CN201143199Y - Intervention diagnosis and treatment robot based on gastropod movement mechanism - Google Patents
Intervention diagnosis and treatment robot based on gastropod movement mechanism Download PDFInfo
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- CN201143199Y CN201143199Y CNU200820030807XU CN200820030807U CN201143199Y CN 201143199 Y CN201143199 Y CN 201143199Y CN U200820030807X U CNU200820030807X U CN U200820030807XU CN 200820030807 U CN200820030807 U CN 200820030807U CN 201143199 Y CN201143199 Y CN 201143199Y
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Abstract
An intervening diagnosis and treat robot based on the movement mechanism of gastropod belongs to the technology field of a medical micro-robot. The medical micro-robot simulates the effect of secretion secreted by the gastropod during the movement by making use of the change effect of the rheological characteristics of magnetic field control materials under the act of the magnetic field. A magnetic-control resistance-increasing module simulates the front part and the rear part movements of the pleopod of the gastropod. The magnetic-control resistance-increasing module consists of a core body, a magnetic field generating coil, a double-layer rubber diaphragm and magnetic field control materials. A diversion unit simulates the diversionary motion of the gastropod. The diversion unit consists of a shape memory alloy spring, a connection flange and a seal bellows. The rectilinear concertina motion of a linear actuator is used for simulating the muscular axial fluctuation of the gastropod during the movement. The medical micro-robot can move forward, change directions and set back and has the characteristics of good rheological impact resistance and low-injury motion.
Description
Technical field
The present invention relates to a kind of medical micro-robot, particularly a kind of bionical intervention diagnosis and therapy robot based on the gastropod movement mechanism.
Background technology
At first, the research of intervention diagnosis and therapy robot is to be application background with the digestive tract, proposes based on molluscan wriggling mechanism such as Serpentis and Lumbricuss.As the motion principle of K.Ikuta, be the autonomous endoscope robot of creeping motion type that actuator proposes with the marmem based on Serpentis; As I.Hayashi place seminar, S.Kato place seminar, N.Saga place seminar, K.Byungkyu place seminar adopt different drivers to propose imitative Lumbricus wriggling endoscope robot design separately respectively.Contact the damage that brings to human body firmly for what alleviate robot fuselage and tube chamber, scientists has proposed to replace the rigidity fuselage with flexible fuselage: proposing a kind of diameter as people such as J.W.Burdick can be with the intestinal internal diameter varies, and can adapt to the softness of intestinal, the imitative looper endoscope robot of slim and frahile and stick-slip; Pneumatic type wriggling microrobot as people such as P.Dario development.
The Shanghai Communications University of China, Shanghai University, Dalian University of Technology are application background with the digestive tract, propose creeping motion type endoscope robot design separately respectively.The spiral microrobot of propositions such as the Zhou Yinsheng of Zhejiang University has then utilized the hydrldynamic pressure lubrication effect cleverly, has avoided in robot motion's process the damage to biological duct walls such as gastrointestinals.
Be that the research of fixed point intervention diagnosis and therapy robot is at the early-stage in the blood vessel of application background with large artery trunks, large vein.At present, mainly towards the development of following both direction: a kind of is micro-nano robot, mainly carries out microtechnique in blood vessel, the Micro-Robot of developing as Sweden scientist Edwin W.H.Jager of being made by multiple layer polymer and gold.The similar people's of its profile arm, its ancon and wrist are very flexible, and 2 to 4 fingers are arranged, can in blood, urine and cell medium, catch and the blood vessel of mobile individual cells in microrobot, document sees reference: Edwin W.H.Jager, Olle
, Ingemar
Microrobots forMicrometer-Size Objects in Aqueous Media:Potential Tools for Single-CellManipulation.Science, 2000,288:2335-2338.Execute " the Nano medication transporter molecule " of the development of sword woods as Shanghai Inst. of Silicate, Chinese Academy of Sciences, diameter has only 200 nanometers, can realize the fixed point dispensing, document sees reference: Y.Zhu, J.Shi, W.Shen et al.Stimuli-Responsive ControlledDrug Release from a Hollow Mesoporous Silica Sphere/PolyelectrolyteMultilayer Core-Shell Structure.Angewandte Chemie InternationalEdition, 2005,44 (32): 5083-5087.The another one research direction is macrotechnique is carried out in research in blood vessel a micro robot.A kind of spiral travel robot that drives based on external magnetic field that present Japanese scientist proposes, document sees reference: K.Ishiyama, M.Sendoh, A.Yamazaki et al.Swimming ofMagnetic Micro-Machines Under a Very Wide-Range of Reynolds NumberConditions.2001 IEEE Transactions on Magnetics, 2001,37 (4): 2868-2870 and list of references: M.Sendoh, K.Ishiyama et al.Fabrication of Magnetic Actuatorfor Use in a Capsule Endoscope.2003 IEEE Transactions on Magnetics, 2003,39 (5): 3232-3234.Overall dimensions is φ 0.5 * 8mm, the needs of trunk environment can have been satisfied to the robot dimensional structure, how to overcome the impact of blood flow to robot, fixed point intervention diagnosis and therapy robot system in the assurance blood vessel is located under swiftly flowing hydraulic shock reliably, how about moves the key that becomes intervention diagnosis and therapy robot research in the blood vessel in the liquid of reverse flow stably.
Summary of the invention
The objective of the invention is to solve technological difficulties of the prior art, a kind of intervention diagnosis and therapy robot with good anti-current body impact capacity and the low damage of motion is provided.
Principle: Mark Denny in 1980 has delivered him to the juice characteristic in the gastropod motor process and to the result of study of the effect of motion at the Nature magazine, has well disclosed the movement mechanism of gastropod
And the formation reason of good anti-current-rush ability.Document sees reference: M.Denny.The Role ofGastropod Pedal Mucus in Locomotion.Nature, 1980,285 (5): 160-161.Discover: gastropod can secrete a kind of mucus in motor process, and this mucus can change under liquid and solid two states.The gummed effect that mucus forms between organism and environmental surfaces when solid state has guaranteed forward drive power enough in the motor process and good anti-current body impact capacity when static; Mucus effectively reduces or has avoided friction between organism and environmental surfaces in the fluid lubrication effect that forms between organism and environmental surfaces when liquid condition.Good anti-current body impact capacity and the low damage of motion have well met the requirement of intervention diagnosis and therapy robot in the blood vessel, therefore, the invention provides bionical intervention diagnosis and therapy robot in a kind of blood vessel based on the gastropod movement mechanism.
A kind of intervention diagnosis and therapy robot based on the gastropod movement mechanism, it is characterized in that: robot is made of front deck unit, steering unit, propulsion unit successively; Wherein the front deck unit comprises that diagnosis and treatment module and front deck magnetic control increase the resistance module; Wherein diagnosis and treatment module comprise the cabin body and be encapsulated in the intravital medical apparatus and instruments in cabin or/and camera head or/and drug container; Wherein the front deck magnetic control increase the resistance module be installed in diagnosis and treatment module rear end, by core body, magnetic field coil, double-layer rubber film and magnetic field control functional material taking place forms, coil takes place and is installed on the core body in magnetic field, the double-layer rubber film that control functional material in magnetic field is housed covers magnetic field the coil outer surface takes place, and is higher than cabin body profile; Wherein propulsion unit comprises that linear actuation module and propelling module magnetic control increase the resistance module; Wherein the linear actuation module comprises the cabin body and is encapsulated in the intravital linear-motion actuator in cabin, and the linear-motion actuator main shaft stretches out at front end; Wherein the propelling module magnetic control increase the resistance module be installed in linear actuation module rear end, by core body, magnetic field coil, double-layer rubber film and magnetic field control functional material taking place forms, coil takes place and is installed on the core body in magnetic field, the double-layer rubber film that control functional material in magnetic field is housed covers magnetic field the coil outer surface takes place, and is higher than cabin body profile; Wherein the steering unit two ends connect front deck unit and propulsion unit respectively, and it is made up of at least two shape memory alloy springs, connecting flange and seal bellows; Wherein the connecting flange center has screwed hole, cooperate with the linear-motion actuator main shaft outfan of propulsion unit, shape memory alloy spring one end is fixed on rear end, front deck unit, the other end is fixed on the connecting flange front end, and seal bellows seals shape memory alloy spring, connecting flange and linear-motion actuator.
A kind of movement technique of the intervention diagnosis and therapy robot based on the gastropod movement mechanism is characterized in that:
(A), utilize the varying effect of magnetic field control functional material rheological behavior under the action of a magnetic field, the effect of the juice in the simulation gastropod motor process.
(a), the front deck magnetic control of being made up of core body, magnetic field generation coil, double-layer rubber film and magnetic field control functional material increases the forward motion of abdominal foot of resistance module simulation gastropod;
(b), the propelling module magnetic control of being made up of core body, magnetic field generation coil, double-layer rubber film and magnetic field control functional material increases the motion at the abdominal foot rear portion of resistance module simulation gastropod;
(B), the steering unit of being made up of at least two shape memory alloy springs, connecting flange and seal bellows is simulated the divertical motion of gastropod; Utilize the axial fluctuation of muscle in the linear telescopic motion simulation gastropod motor process of linear-motion actuator.
(C), the forward travel of robot
The front deck magnetic control increases generation coil blackout in magnetic field in the resistance module;
Coil electricity takes place in the magnetic field that the propelling module magnetic control increases in the resistance module, and then the control of the magnetic field in core body and double-layer rubber film functional material forms closed magnetic path, and magnetic field control functional material solidifies, and the double-layer rubber film outside and wall of the lumen engagement have increased frictional force;
The linear-motion actuator main shaft is outwards upheld, and robot front deck unit is moved forward, and it is motionless that propulsion unit keeps;
After the linear-motion actuator main shaft stretch amount maximum, the front deck magnetic control increases generation coil electricity in magnetic field in the resistance module, and magnetic field control functional material is solidified, and mesh with wall of the lumen in the double-layer rubber film outside, has increased frictional force;
Coil blackout takes place in the magnetic field that the propelling module magnetic control increases in the resistance module, the liquefaction of then solidified magnetic field control functional material, and no longer mesh with wall of the lumen in the double-layer rubber film outside, has reduced frictional force;
The linear-motion actuator main shaft shrinks, and propulsion unit moves forward, and it is motionless that the front deck unit keeps, and is retracted to the shortest position robot up to the linear-motion actuator main shaft and finishes a wriggling cycle;
Coil takes place and repeats said process in control linear-motion actuator and magnetic field, and then robot enters the next wriggling cycle.
(D), robot turns to
The shape memory alloy spring of steering unit, when robot straight line wriggling, play the effect that flexibly connects between front deck unit and the propulsion unit, when needs turn to, control certain or certain two shape memory alloy springs, because electrocaloric effect, shape memory alloy spring can be out of shape, thereby makes the relative propulsion unit deflection in front deck unit certain angle, turn to finish after deenergization, shape memory alloy spring resiles, thereby realizes turning to function.
(E), the speed controlling of robot with retreat
Input pulse number in the control unit interval can change the stretching speed of linear-motion actuator, thereby changes peristaltic velocity; Change the front deck magnetic control and increase the resistance module, the propelling module magnetic control increases magnetic field generation coil conducting and turn-off sequence in the resistance module, and opposite when making robot two ends change in friction force and advancing, then robot retreats.
At cancer, this intervention diagnosis and therapy robot can fix a point to offer medicine, and medicine is directly acted on focus; At cardiovascular and cerebrovascular disease, the intervention diagnosis and therapy robot can be used for scraping the fat of depalletizing and the deposit of cholesterol from the aorta tube wall, reduces the sickness rate of cardiovascular disease; Can enter human vas, the blood vessel that the cerebral thrombosis patient gets clogged is suffered from mediation, removes thrombosis.The intervention diagnosis and therapy robot slips into the blood vessel of human body and organ and checks and treat the case that will make original needs carry out large-scale cutting operation and realize that Wicresoft hinders even do not have a woundization.With prior art relatively, the present invention has following advantage: 1) this intervention diagnosis and therapy robot external packets is wrapped with the double-layer rubber film, inside is full of liquid magnetic field control functional material, is soft contact with contacting of tube wall therefore, is used for vivo inserted diagnosis and treatment to the body lumen not damaged; 2) this intervention diagnosis and therapy robot has utilized the rheological behavior of liquid magnetic field control functional material under the action of a magnetic field to change the control that realizes frictional force---and the conducting of control solenoid can be solidified liquid magnetic field control functional material rapidly, make itself and rough tube wall form engagement, thereby improve the driving efficient of robot; Cancel magnetic field, then solidified magnetic field control functional material will liquefy.
Description of drawings
Fig. 1 is the outline drawing of intervention diagnosis and therapy robot.
Fig. 2 is an intervention diagnosis and therapy robot construction sketch map.
Number in the figure title: 1. front deck unit, 2. steering unit, 3. propulsion unit, 11. drive end bearing bracket, 12,32. the cabin body, 13. diagnosis and treatment modules, 14. the front deck magnetic control increases the resistance module, 15,35. connecting device, 21. ball pivots, 22. shape memory alloy springs, 23. connecting flange, 24. seal bellows, 31. linear actuation modules, 33. linear-motion actuators, 34. the propelling module magnetic control increases the resistance module, 13a. medical apparatus and instruments, 13b. camera head, 13c. drug container, 14a, 34a. core body, 14b, 34b. coil, 14c take place in magnetic field, 34c. the double-layer rubber film, 14d, 34d. magnetic field control functional material.
The specific embodiment
A kind of intervention diagnosis and therapy robot based on the gastropod movement mechanism, structure is made of front deck unit 1, steering unit 2, propulsion unit 3 as shown in Figure 1 and Figure 2 successively.
Wherein front deck unit 1 increases resistance module 14, connecting device 15 by drive end bearing bracket 11, cabin body 12, diagnosis and treatment module 13, front deck magnetic control and forms; Wherein diagnosis and treatment module 13 is packaged in cabin body 12 inside, and diagnosis and treatment module 13 is made up of medical apparatus and instruments 13a, camera head 13b and drug container 13c; Wherein the front deck magnetic control increase the resistance module 14 be fixed on cabin body 12 rear ends by connecting device 15, form by core body 14a, magnetic field generation coil 14b, double-layer rubber film 14c and magnetic field control functional material 14d, coil 14b takes place and is installed on the core body 14a in magnetic field, the double-layer rubber film 14c that magnetic field control functional material 14d is housed covers magnetic field coil 14b outer surface takes place, and is higher than cabin body 12 profiles.
Wherein propulsion unit 3 increases resistance module 34 and connecting device 35 by linear actuation module 31, propelling module magnetic control and forms; Wherein linear actuation module 31 comprises cabin body 32 and is encapsulated in linear-motion actuator 33 in the cabin body 32, and linear-motion actuator 33 main shafts stretch out at front end; Wherein the propelling module magnetic control increase the resistance module 34 link to each other with cabin body 32 by connecting device 35, form by core body 34a, magnetic field generation coil 34b, double-layer rubber film 34c and magnetic field control functional material 34d, coil 34b takes place and is installed on the core body 34a in magnetic field, the double-layer rubber film 34c that magnetic field control functional material 34d is housed covers magnetic field coil 34b outer surface takes place, and is higher than cabin body 32 profiles.Wherein, steering unit 2 is made up of three shape memory alloy springs 22, connecting flange 23 and the seal bellows 24 of symmetric arrangement on ball pivot 21, the circumference; Wherein, ball pivot 21 1 ends are connected on the core body 14a, and the other end is fixed on the connecting flange; Connecting flange 23 centers have screwed hole, cooperate with linear-motion actuator 33 main shaft outfans, and linear actuation module 31 is connected with connecting flange 23; Shape memory alloy spring 22 1 ends are fixed on the rear end of core body 14a, and the other end is fixed on connecting flange 23 front ends, and seal bellows 24 seals ball pivot 21, shape memory alloy spring 22, connecting flange 23 and linear-motion actuator 33; Steering unit 2 is coupled as one front deck unit 1 and propulsion unit 3 by connecting device, and entire machine people is except that medical apparatus and instruments, and is all isolated with peripheral environment, has guaranteed the safety and the reliability of system.
Wherein, coil 14b, 34b take place in magnetic field, and shape memory alloy spring 22 and linear-motion actuator 33 are by external cable energy supply, control and communication.
The encapsulation explanation
Robot finishes the assembling back covers front deck unit 1, seal bellows 24 and propulsion unit 3 respectively with a kind of material with bio-compatibility outer surface.
Expanded function
This robot system visual function demand difference, can be expanded: can look application need increases a plurality of propulsion units; Increase power plant module that is packaged with accumulator and control module, then can realize the remote control and the autonomic movement of robot with wireless communication function.
Specify this robot motion's mode below in conjunction with accompanying drawing:
1, the forward travel of robot
Control linear-motion actuator main shaft 33 makes its outside extension, control the front deck magnetic control simultaneously and increase magnetic field generation coil 14b outage in the resistance module 14, coil 34b energising takes place in the magnetic field that the propelling module magnetic control increases in the resistance module 34, then magnetic field control functional material 14d keeps liquid constant, magnetic field control functional material 34d in core body 34a and the double-layer rubber film 34c forms closed magnetic path, magnetic field control functional material 34d solidifies, the double-layer rubber film 34c outside and wall of the lumen engagement, propulsion unit 3 is very big with environment pipeline enclosure frictional force, thereby along with the extension of linear-motion actuator 33, robot front deck unit 1 reach one segment distance, propulsion unit 3 keeps motionless; The main shaft of control linear-motion actuator 33, make its stretch amount reach maximum after-contraction, controlling magnetic field generation coil 14b switches on and magnetic field generation coil 34b outage simultaneously, then magnetic field control functional material 14d solidifies, the double-layer rubber film 14c outside and wall of the lumen engagement, frictional force is very big between front deck unit 1 and wall of the lumen, and solidified magnetic field control functional material 34d liquefaction, double-layer rubber film 34c no longer meshes with wall of the lumen in the outside, contraction along with linear-motion actuator 33, it is motionless that front deck unit 1 keeps, and propulsion unit 3 segment distance that advances, robot promptly finishes the interior vermicular movement of one-period like this.Repeat said process, then robot will enter the next wriggling cycle.
2, robot turns to
The shape memory alloy spring 22 of steering unit 2, when robot straight line wriggling, play the effect that flexibly connects between front deck unit 1 and the propulsion unit 3, when needs turn to, control certain or certain two shape memory alloy springs 22, because electrocaloric effect, shape memory alloy spring 22 can distortion, thereby makes front deck unit 1 relative propulsion unit 3 deflection certain angles, turn to finish after deenergization, shape memory alloy spring 22 resiles, thereby realizes turning to function.
3, the speed controlling of robot with retreat
Input pulse number in the control unit interval can change the stretching speed of linear-motion actuator 33, thereby changes peristaltic velocity; Change the front deck magnetic control and increase resistance module 14, the propelling module magnetic control increases magnetic field generation coil 14b, 34b conducting and turn-off sequence in the resistance module 34, and opposite when making robot two ends change in friction force and advancing, then robot retreats.
Claims (8)
1, a kind of intervention diagnosis and therapy robot based on the gastropod movement mechanism is characterized in that: robot is made of front deck unit (1), steering unit (2), propulsion unit (3) successively;
Wherein front deck unit (1) comprises that diagnosis and treatment module (13) and front deck magnetic control increase resistance module (14); Wherein diagnosis and treatment module (13) comprise cabin body (12) and be encapsulated in the cabin body (12) medical apparatus and instruments (13a) or/and camera head (13b) or/and drug container (13c); Wherein the front deck magnetic control increase the resistance module (14) be installed in diagnosis and treatment module (13) rear end, by core body (14a), magnetic field coil (14b), double-layer rubber film (14c) and magnetic field control functional material (14d) taking place forms, coil (14b) takes place and is installed on the core body (14a) in magnetic field, the double-layer rubber film (14c) that magnetic field control functional material (14d) is housed covers magnetic field coil (14b) outer surface takes place, and is higher than cabin body (12) profile;
Wherein propulsion unit (3) comprises that linear actuation module (31) and propelling module magnetic control increase resistance module (34); Wherein linear actuation module (31) comprises cabin body (32) and is encapsulated in the interior linear-motion actuator (33) of cabin body (32), and linear-motion actuator (33) main shaft stretches out at front end; Wherein the propelling module magnetic control increase the resistance module (34) be installed in linear actuation module (31) rear end, by core body (34a), magnetic field coil (34b), double-layer rubber film (34c) and magnetic field control functional material (34d) taking place forms, coil (34b) takes place and is installed on the core body (34a) in magnetic field, the double-layer rubber film (34c) that magnetic field control functional material (34d) is housed covers magnetic field coil (34b) outer surface takes place, and is higher than cabin body (32) profile;
Wherein steering unit (2) two ends connect front deck unit (1) and propulsion unit (3) respectively, and it is made up of at least two shape memory alloy springs (22), connecting flange (23) and seal bellows (24); Wherein connecting flange (23) center has screwed hole, cooperate with linear-motion actuator (33) the main shaft outfan of propulsion unit (3), shape memory alloy spring (22) one ends are fixed on rear end, front deck unit (1), the other end is fixed on connecting flange (23) front end, and seal bellows (24) seals shape memory alloy spring (22), connecting flange (23) and linear-motion actuator (33).
2, the intervention diagnosis and therapy robot based on the gastropod movement mechanism according to claim 1 is characterized in that: described magnetic field control functional material (14d, 34d) is a magnetic powder.
3, the intervention diagnosis and therapy robot based on the gastropod movement mechanism according to claim 1 is characterized in that: described magnetic field control functional material (14d, 34d) is a magnetic flow liquid.
4, the intervention diagnosis and therapy robot based on the gastropod movement mechanism according to claim 1, it is characterized in that: described steering unit (2) also comprises ball pivot (21), ball pivot (21) one ends are connected the front deck magnetic control and increase on the core body (14a) of resistance module (14), and the other end is fixed on the connecting flange (23).
5, the intervention diagnosis and therapy robot based on the gastropod movement mechanism according to claim 1, it is characterized in that: described shape memory alloy spring (22) is symmetric arrangement on the circumference.
6, the intervention diagnosis and therapy robot based on the gastropod movement mechanism according to claim 1 is characterized in that: the cabin body (12) of front deck unit (1) is outside for cylindrical or streamlined.
7, the intervention diagnosis and therapy robot based on the gastropod movement mechanism according to claim 1 is characterized in that: this robot is by external cable energy supply, control and communication.
8, the intervention diagnosis and therapy robot based on the gastropod movement mechanism according to claim 1, it is characterized in that: this robot is packaged with the power plant module of band accumulator and has the control module of wireless communication function, realizes the remote control and the autonomic movement of robot.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586361C (en) * | 2008-01-11 | 2010-02-03 | 南京航空航天大学 | Intervention diagnosis and treating robot based on gastropod sport mechanism and sport method thereof |
| CN102028447A (en) * | 2011-01-17 | 2011-04-27 | 王怀成 | Enteroscope |
| WO2011050758A1 (en) * | 2009-10-27 | 2011-05-05 | Zhao Dezheng | Bionic telescopic matrix unit |
| CN102178504A (en) * | 2011-04-15 | 2011-09-14 | 王怀成 | Intelligent enteroscope |
| CN104107085A (en) * | 2013-04-17 | 2014-10-22 | 上海市同济医院 | Member connecting rod with accurate and slow drug-dosage releasing function |
| CN110753527A (en) * | 2017-04-12 | 2020-02-04 | 马克斯·普朗克科学促进学会 | Propeller and method for moving propeller |
| CN114053567A (en) * | 2021-11-29 | 2022-02-18 | 西安交通大学 | Method and device for fixed-point release of medicine based on magnetorheological fluid |
-
2008
- 2008-01-11 CN CNU200820030807XU patent/CN201143199Y/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586361C (en) * | 2008-01-11 | 2010-02-03 | 南京航空航天大学 | Intervention diagnosis and treating robot based on gastropod sport mechanism and sport method thereof |
| WO2011050758A1 (en) * | 2009-10-27 | 2011-05-05 | Zhao Dezheng | Bionic telescopic matrix unit |
| US8395466B2 (en) | 2009-10-27 | 2013-03-12 | Dezheng Zhao | Bionic telescopic matrix unit |
| CN102028447A (en) * | 2011-01-17 | 2011-04-27 | 王怀成 | Enteroscope |
| CN102028447B (en) * | 2011-01-17 | 2013-11-06 | 蔡信东 | Enteroscope |
| CN102178504A (en) * | 2011-04-15 | 2011-09-14 | 王怀成 | Intelligent enteroscope |
| CN102178504B (en) * | 2011-04-15 | 2014-09-24 | 蔡信东 | Intelligent enteroscope |
| CN104107085A (en) * | 2013-04-17 | 2014-10-22 | 上海市同济医院 | Member connecting rod with accurate and slow drug-dosage releasing function |
| CN104107085B (en) * | 2013-04-17 | 2016-03-23 | 上海市同济医院 | A kind of component connecting rod with the accurate slow-release function of drug dose |
| CN110753527A (en) * | 2017-04-12 | 2020-02-04 | 马克斯·普朗克科学促进学会 | Propeller and method for moving propeller |
| CN114053567A (en) * | 2021-11-29 | 2022-02-18 | 西安交通大学 | Method and device for fixed-point release of medicine based on magnetorheological fluid |
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