CN113384349A - Auxiliary manipulator for digestive endoscope and use method - Google Patents

Auxiliary manipulator for digestive endoscope and use method Download PDF

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Publication number
CN113384349A
CN113384349A CN202110624997.8A CN202110624997A CN113384349A CN 113384349 A CN113384349 A CN 113384349A CN 202110624997 A CN202110624997 A CN 202110624997A CN 113384349 A CN113384349 A CN 113384349A
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Prior art keywords
assembly
endoscope
supporting
disc
auxiliary
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CN202110624997.8A
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Chinese (zh)
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金燕
郭雪艳
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Shaanxi Provincial Peoples Hospital
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Shaanxi Provincial Peoples Hospital
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Priority to CN202110624997.8A priority Critical patent/CN113384349A/en
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
    • A61B90/17—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins for soft tissue, e.g. breast-holding devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Neurosurgery (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)

Abstract

The invention relates to the technical field of digestive endoscopy, and discloses an auxiliary manipulator for a digestive endoscope and a using method thereof, wherein the auxiliary manipulator comprises a moving assembly, a supporting assembly, a digestive endoscope, an auxiliary manipulator assembly, a fastening assembly and an adjusting assembly; the top of the moving assembly is provided with the supporting assembly, the supporting assembly is provided with the digestive endoscope, the outer side wall of the digestive endoscope is provided with the auxiliary arm assembly, one end of the auxiliary arm assembly is provided with the fastening assembly, and the other end of the auxiliary arm assembly is provided with the adjusting assembly; the auxiliary arm component comprises a first disc; through the setting of supplementary arm subassembly, do benefit to restriction digestion scope tip position to can support patient wound stoma or anus department, and steerable adjusting part adjusts the angular position of supplementary arm subassembly, so that the corresponding position is aimed at to the digestion scope, when needs will digest the scope and stabilize, only need the control to set up the subassembly, then can stabilize the digestion scope.

Description

Auxiliary manipulator for digestive endoscope and use method
Technical Field
The invention relates to the technical field of digestive endoscopy, in particular to an auxiliary manipulator for a digestive endoscope and a using method thereof.
Background
An image is directly obtained through a digestive tract or an ultrasonic or X-ray image of the digestive tract and a digestive organ is obtained through equipment with ultrasonic and X-ray so as to diagnose and treat digestive system diseases, and the equipment can be divided into an esophagoscope, a gastroscope, a duodenoscope, a colonoscope, a enteroscope, endoscopic ultrasound, a capsule endoscope, a choledochoscope (including a primary and a secondary endoscope), a pancreatoscope, a laparoscope, a laser confocal endoscope and the like according to the attributes of the endoscopes used for examination; the method is divided into an upper gastrointestinal endoscope, a lower gastrointestinal endoscope, an Endoscope Retrograde Cholangiopancreatography (ERCP) and endoscope ultrasound according to the examination part and the function; divide into diagnostic digestion scope and therapeutic digestion scope according to clinical application, medical personnel need adopt the auxiliary machinery hand when doing comparatively complicated digestion scope operation, and the auxiliary machinery hand mainly plays fixed digestion scope effect to can change the transverse position of digestion scope.
Medical personnel are unfavorable for making the mouth with the wound or anus and digestion scope stabilize when operating the auxiliary machinery hand, lead to the progress of digestion scope operation.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the auxiliary manipulator for the digestive endoscope and the use method, which have the advantages of being beneficial to fixing the digestive endoscope and solve the problem of influencing the operation progress.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: an auxiliary manipulator for a digestive endoscope comprises a moving assembly, a supporting assembly, the digestive endoscope, an auxiliary manipulator assembly, a fastening assembly and an adjusting assembly;
the top of the moving assembly is provided with the supporting assembly, the supporting assembly is provided with the digestive endoscope, the outer side wall of the digestive endoscope is provided with the auxiliary arm assembly, one end of the auxiliary arm assembly is provided with the fastening assembly, and the other end of the auxiliary arm assembly is provided with the adjusting assembly;
the auxiliary arm assembly comprises a first disc, a second disc and a pipe body, wherein the first disc, the second disc and the pipe body are arranged on the outer side wall of the digestive endoscope, a groove is formed in the outer side wall of the first disc, a first ring body is symmetrically arranged on the outer side wall of the pipe body, and two rod bodies are arranged among the first ring body, the second disc and the first disc;
the fastening assembly comprises a plate body II and a knob I, the outer side wall of the disc II is provided with the plate body II, one side of the plate body II is connected with the knob I in a rotating mode, one end of the knob I is connected with a gear I, an arc-shaped block, a ring body II and a connecting rod I are arranged inside the plate body II, the ring body II is located on the inner side of the arc-shaped block, the ring body II is connected with the gear I in a meshed mode, the inner side wall of the ring body II is provided with two connecting frames, and the connecting frames are connected with a pressing block.
Preferably, the pressing block is of an arc-shaped plate structure.
By adopting the scheme: the two pressuring blocks can limit the outer side wall of the digestive endoscope.
Preferably, the adjusting component comprises a universal joint, one side of the first disc is symmetrically provided with the universal joint, the universal joint is connected with a second connecting rod, and the second connecting rod is provided with a third disc.
By adopting the scheme: the transverse position and the longitudinal position of the digestive endoscope can be changed conveniently by arranging the universal joint.
Preferably, the second connecting rod is connected with the third disc through a fourth disc.
By adopting the scheme: the four disks are arranged, so that the whole auxiliary arm component can rotate, the auxiliary arm component is favorably changed, and the position of the digestive endoscope is adjusted by the auxiliary arm component.
Preferably, a transmission assembly is arranged on the first disc and the second disc and comprises a supporting block, the supporting block is arranged at the bottom of the groove, a third plate body is arranged at the bottom of the supporting block, the third plate body is in threaded connection with the second knob, one end of the second knob is rotatably connected with a screw rod, one end of the screw rod is connected with the first gear, and the supporting block is connected with the screw rod through the second gear.
By adopting the scheme: when the medical staff controls the position of the pressure applying block, the first gear can be rotated to enable the first gear to rotate in the supporting block and drive the screw rod to rotate, the third plate body is used for supporting the supporting block on the supporting component, and the user can pull the second knob to separate the first gear from the second ring body.
Preferably, the moving assembly comprises a bottom plate, a motor is arranged at the top of the bottom plate, an output shaft of the motor is connected with a lead screw, a sliding block is connected to the lead screw in a threaded manner, and the top of the sliding block is connected with the supporting assembly.
By adopting the scheme: the motor works to drive the screw rod to rotate, so that the sliding block moves on the bottom plate, and the position of the supporting component is changed.
Preferably, the supporting component comprises a base, a first supporting arm is arranged at the top of the base, a second supporting arm is arranged at the top of the first supporting arm, a supporting plate is arranged on one side of the second supporting arm, and a first fixing seat and a first plate body which are matched with the digestive endoscope are arranged at the top of the supporting plate.
By adopting the scheme: the height of the first supporting arm can be changed by the operation of the base, and the position of the supporting plate can be changed by the operation of the second supporting arm.
A use method of an auxiliary mechanical arm for a digestive endoscope comprises the following steps:
s1: the digestive endoscope is firmly fixed on the supporting component, and the auxiliary arm component is sleeved on the surface of the digestive endoscope;
s2: the moving assembly is controlled to enable the digestive endoscope to move transversely, the auxiliary arm assembly moves along with the digestive endoscope, and when the end position of the digestive endoscope needs to be adjusted, the adjusting assembly is controlled;
s3: when the digestive endoscope needs to be stabilized, the fastening assembly is operated to stabilize the digestive endoscope and the auxiliary arm assembly.
(III) advantageous effects
Compared with the prior art, the invention provides an auxiliary manipulator for a digestive endoscope and a using method, and the auxiliary manipulator has the following beneficial effects:
this digestion endoscope is with supplementary manipulator through the setting of supplementary arm subassembly, does benefit to restriction digestion endoscope tip position to can support patient wound stoma or anus department, and the angle position of supplementary arm subassembly is adjusted to steerable adjusting part, so that the corresponding position is aimed at to the digestion endoscope, when needs will digest the endoscope and stabilize, only need the control to set up the subassembly, then can be firm with the digestion endoscope.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the auxiliary arm assembly of the present invention;
fig. 3 is an enlarged structural diagram of the interior of the second plate body according to the present invention.
In the figure:
1. a moving assembly; 11. a base plate; 12. a motor; 13. a screw rod; 14. a slider;
2. a support assembly; 21. a base; 22. a first supporting arm; 23. a second supporting arm; 24. a support plate; 25. a fixed seat; 26. a first plate body;
3. a digestive endoscope;
4. an auxiliary arm assembly; 41. a first disc; 42. a groove; 43. a ring body I; 44. a pipe body; 45. a rod body; 46. a second disc;
5. a fastening assembly; 51. a second plate body; 52. a first knob; 53. a first gear; 54. an arc-shaped block; 55. a second ring body; 56. a first connecting rod; 57. pressing a block; 58. a connecting frame;
6. a transmission assembly; 61. a second knob; 62. a support block; 63. a second gear; 64. a third plate body; 65. a screw;
7. an adjustment assembly; 71. a universal joint; 72. a disc III; 73. a disc IV; 74. and a second connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
An auxiliary manipulator for a digestive endoscope comprises a moving assembly 1, a supporting assembly 2, a digestive endoscope 3, an auxiliary manipulator assembly 4, a fastening assembly 5 and an adjusting assembly 7;
the top of the moving component 1 is provided with the supporting component 2, the supporting component 2 is provided with the digestive endoscope 3, the outer side wall of the digestive endoscope 3 is provided with the auxiliary arm component 4, one end of the auxiliary arm component 4 is provided with the fastening component 5, and the other end is provided with the adjusting component 7;
the auxiliary arm assembly 4 comprises a first disc 41, the outer side wall of the digestive endoscope 3 is provided with the first disc 41, a second disc 46 and a tube body 44, the outer side wall of the first disc 41 is provided with a groove 42, the outer side wall of the tube body 44 is symmetrically provided with a first ring body 43, and two rod bodies 45 are arranged among the first ring body 43, the second disc 46 and the first disc 41;
the fastening assembly 5 comprises a plate body II 51 and a knob I52, the plate body II 51 is arranged on the outer side wall of the disc II 46, the knob I52 is rotatably connected to one side of the plate body II 51, one end of the knob I52 is connected with a gear I53, an arc-shaped block 54, a ring body II 55 and a connecting rod I56 are arranged inside the plate body II 51, the ring body II 55 is located on the inner side of the arc-shaped block 54, the ring body II 55 is connected with the gear I53 in a meshed mode, two connecting frames 58 are arranged on the inner side wall of the ring body II 55, the connecting frames 58 are connected with a pressing block 57, and the pressing block 57 is of an arc-shaped plate structure.
Referring to fig. 1-3, when a user uses the digestive endoscope 3, the auxiliary arm assembly 4 is sleeved on the outer wall of the digestive endoscope 3, the user can operate the digestive endoscope 3 to change the position of the digestive endoscope 3, so that the second disc 46 is attached to the wound or anus of a patient to support the digestive endoscope 3, when the user needs to stabilize the position of the digestive endoscope 3, the first knob 52 is screwed to enable the first gear 53 to be meshed with the second ring 55, the second ring 55 drives the two connecting frames 58 to move, the connecting frames 58 change the position of the pressing block 57, the two pressing blocks 57 press the outer side wall of the digestive endoscope 3 to stabilize the digestive endoscope, the two pressing blocks 57 can limit the outer side wall of the digestive endoscope 3, and the first gear 53 and the second plate 51 slide and are not embodied in the attached drawings.
Example two
The function of adjusting the position of the sub-arm assembly 4 is added to the first embodiment.
The adjusting component 7 comprises a universal joint 71, one side of the first disc 41 is symmetrically provided with the universal joint 71, the universal joint 71 is connected with a second connecting rod 74, the second connecting rod 74 is provided with a third disc 72, and the second connecting rod 74 and the third disc 72 are connected through a fourth disc 73
Referring to fig. 1-3, the arrangement of the universal joint 71 facilitates the change of the transverse position and the longitudinal position of the digestive endoscope 3, and the arrangement of the four disks 73 enables the whole auxiliary arm assembly 4 to rotate, thereby facilitating the change of the auxiliary arm assembly 4, and the auxiliary arm assembly 4 adjusts the position of the digestive endoscope 3.
EXAMPLE III
The function of facilitating the adjustment of the first gear 53 is added to the second embodiment.
The first disc 41 and the second disc 46 are provided with a transmission assembly 6, the transmission assembly 6 comprises a supporting block 62, the supporting block 62 is arranged at the bottom of the groove 42, a third plate body 64 is arranged at the bottom of the supporting block 62, a second knob 61 is connected to the third plate body 64 in a threaded manner, one end of the second knob 61 is rotatably connected with a screw 65, one end of the screw 65 is connected with the first gear 53, and the supporting block 62 is connected with the screw 65 through a second gear 63.
Referring to fig. 1-3, when the medical staff controls the position of the pressing block 57, the first gear 53 may be rotated, so that the first gear 53 rotates in the supporting block 62 and drives the screw 65 to rotate, the third plate 64 is used to support the supporting block 62 on the supporting assembly 2, and the user may pull the second knob 61 to separate the first gear 53 from the second ring 55.
Example four
The function of adjusting the position of the sub-arm assembly 4 is added to the third embodiment.
The moving assembly 1 comprises a bottom plate 11, a motor 12 is arranged at the top of the bottom plate 11, an output shaft of the motor 12 is connected with a lead screw 13, a sliding block 14 is connected with the lead screw 13 in a threaded manner, the top of the sliding block 14 is connected with the supporting assembly 2, the supporting assembly 2 comprises a base 21, the top of the base 21 is provided with a supporting arm I22, the top of the supporting arm I22 is provided with a supporting arm II 23, one side of the supporting arm II 23 is provided with a supporting plate 24, and the top of the supporting plate 24 is provided with a fixing seat 25 and a plate body I26 which are matched with the digestive endoscope 3.
Referring to fig. 1-3, the motor 12 is operated to drive the screw 13 to rotate, so that the slide 14 moves on the bottom plate 11, thereby changing the position of the support assembly 2, the height of the first support arm 22 can be changed by the operation of the base 21, the position of the support plate 24 can be changed by the operation of the second support arm 23, the third plate 64 can be clamped into the support plate 24, the whole auxiliary arm assembly 4 is adjusted to be in a horizontal state, and the third plate 64 is clamped into a circular groove in the support plate 24 and can rotate in the circular groove, which is not shown in the attached drawings.
A use method of an auxiliary mechanical arm for a digestive endoscope comprises the following steps:
s1: the digestive endoscope 3 is firmly fixed on the supporting component 2, and the auxiliary arm component 4 is sleeved on the surface of the digestive endoscope 3;
s2: the moving assembly 1 is controlled to enable the digestive endoscope 3 to move transversely, the auxiliary arm assembly 4 also moves along with the digestive endoscope 3, and when the end position of the digestive endoscope 3 needs to be adjusted, the adjusting assembly 7 is controlled;
s3: when it is desired to stabilize the digestive endoscope 3, the securing assembly 5 is manipulated to stabilize between the digestive endoscope 3 and the auxiliary arm assembly 4.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. The utility model provides a digestion is auxiliary machinery hand for scope which characterized in that: comprises a moving component (1), a supporting component (2), a digestive endoscope (3), an auxiliary arm component (4), a fastening component (5) and an adjusting component (7);
the supporting component (2) is arranged at the top of the moving component (1), the digestion endoscope (3) is arranged on the supporting component (2), the auxiliary arm component (4) is arranged on the outer side wall of the digestion endoscope (3), the fastening component (5) is arranged at one end of the auxiliary arm component (4), and the adjusting component (7) is arranged at the other end of the auxiliary arm component;
the auxiliary arm assembly (4) comprises a first disc (41), the outer side wall of the digestive endoscope (3) is provided with the first disc (41), a second disc (46) and a tube body (44), the outer side wall of the first disc (41) is provided with a groove (42), the outer side wall of the tube body (44) is symmetrically provided with a first ring body (43), and two rod bodies (45) are arranged among the first ring body (43), the second disc (46) and the first disc (41);
the fastening assembly (5) comprises a second plate body (51) and a first knob (52), the outer side wall of the second disc (46) is provided with the second plate body (51), one side of the second plate body (51) is rotatably connected with the first knob (52), one end of the first knob (52) is connected with a first gear (53), an arc-shaped block (54), a second ring body (55) and a first connecting rod (56) are arranged inside the second plate body (51), the second ring body (55) is located on the inner side of the arc-shaped block (54), the second ring body (55) is meshed with the first gear (53), two connecting frames (58) are arranged on the inner side wall of the second ring body (55), and the connecting frames (58) are connected with a pressing block (57).
2. The auxiliary manipulator for the endoscope of claim 1, wherein: the pressing block (57) is of an arc-shaped plate-shaped structure.
3. The auxiliary manipulator for the endoscope of claim 1, wherein: the adjusting assembly (7) comprises a universal joint (71), one side of the first disc (41) is symmetrically provided with the universal joint (71), the universal joint (71) is connected with a second connecting rod (74), and the second connecting rod (74) is provided with a third disc (72).
4. The auxiliary manipulator for the endoscope of claim 3, wherein: the second connecting rod (74) is connected with the third disc (72) through a fourth disc (73).
5. The auxiliary manipulator for the endoscope of claim 4, wherein: the disc I (41) and the disc II (46) are provided with transmission assemblies (6), each transmission assembly (6) comprises a supporting block (62), the supporting block (62) is arranged at the bottom of the corresponding groove (42), a plate body III (64) is arranged at the bottom of the supporting block (62), a knob II (61) is connected to the plate body III (64) in a threaded mode, one end of the knob II (61) is rotatably connected with a screw rod (65), one end of the screw rod (65) is connected with the gear I (53), and the supporting block (62) is connected with the screw rod (65) through a gear II (63).
6. An auxiliary manipulator for an endoscope according to any of claims 1-5, characterized in that: the moving assembly (1) comprises a bottom plate (11), a motor (12) is arranged at the top of the bottom plate (11), an output shaft of the motor (12) is connected with a screw rod (13), a sliding block (14) is connected to the screw rod (13) in a threaded mode, and the top of the sliding block (14) is connected with the supporting assembly (2).
7. The auxiliary manipulator for the endoscope of claim 6, wherein: the supporting component (2) comprises a base (21), a first supporting arm (22) is arranged at the top of the base (21), a second supporting arm (23) is arranged at the top of the first supporting arm (22), a supporting plate (24) is arranged on one side of the second supporting arm (23), and a first fixing seat (25) and a first plate body (26) which are matched with the digestive endoscope (3) are arranged at the top of the supporting plate (24).
8. A method of using an auxiliary robot for an endoscope according to claim 1, the method comprising: the method comprises the following steps:
s1: the digestive endoscope (3) is firmly fixed on the supporting component (2), and the auxiliary arm component (4) is sleeved on the surface of the digestive endoscope (3);
s2: the moving assembly (1) is controlled to enable the digestive endoscope (3) to move transversely, the auxiliary arm assembly (4) also moves along with the digestive endoscope, and when the end position of the digestive endoscope (3) needs to be adjusted, the adjusting assembly (7) is controlled;
s3: when the digestive endoscope (3) needs to be stabilized, the fastening assembly (5) is operated to stabilize the digestive endoscope (3) and the auxiliary arm assembly (4).
CN202110624997.8A 2021-06-04 2021-06-04 Auxiliary manipulator for digestive endoscope and use method Pending CN113384349A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110624997.8A CN113384349A (en) 2021-06-04 2021-06-04 Auxiliary manipulator for digestive endoscope and use method

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Application Number Priority Date Filing Date Title
CN202110624997.8A CN113384349A (en) 2021-06-04 2021-06-04 Auxiliary manipulator for digestive endoscope and use method

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CN113384349A true CN113384349A (en) 2021-09-14

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CN202110624997.8A Pending CN113384349A (en) 2021-06-04 2021-06-04 Auxiliary manipulator for digestive endoscope and use method

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114145850A (en) * 2021-12-03 2022-03-08 张继军 Intelligent ERCP auxiliary device and automatic control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114145850A (en) * 2021-12-03 2022-03-08 张继军 Intelligent ERCP auxiliary device and automatic control method

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Application publication date: 20210914