CN108567486A - A kind of human machine people for the treatment of of intracranial aneurysm and its operating method - Google Patents
A kind of human machine people for the treatment of of intracranial aneurysm and its operating method Download PDFInfo
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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
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
- A61B17/12027—Type of occlusion
- A61B17/12031—Type of occlusion complete occlusion
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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
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
- A61B17/12099—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder
- A61B17/12109—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder in a blood vessel
- A61B17/12113—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder in a blood vessel within an aneurysm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
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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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
- A61B2017/1205—Introduction devices
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- General Health & Medical Sciences (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Animal Behavior & Ethology (AREA)
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- Reproductive Health (AREA)
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- Optics & Photonics (AREA)
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Abstract
The present invention relates to a kind of human machine people for the treatment of of intracranial aneurysm, the device is that there are one shape shells, proximal end is connected in transport system, enclosure interior has developing ring, power plant, transmission shaft, feedback device, therapeutic device, detection device and treatment window, enclosure interior proximal end is designed with treatment window, it treats and connects therapeutic device on rear side of window, therapeutic device both sides are equipped with detection device, it is connected with feedback device on rear side of therapeutic device, pass through transmission shaft connecting power device on rear side of feedback device, developing ring is housed on rear side of power plant, the connection of developing ring proximal end has the transport system of separable function；Control system is also devised on the outside of the device, control system is connected by the harness in transport system.Advantage is that have the characteristics that safe and reliable, positioning accuracy is high, surgical procedure is simple.
Description
Technical field
The present invention relates to a kind of for preventing the artificial of rupture of intracranial aneurysm and ruptured aneurysm of medical instruments field
Robot and method；Specifically the present invention is that a have automatic adapt to and intelligentized human machine people, the robot are logical
Intelligent and adaptive ability is crossed, takes machinery, drug, biology, cell, physics, chemistry etc. single or integration scenario, for dynamic
Arteries and veins tumor lesion region is treated, and is ruptured again with the rupture of prevention of arterial tumor or aneurysm（Referred to as " Diagnosis of Aneurysm and treatment "）.
Background technology
Cranial vascular disease is current one of the major disease for threatening human life and health, and the method for interventional treatment has become
Treat the standard method of the disease.Blood vessel embolism instrument is widely used in the diseases such as treatment cerebral artery vessel tumor, embolism
Property instrument has Detachable balloons and detachable coil.The clinical handling difference of Detachable balloons interventional technique, and it is difficult to fit
Aneurysmal irregular shape is answered, exists and bursts aneurysmal danger, is existed simultaneously and is dissociated lesion locations and dystopy bolt occurs
The risk of plug, therefore clinical application is less.
Detachable coil be all by radip-opaque, with memory performance and with good bio-compatible
The special material of property is fabricated.When treating aneurysmal disease, the spring ring of transport system distal end can pass through access product（Such as
Microtubular）Inner cavity push to target area.When the position of embolism spring ring is after X- light radiographies determine, you can by it from delivery system
It is freed on system.Embolism spring ring to free technology particularly important.Although Coil embolization technology has mutually been treated as in clinical application
It is ripe, but there are still some technological difficulties.Difficult point includes：Free technology, location technology, positioning accuracy.
For how to free embolism spring ring, people develop a variety of different methods and techniques.First, low tension is utilized
Stream achievees the purpose that electrolysis is de- by electrolysis principle, and this method electrolysis time is long, and patient does not feel well to electric current；Secondly,
Achieve the purpose that free embolism spring ring using resistance heating principle, this method same time is longer, and has low tension circulation
Cross human body；Again, embolism spring ring is freed using hydraulic pressure, hydraulic pressure causes the risk of aneurysm rupture big in this method；Finally,
Using various mechanical structures, by manual operation, realization is freed, and existing machinery ways of relief there are problems that, such as defeated
It send system to stretch out and long easily causes that aneurysm rupture, the operating time is long and operation is difficult to realize.
There is certain aspect disadvantage in above-mentioned therapeutic modality, it is therefore desirable to develop that a kind of safe and reliable, operating time is short, expense
With the easy to operate therapeutic device of low, doctor, and the danger without bleeding.
There is a kind of capsule gastroscope to be suitable for the diagnosing and treating of Gastric Diseases by Spraying on the market at present, and a kind of intracranial aneurysm is controlled
The human machine people for the treatment of is treated for the lesion region of intracranial aneurysm, is not both first in the same diseased region
Domain, capsule gastroscope are applied to stomach, and human machine people is to be applied to brain；Secondly the two enters the mode difference of human body, capsule
Gastroscope is the path carry out activity by the gravity and human body alimentary canal system of itself, does not connect transport system, and human machine
People itself has transport system, and human machine people is sent to brain by way of intervention, in consideration of it, capsule gastroscope is not
It can be transmitted directly to brain, and human machine people has oneself very thin and special process transport system, can pass through intervention
Mode be delivered to that brain neuroblastoma is intravascular, the encephalic of Jia Qi biotechnologies company can be electrolysed spring ring and list at present
More than 10 years had and the instrument of implantation material is sent into aneurysm site, the Transmission system for now passing through optimize technique design has more
Efficient transmission performance and safety.
Invention content
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of safe and reliable, operating time is short, expense is low,
The easy to operate treatment of intracranial aneurysm device-human machine people of doctor and its operating method.
The present invention is achieved by the following technical solutions：
A kind of human machine people for the treatment of of intracranial aneurysm, the device are that there are one shape shells, and proximal end is connected to transport system
On, enclosure interior has developing ring, power plant, transmission shaft, feedback device, therapeutic device, detection device and treatment window, shell
Inner proximal is designed with treatment window, and therapeutic device is connected on rear side for the treatment of window, and therapeutic device both sides are equipped with detection device, treatment
It is connected with feedback device on rear side of device, is equipped with aobvious by transmission shaft connecting power device, power plant rear side on rear side of feedback device
Shadow ring, developing ring proximal end connect separable transport system；It is also devised with control system on the outside of the device, control system passes through defeated
The harness in system is sent to connect.External control system, which is MEMS (Micro-Electro-Mechanical Systems), is
The abbreviation of MEMS is the general name of product and technology based on micro-processing technology.Traditional medical is transformed using MEMS technology
Instrument or the innovative medical instrument of exploitation, can be formed " it is small, light-weight, low energy consumption, response is fast, precision is high, flux is big, at
This is low " etc. advantages, the developing direction phase one with modern medical equipment " minimally invasive, disposable, intelligent, integrated and networking "
It causes.The design of reference capsules gastroscope may be used in power plant, feedback device, detection device, at present list marketing, such as with
The capsule endoscope of the M2A capsule endoscopes of Se Lie GI Company Inc., Chongqing Kingsoft science and technology group is named as " OMOM ".
Transport system is to include the 304V stainless steel hypotubes of two ultra-fine seal wires.Power plant is carried by the external world by seal wire
For continued power or the power plant of itself.
The shape shell is orbicule, and the shape of orbicule is to be not limited to circular, ellipse or cambered protrusion
Sphere, it is PTFE coatings or hydrophilic coating etc., supplier that, which there is a kind of coating on surface,：
https://meritoem.com/wp-content/uploads/2017/04/OEMcoatcap.V2.0.pdf 。
The inside of the shell is integrated injection moulding or ultrasonic bonding ensures the seal chamber that the leakproofness at even interface is formed
Body.
Wherein developing ring develops under X-ray or DSA, helps the position of doctor positioning robot；Detection device can automatic seeking
Aneurysm and optimal treatment position and the signal of identification aneurysm size is looked for be given to feedback device；Power plant is by transmission shaft
Feedback device provides power；Feedback device provides treatment specific implementation signal and effect to therapeutic device, and it is right that therapeutic device passes through
Medium or energy are given to aneurysm by the therapy answered by treating window.Developing ring is that a kind of platinum-tungsten alloys or platinoiridita close
Gold can develop under X-ray, and u s company Johnson Matthey can be provided.
Actually there are one layer of one-way membrane or eyeglass before the treatment window.
Containing treatment medium or energy inside the therapeutic device, therapeutic device will treat medium or energy by treating window
Act on aneurysm or the aneurysm of rupture.
Physical therapy modalities are designed in the therapeutic device, are a kind of laser generators.
The treatment medium or energy are UV glue, epoxy glue, photosensitive resin, particulate metal（Nitinol etc.）, medical material,
One kind of cell material, biomaterial, high molecular material, hydrogel.
Operating method：
1, human machine people by transport system by haemostatic valve, along access product（Such as microtubular）Path enter human body, sent
To target area.
2, when reaching target area, transport system and human machine people's separation withdraw from transport system, human machine people is to dynamic
Arteries and veins tumor lesion region is treated（The transport system robot that can also directly in succession is treated）.
3, treatment is finished access product（Such as microtubular）It send to human machine people position, human machine people understands automatic identification
Access product（Such as microtubular）Position, automatically into access product（Such as microtubular）, then withdraw access product（Such as microtubular）,
Human machine people is carried over together, completes therapeutic process.
The present invention has the characteristics that safe and reliable, positioning accuracy is high, surgical procedure is simple.
Description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Specific implementation mode
With reference to attached drawing 1, transport system of the invention connects separable human machine people's composition, and human machine people 1 includes
Developing ring 17, power plant 16, transmission shaft 15, feedback device 14, therapeutic device 13（Containing reservoir）, detection device 12 and treatment
Window 11, transport system 18, control system 19, the device are that there are one shape shells, and proximal end is connected to separable function
In transport system 18, enclosure interior has developing ring 17, power plant 16, transmission shaft 15, feedback device 14, therapeutic device 13, visits
Device 12 and treatment window 11 are surveyed, enclosure interior proximal end is designed with treatment window 11, and 11 rear side for the treatment of window connects therapeutic device
13,13 both sides of therapeutic device are equipped with detection device 12, and 13 rear side of therapeutic device is connected with feedback device 14,14 rear side of feedback device
By 15 connecting power device 16 of transmission shaft, 16 rear side of power plant is equipped with developing ring 17, and the connection of 17 proximal end of developing ring is separable
Transport system 118；Control system 19 is also devised on the outside of the device, control system 19 is connected by the harness in transport system 18
It connects.
Its transport system can be a kind of metal or high molecular material, the inside containing it is ultra-fine can conductance isolation electric wire, this is absolutely
Edge electric wire is not limited to traditional gold, silver, copper or copper covered steel wire, can have certain power conductibility while insulation, can be by cranium
Internal aneurysm treatment human machine people passes through access product（Such as microtubular）It is delivered to aneurysm lesion region.Its power plant by
The external world provides electric energy by transport system, itself can also store certain electric energy, ensures artificial robot separation delivery system
The power of certain time can be maintained after system；The developing ring in the artificial robot, is noble metal material, may be implemented in X
Develop under light or under DSA, helps doctor that can accurately observe the accurate location of robot；The rotation of the artificial robot passes
Rotating function may be implemented in moving axis, is rotated under the action of to induction signal and is given to feedback device signal；The feedback device can be with
Movement in a certain range can push or trigger therapeutic device；Contain treatment medium or energy inside the triggering therapeutic device
Amount, therapeutic device will treat medium or energy and act on aneurysm or the aneurysm of rupture by treating window；The therapeutic window
Actually there is one layer of one-way membrane before mouthful（Biomembrane）Or eyeglass, treatment medium or energy release are determined by detection device
Aneurysm site, then the intelligentized adjustment therapeutic dose of human machine people treats medium or energy by series reaction,
Moment has repaired tumor hole, realizes therapeutic purposes.
Embodiment 1
Treatment of intracranial aneurysm robot can be passed through access product（Such as microtubular）It is delivered near aneurysm, passes through conveying
The separable system of system discharges robot in aneurysm attachment, and then robot is automatically positioned aneurysm, and finds best
Treatment position is acted on the treatment liquid having previously been stored in reservoir by treating window by preloading treatment medium
Inside aneurysm, aneurysmal embolism is realized, reach therapeutic purposes by way of drug.Liquid can be that one kind is urged into blood
The drugs such as the fibrin ferment of liquid solidification, power plant（Micromotor pushes）Reservoir is squeezed, medicine company is squeezed away, treats window
It is a kind of one-way membrane, the similar beverage opening having is the same, and sniffing or squeeze bottle could come out.
Embodiment 2
Treatment of intracranial aneurysm robot can be passed through access product（Such as microtubular）It is delivered near aneurysm, passes through conveying
The separable system of system discharges robot in aneurysm attachment, and then robot is automatically positioned aneurysm, and finds best
Treatment position, by preloading treatment medium, by robot body biomaterial or high molecular material pass through and treat window and make
Inside aneurysm, which can be close to aneurysm wall, and knurl oneself atrophy over time is closely knit integral, passes through life
Object material, high molecular material mode reach therapeutic purposes.Nearest American scientist has invented a kind of glue without suture
Water, Wyss research institutes of Harvard University are prepared for this novel double-layer water of Tough Adhesives using this slug as prototype
Gel.This hydrogel extraction simulates double-deck alginates-polyacrylamide matrix extended configuration in slug body.It borrows simultaneously
Reflect its electrostatic interaction, covalent bond, Physical penetration effect, it is ensured that the intensity of adhesion.
Embodiment 3
Treatment of intracranial aneurysm robot can be passed through access product（Such as microtubular）It is delivered near aneurysm, then machine
People is automatically positioned aneurysm, and finds optimal treatment position, and by the therapeutic device in robot, which has laser
Device can carry out repairing welding to knurl, reinforce the fastness of knurl, then can automatically be repaiied rent if it is the knurl of rupture
It mends complete while reinforcing knurl impact resistance.By way of physics（Such as laser welding）To reach therapeutic purposes.Science
The ready-made work(of family tests a kind of welding material containing gold nanometer rods, it can be used to the operation wound of laser welding patient
Mouthful, to substitute traditional needlework suturing skill.The technology is referred to as " laser tissue welds (LTW) ", american chemical research institute
Scientist want to further improve laser tissue welding technique, generate more solid wound suture.Kao Shaer-Lei Ge
Determine that it includes gold nanometer rods using a kind of solder being called plasma nano material with colleague.
Embodiment 4
Treatment of intracranial aneurysm robot can be passed through access product（Such as microtubular）It is delivered near aneurysm, passes through conveying
The separable system of system discharges robot in aneurysm attachment, and then robot is automatically positioned aneurysm, and finds best
Treatment position, by preloading treatment medium, the gel that will be had previously been stored in reservoir（UV glue, epoxy glue, photosensitive resin etc.
Material）It is acted on inside aneurysm by treating window, realizes aneurysmal embolism, reach treatment mesh by way of chemistry
's.
Embodiment 5
Treatment of intracranial aneurysm robot can be passed through access product（Such as microtubular）It is delivered near aneurysm, passes through conveying
The separable system of system discharges robot in aneurysm attachment, and then robot is automatically positioned aneurysm, and finds best
Treatment position, by preloading treatment medium, therapeutic device can be discharged the medium for being stored in reservoir in the form of cotton candy
Inside aneurysm, to substantially reduce impact of the blood to aneurysm wall, then knurl oneself atrophy is closely knit integral, passes through
The mode of deformable expanding material reaches therapeutic purposes.It is direct by what is woven using the special memory effect of Nitinol
It is compressed in the inside, is opened in phase transformation temperature points automatic expansion after release, shape as cotton candy is formed；Bibliography is shown in
The 5th article to the 8th article of www.sohu.com/a/195930277_467842.
The present invention has adaptive ability and intelligence；The robot has identification " potential aneurysm " or " aneurysm
Rupture "（Abbreviation aneurysm lesion region）The ability of position；The robot can take machine by intelligent and adaptive ability
Tool, drug, biology, cell, physics, chemistry etc. be single or integration scenario, is treated for aneurysm lesion region, to prevent
Aneurysm rupture or aneurysm rupture again；The robot, which has smooth small structure, effectively to pass in and out intracranial vessel and to blood
It manages not damaged.
Claims (10)
1. a kind of human machine people for the treatment of of intracranial aneurysm, which is characterized in that the device is there are one shape shell, and proximal end connects
Be connected in transport system, enclosure interior have developing ring, power plant, transmission shaft, feedback device, therapeutic device, detection device and
Window is treated, enclosure interior proximal end is designed with treatment window, connects therapeutic device on rear side for the treatment of window, therapeutic device both sides are equipped with
Detection device, therapeutic device rear side are connected with feedback device, pass through transmission shaft connecting power device, power dress on rear side of feedback device
It postpones side and developing ring is housed, developing ring proximal end is connected to in separable transport system；It is also devised with control on the outside of the device
System processed, control system are connected by the harness in transport system.
2. a kind of human machine people for the treatment of of intracranial aneurysm according to claim 1, which is characterized in that the shape shell
For orbicule, the shape of orbicule is to be not limited to circular, ellipse or cambered protrusion sphere, surface to have a kind of coating
It is PTFE coatings or hydrophilic coating.
3. a kind of human machine people for the treatment of of intracranial aneurysm according to claim 1, which is characterized in that the shell it is interior
Portion is integrated injection moulding or ultrasonic bonding ensures the seal cavity that the leakproofness at even interface is formed.
4. a kind of human machine people for the treatment of of intracranial aneurysm according to claim 1, which is characterized in that wherein developing ring
Develop under X-ray or DSA, helps the position of doctor positioning robot；Detection device can Automatic-searching aneurysm and optimal treatment
The signal of position and identification aneurysm size is given to feedback device；Power plant provides power by transmission shaft for feedback device；
Feedback device provides treatment specific implementation signal and effect to therapeutic device, and therapeutic device is by corresponding therapy by medium
Or energy is given to aneurysm by treating window.
5. a kind of human machine people for the treatment of of intracranial aneurysm according to claim 1, which is characterized in that the treatment window
Actually there are one layer of one-way membrane or eyeglass in front.
6. a kind of human machine people for the treatment of of intracranial aneurysm according to claim 1, which is characterized in that the therapeutic device
Treatment medium or energy are contained in the inside, and therapeutic device will treat medium or energy and act on aneurysm by treatment window or break
The aneurysm split.
7. a kind of human machine people for the treatment of of intracranial aneurysm according to claim 1, which is characterized in that the therapeutic device
Physical therapy modalities are inside designed with, are a kind of laser generators.
8. a kind of human machine people for the treatment of of intracranial aneurysm according to claim 6, which is characterized in that the treatment medium
Or energy be UV glue, epoxy glue, photosensitive resin, particulate metal, medical material, cell material, biomaterial, high molecular material,
One kind of hydrogel.
9. a kind of operating method for the treatment of of intracranial aneurysm robot, it is characterised in that：Steps are as follows for the operating method：
1）Human machine people, by haemostatic valve, is entered human body along the path of access product, is sent to target area by transport system；
2）When reaching target area, transport system and human machine people's separation withdraw from transport system, human machine people is to aneurysm
Lesion region is treated, and the transport system robot that can also directly in succession is treated；
3）Treatment, which finishes, send access product to human machine people position, and human machine people understands automatic identification access product space,
Automatically into access product, access product is then withdrawn, human machine people is carried over together, completes therapeutic process.
10. the operating method of a kind for the treatment of of intracranial aneurysm robot according to claim 9, it is characterized in that described is logical
Road product is microtubular.
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| CN201810486226.5A CN108567486A (en) | 2018-05-21 | 2018-05-21 | A kind of human machine people for the treatment of of intracranial aneurysm and its operating method |
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| CN201810486226.5A CN108567486A (en) | 2018-05-21 | 2018-05-21 | A kind of human machine people for the treatment of of intracranial aneurysm and its operating method |
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Cited By (1)
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| WO2024108481A1 (en) * | 2022-11-24 | 2024-05-30 | 深圳先进技术研究院 | Nanorobot and control method therefor |
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| US20090062639A1 (en) * | 2007-08-27 | 2009-03-05 | William Harrison Zurn | Automated vessel repair system, devices and methods |
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| CN106214205A (en) * | 2016-07-26 | 2016-12-14 | 加奇生物科技（上海）有限公司苏州分公司 | Arteries induction system |
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Application publication date: 20180925 |