CN110353807B - Traction device and operating device with same - Google Patents
Traction device and operating device with same Download PDFInfo
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- CN110353807B CN110353807B CN201810316149.9A CN201810316149A CN110353807B CN 110353807 B CN110353807 B CN 110353807B CN 201810316149 A CN201810316149 A CN 201810316149A CN 110353807 B CN110353807 B CN 110353807B
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- traction
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- transmission belt
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
Abstract
The invention provides a traction device and a control device with the traction device, wherein the traction device comprises a base plate, a driving device, a first speed reduction roller, a primary transmission belt and a secondary transmission belt, a first sliding groove is formed in the base plate, the first speed reduction roller can be arranged on the base plate in a reciprocating motion mode along the first sliding groove, the first end of the primary transmission belt is connected with the driving device, the second end of the primary transmission belt is fixed on the base plate after bypassing the first speed reduction roller, the first end of the secondary transmission belt is connected with the first speed reduction roller, and the second end of the secondary transmission belt extends downstream. The traction device can accurately and feedback control the traction distance, thereby realizing the size miniaturization and the action complication of the action execution end.
Description
Technical Field
The invention relates to the field of working instruments, and can be applied to medical instruments or working robots.
Background
With the development of the application of robotics, work robots can replace humans to perform complex motions in many situations. And in the occasion of needing to finish fine movement, higher requirements are put forward on the size and the execution precision of the execution end of the operation robot. The traction device formed by the cable can remotely control the action of the action execution end, so that the size of the component of the action execution end can be miniaturized, and the technical means is widely applied to the operation instrument of the minimally invasive surgery.
In such a solution, the accuracy control of the traction device will directly affect the accuracy of the action performing part of the action performing end. The traction device formed by the cable is usually wound and unwound by a motor driving cable, one end of the cable is connected with the motor, the other end of the cable extends to the action execution end and is connected with the downstream action execution component, and the winding and unwinding of the cable drives the action of the action execution component. In order to achieve the fine motion, the traction speed of the output end of the motor is generally required to be reduced and then transmitted to the motion executing component. How to rationally arrange the draw gear for can accurate control driven speed and displacement in limited space, and effectively transmit drive power to downstream action executive component is the technical problem who awaits solution urgently.
Disclosure of Invention
The present invention has been made in view of the above-described state of the art, and provides a traction device capable of controlling a traction distance finely and in a feedback manner, and a robot having the traction device of the present invention can realize miniaturization of a motion-executing end and complication of motion.
The utility model provides a traction device, its includes base plate, drive arrangement, first speed reduction roller, one-level drive belt and secondary drive belt, be equipped with first sliding tray on the base plate, first speed reduction roller can be followed first sliding tray reciprocating motion set up in on the base plate, wherein, the first end of one-level drive belt with drive arrangement links to each other, the second end of one-level drive belt is walked around be fixed in behind the first speed reduction roller the base plate, the first end of secondary drive belt with first speed reduction roller links to each other, the second end of secondary drive belt extends downstream.
In at least one embodiment, still include one-level first switching-over roller, one-level second switching-over roller and the first switching-over roller of second grade, the second end of one-level drive belt is walked around in proper order the first switching-over roller of one-level, first speed reduction roller after be fixed in the second switching-over roller of one-level, the second end of second grade drive belt is first walked around the first switching-over roller of second grade backward downstream extension.
In at least one embodiment, a section of the primary belt between the primary first reverse roller and the first reduction roller constitutes a primary first traction section, a section of the primary belt between the primary second reverse roller and the first reduction roller constitutes a primary second traction section, a section of the secondary belt between the secondary first reverse roller and the first reduction roller constitutes a secondary first traction section, and the primary first traction section, the primary second traction section, and the secondary first traction section are parallel to each other.
In at least one embodiment, the section of the primary drive belt between the primary first reversing roller and the first decelerating roller constitutes a primary first traction segment, the section of the primary drive belt between the primary second reversing roller and the first decelerating roller constitutes a primary second traction segment, the section of the secondary drive belt between the secondary first reversing roller and the first decelerating roller constitutes a secondary first traction segment, and the secondary first traction segment is not parallel to the primary first traction segment and/or the secondary first traction segment is not parallel to the primary second traction segment.
In at least one embodiment, the base plate is further provided with a second sliding groove, the second decelerating roller can be arranged on the base plate in a reciprocating mode along the second sliding groove, the second end of the secondary driving belt is fixed on the base plate after bypassing the second decelerating roller, the first end of the tertiary driving belt is connected with the second decelerating roller, and the second end of the tertiary driving belt extends downstream.
In at least one embodiment, the drive device further comprises a tensioning device, which comprises at least one tensioning roller, which is arranged on the base plate in a position-adjustable manner relative to the base plate, the primary drive belt and/or the secondary drive belt bypassing the tensioning roller.
In at least one embodiment, a sensor is included for measuring the displacement of a point on either belt.
An operating device comprises at least one group of traction devices and at least one action member, wherein the traction devices are traction devices according to the invention, and the tail end of a transmission belt extending to the downstream of each group of traction devices is connected with one action member to transmit traction.
In at least one embodiment, the traction device has a plurality of groups, the action member has a plurality of, at least two of the action members can be movably connected with each other relatively to form a linkage action member, each of the linkage action members can be separately dragged by one group of the traction device to act, and at least one of the linkage action members can follow the action of another one of the linkage action members.
In at least one embodiment, the traction device has a plurality of sets of the actuating members, at least one of the actuating members constitutes a claw portion of the manipulator, at least one of the actuating members constitutes a wrist portion of the manipulator, and the actuating member of the claw portion is disposed on the actuating member of the wrist portion and can move along with the actuating member of the wrist portion.
The invention can achieve one or more of the following technical effects:
1. the traction speed output by the motor is transmitted to a downstream action execution end through a cable at a reduction ratio of at least 2:1, so that the control precision of the traction distance is improved;
2. the speed reduction ratio of the traction device is flexibly adjusted through different wiring modes (the cable selectively bypasses a plurality of pulleys in the pulley block or adjusts the positions among the pulleys);
3. by increasing the length of the cable, the action execution end can be operated remotely;
4. the traction displacement of the traction device is dynamically adjusted through feedback control on the cable winding and unwinding length, and the system error is reduced;
5. for a manipulator with a plurality of moving components at an action execution end, a plurality of sets of traction devices can be arranged, and each set of traction device correspondingly controls one moving component; and a plurality of moving members can be connected in series/parallel, thereby providing traction of complex actions for the action execution end.
Drawings
Fig. 1 is a schematic perspective view of a manipulator according to an embodiment of the present invention, in which a part of an operation executing component of an operation executing end is omitted.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a schematic view of a first embodiment of a pulling device according to the invention (one set of pulling devices belonging to the robot arm shown in fig. 1).
Fig. 5 is a schematic view of a second embodiment of a towing installation according to the invention.
Fig. 6 is a schematic view of a third embodiment of a towing installation according to the invention.
Description of the reference numerals
1 wrist sleeve
2 end cable
3 base plate
4 electric machine
401 motor output terminal
500 speed reduction pulley
501 central shaft of speed-reducing pulley
502 speed reduction pulley wheel disc
510 primary speed reducing pulley
520 two-stage speed reducing pulley
601. 611 first reversing pulley
602. 612 primary second diverting pulley
701 two-stage first reversing pulley
702 secondary second diverting pulley
711 three-stage first reversing pulley
712 three-stage second diverting pulley
800 tensioning pulley
Sliding groove of 901 reduction pulley
Sliding groove of 911 first-level speed-reducing pulley
921 second stage reduction pulley sliding groove
902 tension pulley sliding groove
1001. 1011 first-level cable
1002 two-stage cable
1003 three-level cable
Alpha included angle between first traction section of first level and first traction section of second level
Beta first-stage second traction section and second-stage first traction section
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the detailed description is intended only to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive or to limit the scope of the invention.
Referring to fig. 1-6, the main structure and implementation of the present invention is described below.
Fig. 1-3 show a robot having six degrees of freedom, each controlled by a set of tractors, according to the present invention. The operation executing end of the robot is provided at the overhanging end of the wrist sleeve 1 (not shown in the figure, other operation executing components except the wrist sleeve 1), and the six degrees of freedom are respectively one degree of freedom for rotating around the axial direction of the wrist sleeve 1 and five degrees of freedom for the operation executing components provided at the end of the wrist sleeve 1. Each set of traction devices is driven by a motor 4, cables of the traction devices extend to the downstream after bypassing pulleys arranged on a base plate 3 to form 'end cables' (correspondingly, the cables of each set of traction devices close to the motor end are defined as 'front-end cables'), wherein the end cables of one set of traction devices drive the wrist sleeve 1 to rotate axially (the end cables are not shown in the figure), and the end cables 2 of the other five sets of traction devices extend out of the interior of the wrist sleeve 1 to be connected with corresponding five action execution components.
The main structure of the traction device of the present invention will be described below by taking one of the traction devices of the present embodiment as an example.
First embodiment of a traction device
Referring to fig. 4, the first embodiment of the traction apparatus includes a two-stage transmission constituted by two sets of cables, and is capable of transmitting the output speed of the motor to the end cable at a reduction ratio of 2:1 (hereinafter, this reduction ratio is simply referred to as the reduction ratio of the traction apparatus). One end of the primary cable 1001 is connected with the output end 401 of the motor, and the other end of the primary cable 1001 sequentially passes around the primary first diverting pulley 601, the speed reducing pulley 500 and the primary second diverting pulley 602 and is finally fixed on a wheel disc of the primary second diverting pulley 602. The primary first diverting pulley 601 and the primary second diverting pulley 602 are fixed to the base plate 3 through respective center shafts; the central axis 501 of the reduction pulley 500 is fitted in a reduction pulley sliding groove 901 formed in the base plate 3, which allows the reduction pulley 500 to reciprocate along the reduction pulley sliding groove 901 in the form of a movable pulley, and the reduction pulley wheel 502 to rotate around the reduction pulley central axis 501 (although this is not essential, i.e., the reduction pulley wheel 502 and the reduction pulley central axis 501 may be fixed relative to each other). When the motor is started to drive the motor output end 401 to move, the primary cable 1001 is contracted, contracted or extended (hereinafter referred to as "contracted/expanded") along with the contraction, thereby driving the reduction pulley 500 to reciprocate along the reduction pulley sliding groove 901. One end of the secondary cable 1002 is connected with the central shaft 501 of the speed-reducing pulley, and the speed-reducing pulley 500 drives the secondary cable 1002 to be wound and unwound in the reciprocating process. In this embodiment, a section of the primary cable 1001 between the primary first diverting pulley 601 and the speed-reducing pulley 500 forms a primary first traction section, a section of the primary cable 1001 between the primary second diverting pulley 602 and the speed-reducing pulley 500 forms a primary second traction section, a section of the secondary cable 1002 between the secondary first diverting pulley 701 and the speed-reducing pulley 500 forms a secondary first traction section, and the primary first traction section, the primary second traction section, and the secondary first traction section are parallel to each other, so that the secondary cable 1002 is wound and unwound for one unit length every two unit lengths of the primary cable 1001, and the output speed of the motor is transmitted to the end cable at a speed reduction ratio of 2: 1.
In this embodiment, the secondary cable 1002 that is routed around the secondary first diverting pulley 701 further extends downstream around the tension pulley 800 and the secondary second diverting pulley 702. The tension pulley 800 is fixed in the tension pulley sliding groove 902 by its central axis, and the tension degree of the secondary cable 1002 can be adjusted by adjusting the position of the tension pulley 800 in the tension pulley sliding groove 902 before the device is started.
Second embodiment of a draft gear
In the first embodiment of the traction device, the output speed of the motor is transmitted to the tail end cable according to the reduction ratio of 2:1 through the two-stage transmission device consisting of two sets of cables; according to actual needs, a multi-stage transmission can be arranged in a similar mode, and the output speed of the motor is transmitted to the tail end cable according to a larger reduction ratio. The second embodiment of the traction device provides a three-stage transmission device consisting of three sets of cables, and the output speed of the motor can be transmitted to the tail end cable according to the reduction ratio of 4: 1.
A second embodiment of the traction device will be described with reference to fig. 5. The same or similar components as those of the first embodiment of the traction device are denoted by the same or similar reference numerals, and detailed description thereof is omitted.
One end of a primary cable 1001 is connected with the output end 401 of the motor, and the other end of the primary cable 1001 sequentially passes around a primary first diverting pulley 601, a primary speed-reducing pulley 510 and a primary second diverting pulley 602 and is finally fixed on a wheel disc of the primary second diverting pulley 602. The center axis of the primary reduction pulley 510 is fitted in a primary reduction pulley sliding groove 911 formed in the base plate 3. When the motor is started to drive the motor output end 401 to move, the primary cable 1001 is wound and unwound, so that the primary speed reduction pulley 510 is driven to reciprocate along the primary speed reduction pulley sliding groove 911. One end of the secondary cable 1002 is connected to the central shaft of the primary reduction pulley 510, and the other end is fixed to the secondary first diverting pulley 701 after passing around the secondary reduction pulley 520. The secondary reduction pulley 520 is fixed to the base plate in a manner similar to the primary reduction pulley 510, and the central shaft of the secondary reduction pulley 520 is fitted into the secondary reduction pulley sliding groove 921 formed in the base plate 3, so that the secondary reduction pulley 520 can reciprocate along the secondary reduction pulley sliding groove 921. The primary reduction pulley 510 drives the secondary cable 1002 to unwind and unwind during the reciprocating motion along the primary reduction pulley sliding groove 911, and further drives the secondary reduction pulley 520 to reciprocate along the secondary reduction pulley sliding groove 921. The central shaft of the second-stage reduction pulley 520 is connected with one end of the third-stage cable 1003, and the other end of the third-stage cable 1003 sequentially passes around the third-stage first diverting pulley 711, the tensioning pulley 800 and the third-stage second diverting pulley 712 and then extends downstream.
In this embodiment, a section of the primary cable 1001 located between the primary first diverting pulley 601 and the primary reduction pulley 510 constitutes a primary first traction section, and a section of the primary cable 1001 located between the primary second diverting pulley 602 and the primary reduction pulley 510 constitutes a primary second traction section; the section of the secondary cable 1002 between the primary reduction pulley 510 and the secondary reduction pulley 520 forms a secondary first traction section, and the section of the secondary cable 1002 between the secondary reduction pulley 520 and the secondary first reverse pulley 701 forms a secondary second traction section; the section of the tertiary cable 1003 between the secondary reduction pulley 520 and the tertiary first diverting pulley 711 constitutes a tertiary first traction segment. The first-stage first traction section, the first-stage second traction section and the second-stage first traction section are parallel to each other; the second-stage first traction section, the second-stage second traction section and the third-stage first traction section are parallel to each other. Therefore, when the primary cable 1001 is wound and unwound by four unit lengths, the secondary cable 1002 is wound and unwound by two unit lengths, and the tertiary cable 1003 is wound and unwound by one unit length, the output speed of the motor is transmitted to the tail end cable according to the reduction ratio of 4: 1.
According to the idea of increasing the number of reduction pulleys in the form of movable pulleys step by step in this embodiment, the present invention can further increase the number of reduction pulleys according to actual needs, thereby realizing a larger reduction ratio.
Third embodiment of a draft gear
The third embodiment of the traction apparatus is a modification of the positional relationship between the reduction pulley 500, the first diverting pulley 601 of the one stage, and the second diverting pulley 602 of the one stage in the first embodiment of the traction apparatus to provide a reduction ratio different from that of the first embodiment of the traction apparatus.
Referring to fig. 6, a section of the primary cable 1011 between the primary first diverting pulley 611 and the reduction pulley 500 constitutes a primary first traction section, a section of the primary cable 1011 between the primary second diverting pulley 612 and the reduction pulley 500 constitutes a primary second traction section, and a section of the secondary cable 1002 between the secondary first diverting pulley 701 and the reduction pulley 500 constitutes a secondary first traction section. The included angle between the first-stage first traction section and the second-stage first traction section is alpha, and the included angle between the first-stage second traction section and the second-stage first traction section is beta. At this time, the primary cable 1011 winds up one unit length for every unit length of (1/cos α +1/cos β), causing the secondary cable 1002 to wind up one unit length, and the output speed of the motor is transmitted to the end cable at a reduction ratio of (1/cos α +1/cos β): 1. As the reduction pulley 500 reciprocates along the reduction pulley sliding groove 901, the sizes of the included angles α and β change. That is, the reduction ratio of the traction apparatus varies nonlinearly according to different displacements of the reduction pulley 500 on the reduction pulley sliding groove 901.
It should be understood that, in the above embodiments, except for the diverting pulleys directly adjacent to the speed-reducing pulley around which the cables of each stage pass (i.e. the cables pass through the speed-reducing pulley and the diverting pulley in turn), the arrangement of the other pulleys does not affect the speed-reducing ratio of the traction device, so the number and the positions of the other pulleys can be changed according to the direction of the cables. In addition, the tensioning pulley can also play a role in changing the direction of the cable, so that the tensioning pulley can be used for replacing each fixed reversing pulley according to requirements.
It should be understood that a pulley configuration with circular sheaves on the center shaft is not required. Each pulley in the invention can not have a wheel disc structure; other special-shaped wheel disc structures can be arranged on the central shaft, the wheel disc can not rotate relative to the central shaft, and the central shaft and the substrate can not rotate relative to each other. In the present invention, the primary cable 1001/1011 having the other end fixed to the base plate 3 and the secondary cable 1002 (the secondary cable 1002 having the other end fixed to the base plate 3 in the second embodiment) may be fixed to the base plate 3 by being wound around the diverting pulley, or may be directly fixed to the diverting pulley; when the other end of the primary cable 1001/1011 is fixed to the primary second diverting pulley 602 and the other end of the secondary cable 1002 is fixed to the secondary first diverting pulley 701, the sheaves of the primary second diverting pulley 602 and the secondary first diverting pulley 701 and the base plate 3 cannot rotate.
It should be understood that the sliding grooves of the present invention that provide a reciprocating guide for the pulleys may be replaced with other guide structures known in the art, such as a sliding rail structure.
It should be understood that the cable in the present invention is a broad strip drive belt, and there is no limitation on the material or hardness of its construction.
It should be understood that the drive motor of the present invention can be replaced by other drive members known in the art, such as an air cylinder, a hydraulic cylinder, etc.
In order to realize feedback control of cable displacement precision in the traction device, in the invention, a sensor for measuring distance can be arranged on any cable path of the traction device, the actual traction displacement provided by the current traction device can be calculated by combining the measurement data of the sensor and the reduction ratio of the traction device, and when the actual traction displacement is deviated from the target displacement, the error can be compensated in time.
The above embodiments may be arbitrarily combined within a range not departing from the spirit of the present invention. For the sake of brevity, some parts are omitted from the description, however, it should be understood that the parts can be implemented by the prior art.
It should be understood that the above embodiments are only exemplary and are not intended to limit the present invention. Various modifications and alterations of the above-described embodiments may be made by those skilled in the art in light of the teachings of the present invention without departing from the scope thereof.
Further, it is to be noted that:
(1) according to one embodiment of the invention, the manipulator with six degrees of freedom is formed by six sets of traction devices, and in practical application, the degrees of freedom of the manipulator and the number of the traction devices can be adjusted according to actual needs.
(2) The manipulator of the invention is not limited to the manipulator which has the structure of a wrist part and a claw part and is shaped like a hand, and the action execution part of the action execution end of the manipulator can change the shape according to the requirement; the action executing components can be arranged independently, or a plurality of action components can be connected in series/parallel in a mutually movable mode, at this time, one set of traction device still correspondingly controls one action executing component, but the action of one action executing component can be influenced by a plurality of sets of traction devices, because the movement of the plurality of action executing components which are connected in series/parallel in a mutually movable mode can be influenced mutually.
(3) The single motion actuator according to the present invention includes a motion actuator including only one movable component, and also includes a motion actuator including a plurality of movable components and capable of relative movement between the plurality of movable components.
Claims (8)
1. A traction device comprises a base plate, a driving device, a first speed reduction roller, a primary transmission belt and a secondary transmission belt, wherein a first sliding groove is arranged on the base plate, the first speed reduction roller can be arranged on the base plate along the first sliding groove in a reciprocating mode, the first speed reduction roller is arranged on the base plate in a reciprocating mode,
the first end of the primary driving belt is connected with the driving device, the second end of the primary driving belt is fixed on the base plate after bypassing the first speed reducing roller, the first end of the secondary driving belt is connected with the first speed reducing roller, and the second end of the secondary driving belt extends downstream,
the traction device also comprises a third-level transmission belt and a second speed reducing roller, a second sliding groove is further arranged on the base plate, the second speed reducing roller can be arranged on the base plate in a reciprocating motion mode along the second sliding groove, a second end of the second-level transmission belt is fixed on the base plate after bypassing the second speed reducing roller, a first end of the third-level transmission belt is connected with the second speed reducing roller, and a second end of the third-level transmission belt extends downstream,
the traction device further comprises a sensor for measuring the displacement of a target point on any one of the drive belts.
2. The towing attachment in accordance with claim 1, wherein: still include the first switching-over roller of one-level, the first switching-over roller of one-level second and the first switching-over roller of second grade, the second end of one-level drive belt is walked around in proper order the first switching-over roller of one-level the first speed reduction roller after-fixing in one-level second switching-over roller, the second end of second grade drive belt is at first walked around the first switching-over roller of second grade is to the downstream extension.
3. The towing attachment in accordance with claim 2, wherein: the section of the primary transmission belt between the primary first reversing roller and the first decelerating roller forms a primary first traction section, the section of the primary transmission belt between the primary second reversing roller and the first decelerating roller forms a primary second traction section, and the section of the secondary transmission belt between the secondary first reversing roller and the first decelerating roller forms a secondary first traction section,
the primary first traction segment, the primary second traction segment, and the secondary first traction segment are parallel to one another.
4. The towing attachment in accordance with claim 2, wherein: the section of the primary transmission belt between the primary first reversing roller and the first decelerating roller forms a primary first traction section, the section of the primary transmission belt between the primary second reversing roller and the first decelerating roller forms a primary second traction section, and the section of the secondary transmission belt between the secondary first reversing roller and the first decelerating roller forms a secondary first traction section,
the secondary first traction segment is not parallel to the primary first traction segment and/or the secondary first traction segment is not parallel to the primary second traction segment.
5. The towing attachment in accordance with any one of claims 1 to 4, wherein: the tensioning device comprises at least one tensioning roller, the tensioning roller is arranged on the base plate in a position-adjustable mode relative to the base plate, and the primary transmission belt and/or the secondary transmission belt bypasses the tensioning roller.
6. An operating device comprising at least one set of traction means as claimed in any one of claims 1 to 5 and at least one operating member, the end of a drive belt extending downstream of each set of traction means being connected to one of said operating members to transmit traction.
7. The manipulating device according to claim 6, wherein: the traction device is provided with a plurality of groups, the action pieces are provided with a plurality of action pieces, at least two of the action pieces can be movably connected with each other relatively to form a linkage action piece, each action piece in the linkage action piece can independently receive the traction of one group of the traction device to act, and at least one action piece in the linkage action piece can act along with the action of another action piece in the linkage action piece.
8. The manipulating device according to claim 6, wherein: the traction device is provided with a plurality of groups, the action pieces are provided with a plurality of action pieces, at least one action piece of the action pieces forms a claw part of the operating device, at least one action piece of the action pieces forms a wrist part of the operating device, and the action piece of the claw part is arranged on the action piece of the wrist part and can move along with the action piece of the wrist part.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316149.9A CN110353807B (en) | 2018-04-10 | 2018-04-10 | Traction device and operating device with same |
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|---|---|---|---|
| CN201810316149.9A CN110353807B (en) | 2018-04-10 | 2018-04-10 | Traction device and operating device with same |
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| CN110353807A CN110353807A (en) | 2019-10-22 |
| CN110353807B true CN110353807B (en) | 2022-03-01 |
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| WO2022049631A1 (en) * | 2020-09-01 | 2022-03-10 | リバーフィールド株式会社 | Surgical tool |
| CN114166395A (en) * | 2021-12-03 | 2022-03-11 | 中国原子能科学研究院 | Fault monitoring device and method |
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