beijing, Haidian District Applicant after: CHINESE PLA GENERAL Hospital Address before: 100853 No.1 orthopedic ward, PLA General Hospital, No.28 Fuxing Road, Haidian District, Beijing Applicant before: Tang Peifu |
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