CN205374271U - Automatic gui ji system of cornea packing body - Google Patents
Automatic gui ji system of cornea packing body Download PDFInfo
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- CN205374271U CN205374271U CN201521098399.8U CN201521098399U CN205374271U CN 205374271 U CN205374271 U CN 205374271U CN 201521098399 U CN201521098399 U CN 201521098399U CN 205374271 U CN205374271 U CN 205374271U
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Abstract
The utility model discloses an automatic gui ji system of cornea packing body relates to medical instrument technical field. For returning the required hand labor volume of the cornea packing body that collects problem big, the inefficiency, invents solution prior art. The utility model discloses automatic gui ji system of cornea packing body, include: station, robot assembly and the control unit are collected to bias light curtain, image recognition device, detector, a plurality of product. The utility model discloses the cornea packing body that is equipped with the cornea is collected to available the going home of automatic gui ji system of cornea packing body.
Description
Technical field
This utility model relates to technical field of medical instruments, and the automatization particularly relating to a kind of cornea package body collects system.
Background technology
Keratopathy is the second diseases causing blindness in global range, and with the speed increase of annual 150-200 ten thousand case.Corneal transplantation is the only effective method of corneal blindness for the treatment of at present, and the source of corneal transplantation materials is mainly cornea donation and cornea succedaneum, such as cell-eliminating coanea matrix etc..In order to overcome irregular astigmatism etc. to transplant defect, it usually needs the target location moved by cornea to detecting device is detected, and to determine that whether cornea is for qualified products, and collects according to testing result.In traditional collecting method, artificial participation is higher, inefficient.
Utility model content
Embodiment of the present utility model provides the automatization of a kind of cornea package body to collect system, it is possible to the automatization realizing cornea package body collects, and reduces manual labor amount, improves the collection efficiency of cornea package body.
For reaching above-mentioned purpose, embodiment of the present utility model provides the automatization of a kind of cornea package body and collects system, including: background light curtain, described background light curtain can send color background light；Pattern recognition device, described pattern recognition device and described background light curtain be relative and interval is arranged, and described pattern recognition device can obtain the positional information of the nontransparent object between described background light curtain and pattern recognition device；Detector, described detector can obtain the optical property of the cornea being positioned at its detection range；Multiple products collect station, and multiple described products are collected station and are respectively used to collect the cornea product of different optical property scope；Mechanical arm assembly, described mechanical arm assembly is for clamping the transparent wrapper body equipped with cornea, and described transparent wrapper body can be driven to move；Control unit, described control unit can control described mechanical arm assembly and drive described transparent wrapper body to move between described background light curtain and pattern recognition device, and the positional information that the cornea sent according to described pattern recognition device is in described transparent wrapper body determines the position of cornea, and the position according to described cornea drives described transparent wrapper body to move to the detection range of described detector, and the optical property of the cornea that can detect according to described detector, control mechanical arm assembly and described transparent wrapper body is moved and put into corresponding product collection station.
nullThe automatization of a kind of cornea package body that this utility model embodiment provides collects system，Mechanical arm assembly clamping is equipped with the transparent wrapper body of cornea，And drive transparent wrapper body to move to detect between background light curtain and pattern recognition device，To determine the positional information of cornea in transparent wrapper body，And the positional information of cornea is sent to control unit，After control unit receives the positional information of cornea，Transparent wrapper body can be driven to move to the detection range of detector according to this positional information，Now，The optical property of cornea in transparent wrapper body can be detected by detector，And testing result is sent to control unit，After control unit receives testing result，Can according to this testing result，Control mechanical arm assembly and transparent wrapper body is moved and put into corresponding product collection station，It is achieved thereby that automatically the collecting of cornea package body.The automatization of the cornea package body that this utility model embodiment provides collects system, it is achieved that the automatization of cornea package body collects, and required manual labor amount is less, and collection efficiency is higher.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the top view that the automatization of this utility model embodiment cornea package body collects system；
The automatization that Fig. 2 is this utility model embodiment cornea package body collects the structural representation of product collection station in system；
Fig. 3 is the axonometric chart that the automatization of this utility model embodiment cornea package body collects system；
The automatization that Fig. 4 is this utility model embodiment cornea package body collects the structural representation of mechanical hand in system.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of this utility model protection.
In description of the present utility model, it will be appreciated that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " be based on orientation shown in the drawings or position relationship; be for only for ease of description this utility model and simplifying and describe; rather than instruction or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.In description of the present utility model, except as otherwise noted, " multiple " are meant that two or more.
Collect a specific embodiment of system with reference to the automatization that Fig. 1, Fig. 1 are this utility model embodiment cornea package body, the automatization of the cornea package body of the present embodiment collects system and includes: background light curtain 1, and described background light curtain 1 can send color background light；Pattern recognition device 2, described pattern recognition device 2 and described background light curtain 1 be relative and interval is arranged, and described pattern recognition device 2 can obtain the positional information of the nontransparent object between described background light curtain 1 and pattern recognition device 2；Detector 3, described detector 3 can obtain the optical property of the cornea being positioned at its detection range；Multiple products collect station 4, and multiple described products are collected station 4 and are respectively used to collect the cornea product of different optical property scope；Mechanical arm assembly 5, described mechanical arm assembly 5 is for clamping the transparent wrapper body equipped with cornea, and described transparent wrapper body can be driven to move；Control unit (not shown), described control unit can control described mechanical arm assembly 5 and drive described transparent wrapper body to move between described background light curtain 1 and pattern recognition device 2, and the cornea positional information in described transparent wrapper body sent according to described pattern recognition device 2 determines the position of cornea, and the position according to described cornea drives described transparent wrapper body to move to the detection range of described detector 3, and can according to the optical property of the cornea of described detector 3 detection, control mechanical arm assembly 5 and described transparent wrapper body is moved and put into corresponding product collection station 4.
nullThe automatization of a kind of cornea package body that this utility model embodiment provides collects system，Mechanical arm assembly 5 clamps the transparent wrapper body equipped with cornea，And drive transparent wrapper body to move to detect between background light curtain 1 and pattern recognition device 2，To determine the positional information of cornea in transparent wrapper body，And the positional information of cornea is sent to control unit，After control unit receives the positional information of cornea，Transparent wrapper body can be driven to move to the detection range of detector 3 according to this positional information，Now，The optical property of cornea in transparent wrapper body can be detected by detector 3，And testing result is sent to control unit，After control unit receives testing result，Can according to this testing result，Control mechanical arm assembly 5 and transparent wrapper body is moved and put into corresponding product collection station 4，It is achieved thereby that automatically the collecting of cornea package body.The automatization of the cornea package body that this utility model embodiment provides collects system, it is achieved that the automatization of cornea package body collects, and required manual labor amount is less, and the efficiency collected is higher.
In the above-described embodiments, the material of this utility model embodiment corneal package body, shape and size are not especially limited, in order to facilitate the bias light that background light curtain 1 provides to form image when passing through the cornea package body being contained with cornea to be positioned, preferably, cornea package body adopts ganoid transparent homogeneous materials so that the bias light of solid colour provided when background light curtain 1 can be directed through being arranged in the cornea of cornea package body and form it into image.
Wherein, during in order to make mechanical arm assembly 5 be in clamped condition, it is possible to clamping cornea package body, it is preferred that, the shape of this cornea package body can be the shape that mechanical arm assembly 5 easily clamps according to the manipulator design of mechanical arm assembly 5, and this is not limited as by this utility model.As long as when mechanical arm assembly 5 is in clamped condition, it is possible to clamping cornea package body also drives cornea package body to move.
It addition, the thickness of cornea package body, it should less than or equal to the maximum distance of opening when being in open mode of the mechanical hand when mechanical arm assembly 5, this utility model is without limitation.
Furthermore, the cornea in corneal package body does not limit, and being there is a need to the cornea of location all can as cornea of the present utility model.
Pattern recognition device 2 in the embodiment shown in fig. 1, the concrete structure of pattern recognition device 2 is not construed as limiting, as long as can obtain the background light curtain 1 image through the bias light formation of the cornea package body of mechanical arm assembly 5 clamping.Preferably, pattern recognition device 2 includes interconnective photographic head (not shown) and single-chip microcomputer (not shown), referring to Fig. 3, photographic head and background light curtain 1 are oppositely arranged, single-chip microcomputer is for being converted into digital information by the graphical information that photographic head obtains, to facilitate computing.This simple in construction, it is easy to realize.
In order to detect the optical property of cornea in transparent wrapper body, detector 3 can be radium emnation optical detector, radium emnation optical detector can detect the transparency of cornea, and radium emnation optical detector has precision height, good reliability, start and the advantage such as operable, the corneal transparence that measurement obtains is made to have higher accuracy, and the process of measurement is consuming time shorter, efficiency is higher.
Wherein, background light curtain 1, pattern recognition device 2, detector 3, multiple product collect station 4, mechanical arm assembly 5 and control unit centralized arrangement on carrying platform 100, facilitate unified management.
It should be noted that, background light curtain 1 and pattern recognition device 2 can may be contained within the plane at carrying platform 100 place, also can background light curtain 1 be arranged in the plane at carrying platform 100 place, pattern recognition device 2 be arranged at above background light curtain 1 and and background light curtain 1 between keep certain interval, or pattern recognition device 2 is arranged in the plane at carrying platform 100 place, background light curtain 1 be arranged at above pattern recognition device 2 and and pattern recognition device 2 keep certain interval, do not limit at this.In like manner, detector 3 can be horizontally disposed with, it is also possible to is vertically arranged, and does not limit at this.
It addition, control unit can be single-chip microcomputer, PLD (programmablelogicdevice, PLD), DSP (digitalsignalprocessor, digital signal processor) etc., do not limit at this.
In order to collect cornea package body, as shown in Figure 2, product is collected station 4 and is included feeding mouth 41, pan feeding slideway 42 and Material collecting box for harvesting 43, pan feeding slideway 42 upper end connects with feeding mouth 41, lower end is internal with Material collecting box for harvesting 43 to be connected, feeding mouth 41 is positioned on the motion track of mechanical arm assembly 5, under the control of the control unit, mechanical arm assembly 5 clamps transparent wrapper body and moves to corresponding product collection station 4, and the transparent wrapper body of clamping is put into the feeding mouth 41 of product collection station 4, the transparent wrapper body putting into feeding mouth 41 can slip into Material collecting box for harvesting 43 along pan feeding slideway 42, to realize the collection of transparent wrapper body.This simple in construction, it is achieved convenient.
Wherein, pan feeding slideway 42 can be vertical slideway, it is also possible to connect with feeding mouth 41 for one end as shown in Figure 2, and the other end is downward-sloping and is communicated in Material collecting box for harvesting 43 inside, enable transparent wrapper body to slip in Material collecting box for harvesting 43 along pan feeding slideway 42 under the effect of its gravity, do not limit at this.
It addition, the shape of Material collecting box for harvesting 43 can be cylindrical shape, cube etc., not limiting at this, and the volume of Material collecting box for harvesting 43 is not limited, specifically, Material collecting box for harvesting 43 can hold a number of transparent wrapper body.
Owing to cornea package body is divided into qualified products and substandard product according to the transparency of cornea in package body, therefore product collection station 4 includes qualified products collection station and substandard product collection station, qualified products collect station for collecting transparency cornea in preset range, and substandard product collects station for collecting transparency cornea outside preset range.When the transparency of cornea is in preset range in the cornea package body obtained by detector 3 detection, then judge that this cornea package body is as qualified products, qualified products can be put it into and collect in the feeding mouth 41 that station is corresponding；When in the cornea package body obtained by detector 3 detection, the transparency of cornea is in outside preset range, then judge that this cornea package body is as substandard product, can put it in the feeding mouth 41 that substandard product is collected corresponding to station, be achieved in the categorised collection of cornea package body.
Wherein, preset range is that user sets in advance, the setting of preset range bound, is under the premise that the cornea having been directed towards same thickness carries out mass data collection, and the normal distribution situation according to light transmission draws in conjunction with certain linear algorithm.And for the cornea of different-thickness, the preset range drawn is different.
In order to facilitate cornea package body to move, preferably, as shown in Figure 3, mechanical arm assembly 5 includes mechanical hand 51 and mobile device 52, mechanical hand 51 is for clamping the transparent wrapper body equipped with cornea, with the relative position of solid mechanical hands 51 with cornea package body, mobile device 52 moves for driving mechanical hands 51, thus the cornea package body on driving mechanical hands 51 moves.This simple in construction, easy to operate.
Wherein, preferably, mechanical hand 51 can be made as structure as shown in Figure 4, specifically, including support 511, it is arranged at the first clamping plate 512 on support 511, second clamping plate 513 and driving mechanism 518, driving mechanism 518 is used for driving the first clamping plate 512 and the second clamping plate 513 fit or open, the middle part of the first clamping plate 512 and the second clamping plate 513 is provided with optical transmission window 514, when the first clamping plate 512 and the second clamping plate 513 are fitted, the edge of the transparent wrapper body between the first clamping plate 512 and the second clamping plate 513 can be will be located within one week, clamp, thus transparent wrapper body is positioned at optical transmission window 514 place equipped with the part of cornea, it is beneficial to obtain the positional information of the cornea in optical transmission window 514.This simple in construction, it is easy to realize.
It should be noted that, first clamping plate 512 can global design for be made by transparent material, can also middle part optical transmission window 514 region of only the first clamping plate 512 be made by transparent material, it is also possible to optical transmission window 514 region in the middle part of the first clamping plate 512 is directly set to through hole, does not limit at this.
In like manner, second clamping plate 513 can global design for be made by transparent material, can also middle part optical transmission window 514 region of only the second clamping plate 513 be made by transparent material, it is also possible to optical transmission window 514 region in the middle part of the second clamping plate 513 is directly set to through hole, does not limit at this.
And, the concrete shape of the first clamping plate 512 and the second clamping plate 513 can be designed according to the shape of cornea package body, does not limit at this, as long as the first clamping plate 512 and the second clamping plate 513 can clamp cornea package body.
nullFor the laminating realized between the first clamping plate 512 and the second clamping plate 513 or open，Preferably，Mechanical hand 51 can be made as structure as shown in Figure 4，Namely the first clamping plate 512 are fixed on support 511 by fixed arm 515，Second clamping plate 513 are articulated with on support 511 by turning arm 516，Connected by return unit 517 between fixed arm 515 and turning arm 516，Driving mechanism 518 includes motor 5181，The output shaft of motor 5181 is connected to swing arm 5182，Swing arm 5182 away from motor 5181 output shaft one end and the second clamping plate 513 against，When swing arm 5182 is to when swinging near the direction of the second clamping plate 513，Swing arm 5182 can promote the second clamping plate 513 to rotate near the direction of the first clamping plate 512，Until the first clamping plate 512 and the second clamping plate 513 fit，When swing arm 5182 swings to the direction away from the second clamping plate 513，Second clamping plate 513 rotate to the direction away from the first clamping plate 512 under the effect of return unit 517.This simple in construction, easy to operate, and motor 5181 is by driving swing arm 5182, swing arm 5182 promotes the second clamping plate 513 to rotate near the direction of the first clamping plate 512, motor 5181 can be disposed in proximity to the position of mechanical hand 51 supportive body, supporter 6 in Fig. 4 is a part for supportive body, it is to avoid being arranged on cantilever beam by motor 5181 increases the burden of cantilever beam, thus preventing cantilever beam to be deformed even rupturing.
It should be noted that, in actual applications, driving mechanism 518 of the present utility model can also apply external force by swing arm 5182 and to the first clamping plate 512, first clamping plate 512 be rotated to close or away from the second clamping plate 513 directions under the effect being subject to external force, with the laminating realized between the first clamping plate 512 and the second clamping plate 513 or open, this is not limited by this utility model embodiment, if enable to the first clamping plate 512 and the second clamping plate 513 in working order time can clamp cornea package body.
In the embodiment shown in fig. 4, return unit 517 is elastic component, the coefficient of elasticity of elastic component is not specifically limited, as long as elastic component enables to the first clamping plate 512 and the second clamping plate 513 are in open mode, maximum between first clamping plate 512 and the second clamping plate 513 opens the distance thickness be more than or equal to cornea package body, or when motor 5181 drives swing arm 5182 rotation extruding the first clamping plate 512 to rotate towards the second clamping plate 513, the elastic component being positioned at the first clamping plate 512 and the second clamping plate 513 can so that the first clamping plate 512 and the second clamping plate 513 can clamp cornea package body when external force extruding deforms upon.Preferably, return unit 517 is spring, this simple in construction, it is easy to realize.
For the frictional force reducing swing arm 5182 and the second clamping plate 513 produce in relative movement, referring to Fig. 4, preferably, swing arm 5182 is provided with roller 5183 away from one end of motor 5181 output shaft, the outer wheel face of roller 5183 and the second clamping plate 513 against, when motor 5181 drives swing arm 5182 to drive the second clamping plate 513 to move, roller 5183 is against the second clamping plate 513 and produces Relative sliding with the second clamping plate 513 and makes roller 5183 roll, produce rolling friction, compared to the sliding friction under equal conditions, the frictional force of rolling friction is less, weares and teares less.
In the embodiment shown in fig. 3, in order to enable cornea package body to move with vertical direction in the horizontal direction, mobile device 52 includes moving horizontally assembly 521 and vertical moving assembly 522, mechanical hand 51 is connected with vertical moving assembly 522, vertical moving assembly 522 can vertically move back and forth by driving mechanical hands 51, moving horizontally assembly 521 can drive vertical moving assembly 522 and mechanical hand 51 to move back and forth in the horizontal direction, it is achieved thereby that cornea package body in the horizontal direction with the movement of vertical direction.This simple in construction, it is easy to realize.
Wherein, move horizontally assembly 521 and include the first actuator 5211, horizontal guide rail 5212, the horizontal screw lead (not shown) being arranged in horizontal guide rail 5212 and the first nut (not shown) coordinated with horizontal screw lead, first nut and horizontal guide rail 5212 are slidably connected, first actuator 5211 can drive horizontal screw lead to rotate, vertical moving assembly 522 is fixing with the first nut to be connected, first actuator 5211 can be motor or other driving devices, horizontal screw lead do not limit at this, as long as can be driven to rotate with himself axis.This simple in construction, easily realize, and owing to feed screw nut coordinates, self there is compact conformation, accurate positioning, facilitate the advantages such as control, therefore move horizontally assembly 521 and can realize the horizontal location of cornea package body exactly, and it is little to take up room, conveniently realize Automated condtrol.
Additionally, vertical moving assembly 522 includes the second actuator 5223, upright guide rail 5221, the vertical leading screw (not shown) being arranged in upright guide rail 5221 and the second nut 5222 coordinated with vertical leading screw, second nut 5222 is slidably connected with upright guide rail 5221, and the second actuator 5223 can drive vertical screw turns.Second actuator 5223 can be motor or other driving devices, does not limit at this, as long as vertical leading screw can be driven to rotate with himself axis.This compact conformation, takes up room little, it is possible to realizes being accurately positioned, and conveniently realizes Automated condtrol.
The above; it is only detailed description of the invention of the present utility model; but protection domain of the present utility model is not limited thereto; any those familiar with the art is in the technical scope that this utility model discloses; change can be readily occurred in or replace, all should be encompassed within protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with described scope of the claims.
Claims (10)
1. the automatization of a cornea package body collects system, it is characterised in that including:
Background light curtain, described background light curtain can send color background light；
Pattern recognition device, described pattern recognition device and described background light curtain be relative and interval is arranged, and described pattern recognition device can obtain the positional information of the nontransparent object between described background light curtain and pattern recognition device；
Detector, described detector can obtain the optical property of the cornea being positioned at its detection range；
Multiple products collect station, and multiple described products are collected station and are respectively used to collect the cornea product of different optical property scope；
Mechanical arm assembly, described mechanical arm assembly is for clamping the transparent wrapper body equipped with cornea, and described transparent wrapper body can be driven to move；
Control unit, described control unit can control described mechanical arm assembly and drive described transparent wrapper body to move between described background light curtain and described pattern recognition device, and the positional information that the cornea sent according to described pattern recognition device is in described transparent wrapper body determines the position of cornea, and the position according to described cornea drives described transparent wrapper body to move to the detection range of described detector, and the optical property of the cornea that can detect according to described detector, control mechanical arm assembly and described transparent wrapper body is moved and put into corresponding product collection station.
2. the automatization of cornea package body according to claim 1 collects system, it is characterized in that, described pattern recognition device includes interconnective photographic head and single-chip microcomputer, described photographic head and described background light curtain are oppositely arranged, and described single-chip microcomputer is for being converted into digital information by the graphical information that described photographic head obtains.
3. the automatization of cornea package body according to claim 1 collects system, it is characterised in that described detector is radium emnation optical detector, and described radium emnation optical detector can detect the transparency of cornea.
4. the automatization of cornea package body according to claim 1 collects system, it is characterized in that, described product is collected station and is included feeding mouth, pan feeding slideway and Material collecting box for harvesting, pan feeding slideway upper end connects with described feeding mouth, lower end is internal with described Material collecting box for harvesting to be connected, and described feeding mouth is positioned on the motion track of described mechanical arm assembly.
5. the automatization of cornea package body according to claim 1 collects system, it is characterized in that, described product is collected station and is included qualified products collection station and substandard product collection station, described qualified products collect station for collecting transparency cornea in preset range, and described substandard product collects station for collecting transparency cornea outside preset range.
6. the automatization of cornea package body according to claim 1 collects system, it is characterized in that, described mechanical arm assembly includes mechanical hand and mobile device, and described mechanical hand is for clamping the transparent wrapper body equipped with cornea, and described mobile device is used for driving described mechanical hand to move.
7. the automatization of cornea package body according to claim 6 collects system, it is characterized in that, described mechanical hand includes support, it is arranged at the first clamping plate on support, second clamping plate and driving mechanism, described driving mechanism is used for driving described first clamping plate and the laminating of the second clamping plate or opening, the middle part of described first clamping plate and the second clamping plate is provided with optical transmission window, when described first clamping plate and the second clamping plate are fitted, the edge of the described transparent wrapper body between described first clamping plate and the second clamping plate can be will be located within one week, clamp, described transparent wrapper body is positioned at described window place equipped with the part of cornea.
null8. the automatization of cornea package body according to claim 7 collects system，It is characterized in that，Described first clamping plate are fixed on described support by fixed arm，Described second clamping plate are articulated with on described support by turning arm，Connected by return unit between described fixed arm and described turning arm，Described driving mechanism includes motor，The output shaft of described motor is connected to swing arm，Described swing arm away from described motor output shaft one end and described second clamping plate against，When described swing arm is to when swinging near the direction of described second clamping plate，Described swing arm can promote described second clamping plate to rotate near the direction of described first clamping plate，Until described first clamping plate and the second clamping plate fit，When described swing arm swings to the direction away from described second clamping plate，Described second clamping plate rotate to the direction away from described first clamping plate under the effect of described return unit.
9. the automatization of cornea package body according to claim 8 collects system, it is characterised in that described swing arm is provided with roller away from one end of described motor output shaft, the outer wheel face of described roller and described second clamping plate against.
10. the automatization of cornea package body according to claim 6 collects system, it is characterized in that, described mobile device includes moving horizontally assembly and vertical moving assembly, described mechanical hand is connected with described vertical moving assembly, described vertical moving assembly can drive described mechanical hand vertically to move back and forth, described in move horizontally assembly vertical moving assembly and described mechanical hand can be driven to move back and forth in the horizontal direction.
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| CN201521098399.8U CN205374271U (en) | 2015-12-25 | 2015-12-25 | Automatic gui ji system of cornea packing body |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017107638A1 (en) * | 2015-12-25 | 2017-06-29 | 深圳艾尼尔角膜工程有限公司 | Automatic sorting and collecting system and method for cornea packages |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017107638A1 (en) * | 2015-12-25 | 2017-06-29 | 深圳艾尼尔角膜工程有限公司 | Automatic sorting and collecting system and method for cornea packages |
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Inventor after: Zhang Jinnan Inventor after: Yu Yongmei Inventor before: Zhang Bin |