CN207745115U - A kind of external navigation device of capsule endoscopic - Google Patents
A kind of external navigation device of capsule endoscopic Download PDFInfo
- Publication number
- CN207745115U CN207745115U CN201720806681.XU CN201720806681U CN207745115U CN 207745115 U CN207745115 U CN 207745115U CN 201720806681 U CN201720806681 U CN 201720806681U CN 207745115 U CN207745115 U CN 207745115U
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- axis
- magnet
- bed body
- leading screw
- navigation device
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Abstract
The utility model provides a kind of external navigation device of capsule endoscopic, it is related to medical instruments field, including base mechanism, bed body mechanism, Z axis frame mechanism, Y-axis carriage mechanism, magnet universal rotary mechanism and magnet, base mechanism control magnet moves in the X-axis direction, Z axis frame mechanism control magnet is moved along Z-direction, Y-axis carriage mechanism control magnet is moved along Y direction, magnet universal rotary mechanism control magnet is rotated around the horizontal axis of magnet universal rotary mechanism and around vertical direction, and bed body mechanism controls bed body moves in the X-axis direction.The external navigation device of the utility model capsule endoscopic may be implemented to accurately control 5 degree of freedom of magnet, use planer-type cartesian coordinate robot's structure, the structural reliability is high, and stability is good, and manufacture easy to produce simple in structure.
Description
Technical field
The utility model is related to medical instruments fields, and in particular to a kind of external navigation device of capsule endoscopic.
Background technology
The active drive of oral capsule capsule endoscope and control have become that human consumption's tract disease is minimally invasive or noninvasive diagnosis and treatment skill
One research hotspot of art and forward position can significantly reduce diagnosis and treatment period and the pain of patient.Capsule endoscopic appearance in vivo
The active accommodation of state and the active control of walking can solve this problem of the vision dead zone of intervention diagnosis, therefore to clinical diagnosis
Technical meaning is great.
Currently, can be manually controlled by external magnet for the control of capsule endoscopic, but it is manually controlled in and faces
In bed application, control effect is undesirable, and positioning accuracy is not high, is easy to cause in Capsule Endoscopy that there are larger blind areas.
The prior art, driving capsule endoscopic can be robot architecture in gastral motion structure, such as patent CN
103222842 B、CN 105615817 A、CN 105962876 A.Robot motion's structure can accurately control the five of magnet
The movement of a degree of freedom, but in above-mentioned patent, the supporting mechanism of vertical direction or horizontal direction is due to being cantilever style mechanism, institute
The moment of flexure born is larger, higher to the intensity requirement of supporting mechanism, is not easy to improve the mechanical safety factor of product and structure is steady
It is qualitative.
Utility model content
In view of the drawbacks described above of the prior art, technical problem to be solved in the utility model is how to improve control glue
The kinematic accuracy for the constructional device that capsule endoscope is moved in human body alimentary canal, while ensureing higher mechanical safety factor and knot
Structure stability, to meet medical requirement.
To achieve the above object, the utility model provides a kind of external navigation device of capsule endoscopic, including pedestal
Mechanism, bed body mechanism, Z axis frame mechanism, Y-axis carriage mechanism, magnet universal rotary mechanism and magnet, the Z axis frame mechanism
It is connect with the base mechanism, the Y-axis carriage mechanism is set to the Z axis frame mechanism, the magnet universal rotary mechanism
It is connect with the Y-axis carriage mechanism, the magnet is installed on the magnet universal rotary mechanism, and the bed body mechanism is movably
It is set to the base mechanism；The base mechanism controls the magnet and moves in the X-axis direction, the Z axis frame mechanism control
The magnet is moved along Z-direction, and the Y-axis carriage mechanism controls the magnet and moved along Y direction, the magnet Universal rotary
Rotation mechanism controls the magnet and is rotated around the horizontal axis of magnet universal rotary mechanism and around vertical direction, the bed body mechanism
The bed body is controlled to move in the X-axis direction.
Further, Z axis frame link block is fixedly connected with the base mechanism and the Z axis frame mechanism, the Z axis frame
Frame link block carries the load of the Z axis frame mechanism on vertical direction, Y-axis bracket described in Y-axis bracket connecting plate vertical connection
Mechanism and the Z axis frame mechanism, the Y-axis bracket connecting plate carry the Y-axis carriage mechanism and are mounted on the Y-axis bracket
The magnet universal rotary mechanism is fixedly connected on the Y-axis carriage mechanism by the load of mechanism, main supporting plate.
Further, X-axis motor is disposed on the base support of the base mechanism, the X-axis motor passes through synchronous belt
Wheel transfers the motion to X-axis leading screw, and the X-axis leading screw is fixedly connected with X-axis connecting plate.
Further, the X-axis connecting plate is connect with Z axis frame link block, and the Z axis frame link block is equipped with X-axis
Sliding block, the X-axis leading screw drive the Z axis frame link block to be moved along X-axis slide rail, and the X-axis slide rail includes 2 guide rails, point
Not An Zhuan base support both sides, the X-axis leading screw is arranged between the guide rail of the X-axis slide rail.
Further, the Z axis frame of the Z axis frame mechanism is symmetrical gantry structure, and the Z axis frame is in vertical direction
Both sides be fixed on Z axis frame link block, the Z axis frame is respectively disposed with Z axis motor, the Z in the both sides of vertical direction
Spindle motor passes motion to Z axis leading screw by Z axis shaft coupling.
Further, the Z axis leading screw is connect with Y-axis bracket connecting plate, and the Y-axis bracket connecting plate connects with Z axis sliding block
It connects, the Z axis leading screw drives the Y-axis bracket connecting plate to be moved along Z axis slide rail, and the Z axis slide rail includes 4 guide rails, respectively
It is installed on the Z axis frame, the Z axis leading screw is arranged between the Z axis slide rail.
Further, the Y-axis holder of the Y-axis carriage mechanism is installed on Y-axis bracket connecting plate, and y-axis motor is arranged in institute
Y-axis holder is stated, the y-axis motor transfers the motion to Y-axis leading screw by shaft coupling.
Further, the Y-axis leading screw is connect with main supporting plate, and the main supporting plate is equipped with Y-axis sliding block, the Y-axis
Leading screw drives the main supporting plate to be moved along Y-axis sliding rail, and the Y-axis sliding rail includes 2 guide rails, is separately mounted to the Y-axis branch
It is arranged between Y-axis sliding rail perpendicular to the direction of the base mechanism, the Y-axis leading screw in frame horizontal direction.
Further, the main supporting plate of the magnet universal rotary mechanism is equipped with the vertical electric rotating machine of magnet, the magnetic
The vertical electric rotating machine of body passes motion to magnet carrier by bearing, to drive the magnet to make a connection along the magnet Universal rotary
The vertical axis direction of structure rotates, and magnet rotates horizontally motor and is fixedly installed in the magnet carrier, and the magnet rotates horizontally electricity
Machine passes motion to the magnet by magnet fixing axle, to drive the magnet along the water of the magnet universal rotary mechanism
Flat axis direction rotation.
Further, the bed body holder of the bed body mechanism is fixedly installed in base support, and bed body motor is arranged in described
Bed body holder, the bed body motor transfer the motion to bed body leading screw by bed body shaft coupling, and the bed body leading screw connects with bed board
It connecing, bed body sliding rail is installed on the lower face of the bed board as mobile terminal, and bed body sliding block is installed on bed body holder as fixing end,
The bed body leading screw drives the bed board along the bed body slide block movement.
Compared with prior art, the beneficial effects of the utility model are：
1, the utility model is based on gantry frame type structure in structure, which controls upper Simple visual in spatial position,
Facilitate program control and person's intuitivism apprehension easy to operation；
2, the planer-type framework of the utility model rigidity in structure is preferable, high stability, and compactedness is not in structure
The disadvantage of foot is made up by the way that the kinematic pair of removable bed body is added, and so entire robot just seems in structure to be stablized tightly
It gathers, securely and reliably；
3, the utility model provides in the external navigation automatic control technology research that auxiliary realizes capsule endoscopic
A kind of effective organization plan and thinking, so that this research field has been broken away from conventional capsules formula endoscope can only disappear by human body
Change road to wriggle the shortcomings that passive movement and uncontrollable shooting alimentary canal image, capsule endoscopic is finally enable to be led in vitro
It navigates the accurate reliable active control of device.
In conclusion the external navigation device of the utility model capsule endoscopic may be implemented to 5 degree of freedom of magnet
It accurately controls, uses planer-type cartesian coordinate robot's structure, the structural reliability is high, and stability is good, and simple in structure
Manufacture easy to produce.
The technique effect of the design of the utility model, concrete structure and generation is made furtherly below with reference to attached drawing
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Description of the drawings
Fig. 1 is a kind of device entirety stereoscopic schematic diagram of preferred embodiment of the utility model；
Fig. 2 is a kind of stereoscopic schematic diagram of the base mechanism of preferred embodiment of the utility model；
Fig. 3 is a kind of stereoscopic schematic diagram of the bed body mechanism of preferred embodiment of the utility model；
Fig. 4 is a kind of stereoscopic schematic diagram of the Z axis frame mechanism of preferred embodiment of the utility model；
Fig. 5 is that a kind of Y-axis carriage mechanism of preferred embodiment of the utility model and the solid of magnet universal rotary mechanism are shown
It is intended to；
Wherein：1- base mechanisms, 2- bed bodies mechanism, 3-Z axis frame mechanisms, 4-Y shaft trays mechanism, 5- magnet Universal rotaries
Mechanism, 6- magnets；11- base supports, 12- synchronous pulleys, 13-X spindle motors, 14-X axis sliding rail link blocks, 15-X axis sliding rails,
16-X axis sliding blocks, 17-Z axis frame link blocks, 18-X axial filament thick sticks, 19-X axis connection plates；21- bed body holders, 22- bed body sliding blocks,
23- bed body sliding block blocks, 24- bed body leading screws, 25- bed body shaft couplings, 26- bed body motors, 27- bed boards, 28- bed body sliding rails；31-
Z axis frame, 32-Z spindle motors, 33-Z axis shaft couplings, 34-Z axis sliding rail blocks, 35-Z axis sliding rails, 36-Z axial filament thick sticks, 37-Z axis are slided
Block, 38-Y shaft tray connecting plates；41-Y spindle motors, 42-Y axis shaft couplings, 43-Y axial filament thick sticks, 44-Y axis sliding blocks, 45-Y axis sliding rails,
46-Y bracing struts, 47-Y axis sliding rail blocks；51- magnet carriers, 52- magnet fixing axles, 53- magnets rotate horizontally motor, 54- axis
It holds, 55- main supporting plates, the vertical electric rotating machine of 56- magnets.
Specific implementation mode
Below in conjunction with attached drawing to the utility model is related to a kind of external navigation device of capsule endoscopic preferred implementation
Example is described in detail, but the utility model is not limited in the embodiment.In order to make the public have thoroughly the utility model
Understand, concrete details is described in detail in following the preferred embodiment in the utility model.
As shown in Figure 1, a kind of external navigation device of capsule endoscopic, including base mechanism 1, bed body mechanism 2, Z axis frame
Frame mechanism 3, Y-axis carriage mechanism 4, magnet universal rotary mechanism 5 and magnet 6, the phase vertical with base mechanism 1 of Z axis frame mechanism 3
Even, base mechanism 1 controls magnet 6 and moves in the X-axis direction, and Z axis frame mechanism 3 controls magnet 6 and moved along Z-direction；Y-axis bracket
Mechanism 4 is arranged on Z axis frame mechanism 3, and Y-axis carriage mechanism 4 controls magnet 6 and moved along Y direction；Magnet universal rotary mechanism
5 connect with Y-axis carriage mechanism 4, and magnet 6 is installed on magnet universal rotary mechanism 5, magnet universal rotary mechanism 5 control magnet 6 around
It the horizontal axis of magnet universal rotary mechanism 5 and is rotated around vertical direction；Bed body mechanism 2 is movably installed vertically on pedestal
Mechanism 1, bed body mechanism 2 control bed body and move in the X-axis direction.
As shown in Figure 1, Z axis frame link block 17 is fixedly connected with base mechanism 1 and Z axis frame mechanism 3, the connection of Z axis frame
Block 17 carries the load of Z axis frame mechanism 3 on vertical direction, and Y-axis bracket connecting plate 38 connects Y-axis carriage mechanism 4 and Z axis frame
Mechanism 3, Y-axis bracket connecting plate 38 carry Y-axis carriage mechanism 4 and the load mounted on Y-axis carriage mechanism 4, and main supporting plate 55 will
Magnet universal rotary mechanism 5 is vertically fixedly connected on Y-axis carriage mechanism 4.
As depicted in figs. 1 and 2, X-axis motor 13, the output of X-axis motor 13 are installed on the base support 11 of base mechanism 1
End is connect with X-axis leading screw 18 by synchronous pulley 12, and X-axis motor 13 transfers the motion to X-axis leading screw 18 by synchronous pulley 12,
X-axis leading screw 18 coordinates with X-axis connecting plate 19, and X-axis connecting plate 19 can in X direction move under the action of X-axis leading screw 18.X-axis
Connecting plate 19 is connect with Z axis frame link block 17, and Z axis frame link block 17 is equipped with X-axis slide block 16, and X-axis slide block 16 is slided with X-axis
The removable cooperation of rail 15, X-axis leading screw 18 drive Z axis frame link block 17 to be moved along X-axis slide rail 15, and X-axis slide rail 15 is led including 2
Rail is mounted on the both sides of base support 11 by X weeks sliding rail link block 14 respectively, and X-axis leading screw 18 is arranged in leading for X-axis slide rail 15
Among rail.
As shown in Figure 1 and Figure 4, the Z axis frame 31 of Z axis frame mechanism 3 is gantry structure, and the structure on two sides of vertical direction
Symmetrically, Z axis frame 31 is fixed on by Z axis frame link block 17 on base mechanism 1 in the both sides of vertical direction, Z axis frame 31
It is separately installed with Z axis motor 32 in the both sides of vertical direction.Z axis motor 32 passes motion to Z axis silk by Z axis shaft coupling 33
Thick stick 36, Z axis leading screw 36 are connect with Y-axis bracket connecting plate 38, and the both ends of Y-axis bracket connecting plate 38 are connect with Z axis sliding block 37, Z axis
Sliding block 37 drives Y-axis bracket connecting plate 38 to be moved along Z axis slide rail 35 with the removable cooperation of Z axis slide rail 35, Z axis leading screw 36, and Z axis is slided
Rail 35 includes 4 guide rails, is respectively arranged in Z axis frame 31, Z axis leading screw 36 is arranged among Z axis slide rail 35, multiple Z axis slide rails
Block 23 is mounted in Z axis slide rail 35, for stopping that the movement of Z axis sliding block 37 is more than preset range.
As shown in Figure 1 and Figure 5, the Y-axis holder 46 of Y-axis carriage mechanism 4 is installed on Y-axis bracket connecting plate 38, with Z axis frame
Mechanism 3 connects, and y-axis motor 41 is installed on Y-axis holder 46.The output end of y-axis motor 41 passes through Y with the input terminal of Y-axis leading screw 43
Axis shaft coupling 42 connects, and y-axis motor 41 transfers the motion to Y-axis leading screw 43 by shaft coupling 42, and Y-axis leading screw 43 passes through fixing end
Bearing block and support end bearing block are fixed on Y-axis bracket 46；Y-axis leading screw 43 passes through specialized nut seat with main supporting plate 55
Connection, the both ends of main supporting plate 55 are equipped with Y-axis sliding block 44, and Y-axis sliding block 44 movably coordinates with Y-axis sliding rail 45, Y-axis leading screw
43 drive main supporting plates 55 are moved along Y-axis sliding rail 45, and Y-axis sliding rail 45 includes 2 guide rails, and it is horizontal to be separately mounted to Y-axis holder 46
It is arranged among Y-axis sliding rail 45 perpendicular to the direction of base mechanism 1, Y-axis leading screw 43 on direction, multiple Y-axis sliding rail blocks 47 are pacified
On Y-axis sliding rail 45, for stopping that the movement of Y-axis sliding block 44 is more than preset range.
As shown in Figure 1 and Figure 5, the main supporting plate 55 of magnet universal rotary mechanism 5 is equipped with the vertical electric rotating machine 56 of magnet,
The vertical electric rotating machine 56 of magnet passes motion to magnet carrier 51 by bearing 54, to drive magnet 6 along magnet Universal rotary
The vertical axis direction of mechanism 5 rotates, and magnet rotates horizontally motor 53 and is fixedly installed in magnet carrier 51, and magnet rotates horizontally motor
53 pass motion to magnet 6 by magnet fixing axle 52, to drive magnet 6 along the trunnion axis side of magnet universal rotary mechanism 5
To rotation.
As shown in figures 1 and 3, the bed body holder 21 of bed body mechanism 2 is fixedly installed in base support 11,26 cloth of bed body motor
It is placed in bed body holder 21, the output end of bed body motor 26 is connect with the input terminal of bed body leading screw 24 by bed body shaft coupling 25, bed
Body motor 26 transfers the motion to bed body leading screw 24 by bed body shaft coupling 25, and bed body leading screw 24 passes through fixed end bearing block and branch
Support end bearing block is fixed on bed body holder 21, and bed body leading screw 24 is connect with bed board 27, and bed body sliding rail 28 is used as mobile terminal
It is installed on the lower face of bed board 27, bed body sliding block 22 is installed on bed body holder 21 as fixing end, and bed body leading screw 24 drives bed board
27 move along bed body sliding block 22, and bed body sliding block block 23 is installed on bed body holder 21, are more than to limit for preventing bed body sliding block 22
Position.
The external navigation device of capsule endoscopic provided by the utility model is described in detail above.Herein
Specific case is applied to be expounded the principles of the present invention and embodiment, the explanation of above example is only intended to
Help understands the method and its core concept of the utility model.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from the utility model principle, several improvements and modifications can be made to this utility model, these improve and
Modification is also fallen into the protection domain of the utility model claims.
Claims (10)
1. a kind of external navigation device of capsule endoscopic, which is characterized in that including base mechanism (1), bed body mechanism (2), Z axis
Frame mechanism (3), Y-axis carriage mechanism (4), magnet universal rotary mechanism (5) and magnet (6), the Z axis frame mechanism (3) with
Base mechanism (1) connection, the Y-axis carriage mechanism (4) are set to the Z axis frame mechanism (3), the magnet Universal rotary
Rotation mechanism (5) is connect with the Y-axis carriage mechanism (4), and the magnet (6) is installed on the magnet universal rotary mechanism (5), institute
It states bed body mechanism (2) and is movably arranged at the base mechanism (1)；The base mechanism (1) controls the magnet (6) along X
Axis direction moves, and the Z axis frame mechanism (3) controls the magnet (6) and moved along Z-direction, the Y-axis carriage mechanism (4)
It controls the magnet (6) to move along Y direction, it is universal around magnet that the magnet universal rotary mechanism (5) controls the magnet (6)
It the horizontal axis of rotating mechanism (5) and is rotated around vertical direction, the bed body mechanism (2) controls the bed body along X-direction
Movement.
2. the external navigation device of capsule endoscopic as described in claim 1, which is characterized in that Z axis frame link block (17)
It is fixedly connected with the base mechanism (1) and the Z axis frame mechanism (3), Y-axis bracket connecting plate (38) connects the Y-axis bracket
The magnet universal rotary mechanism (5) is fixedly connected on institute by mechanism (4) and the Z axis frame mechanism (3), main supporting plate (55)
State Y-axis carriage mechanism (4).
3. the external navigation device of capsule endoscopic as described in claim 1, which is characterized in that the base mechanism (1)
X-axis motor (13) is disposed on base support (11), the X-axis motor (13) transfers the motion to X by synchronous pulley (12)
Axial filament thick stick (18), the X-axis leading screw (18) are fixedly connected with X-axis connecting plate (19).
4. the external navigation device of capsule endoscopic as claimed in claim 3, which is characterized in that the X-axis connecting plate (19)
It is connect with Z axis frame link block (17), the Z axis frame link block (17) is equipped with X-axis slide block (16), the X-axis leading screw
(18) the Z axis frame link block (17) is driven to be moved along X-axis slide rail (15), the X-axis slide rail (15) is mounted on base support
(11) both sides, the X-axis leading screw (18) are arranged between the guide rail of the X-axis slide rail (15).
5. the external navigation device of capsule endoscopic as described in claim 1, which is characterized in that the Z axis frame mechanism (3)
Z axis frame (31) be symmetrical gantry structure, the Z axis frame (31) the both sides of vertical direction be fixed on Z axis frame connection
Block (17), the Z axis frame (31) are respectively disposed with Z axis motor (32) in the both sides of vertical direction, and the Z axis motor (32) is logical
It crosses Z axis shaft coupling (33) and passes motion to Z axis leading screw (36).
6. the external navigation device of capsule endoscopic as claimed in claim 5, which is characterized in that the Z axis leading screw (36) and Y
Shaft tray connecting plate (38) connects, and the Y-axis bracket connecting plate (38) connect with Z axis sliding block (37), Z axis leading screw (36) band
It moves the Y-axis bracket connecting plate (38) to move along Z axis slide rail (35), the Z axis slide rail (35) is installed on the Z axis frame
(31), the Z axis leading screw (36) is arranged between the Z axis slide rail (35).
7. the external navigation device of capsule endoscopic as described in claim 1, which is characterized in that the Y-axis carriage mechanism (4)
Y-axis holder (46) be installed on Y-axis bracket connecting plate (38), y-axis motor (41) is arranged in the Y-axis holder (46), the Y-axis
Motor (41) transfers the motion to Y-axis leading screw (43) by shaft coupling (42).
8. the external navigation device of capsule endoscopic as claimed in claim 7, which is characterized in that the Y-axis leading screw (43) with
Main supporting plate (55) connects, and the main supporting plate (55) is equipped with Y-axis sliding block (44), and the Y-axis leading screw (43) drives the master
Support plate (55) is moved along Y-axis sliding rail (45), and the Y-axis sliding rail (45), which is mounted in Y-axis holder (46) horizontal direction, to be hung down
Directly in the direction of the base mechanism (1), the Y-axis leading screw (43) is arranged between Y-axis sliding rail (45).
9. the external navigation device of capsule endoscopic as described in claim 1, which is characterized in that the magnet Universal rotary favourable turn
The main supporting plate (55) of structure (5) is equipped with the vertical electric rotating machine of magnet (56), and the vertical electric rotating machine of magnet (56) passes through axis
It holds (54) and passes motion to magnet carrier (51), magnet rotates horizontally motor (53) and is fixedly installed in the magnet carrier
(51), the magnet rotates horizontally motor (53) and passes motion to the magnet (6) by magnet fixing axle (52).
10. the external navigation device of capsule endoscopic as described in claim 1, which is characterized in that the bed body mechanism (2)
Bed body holder (21) is fixedly installed in base support (11), and bed body motor (26) is arranged in the bed body holder (21), the bed
Body motor (26) transfers the motion to bed body leading screw (24), the bed body leading screw (24) and bed board by bed body shaft coupling (25)
(27) it connects, bed body sliding rail (28) is installed on the lower face of the bed board (27) as mobile terminal, and bed body sliding block (22) is as solid
Fixed end is installed on bed body holder (21), and the bed body leading screw (24) drives the bed board (27) to be transported along the bed body sliding block (22)
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720806681.XU CN207745115U (en) | 2017-07-05 | 2017-07-05 | A kind of external navigation device of capsule endoscopic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720806681.XU CN207745115U (en) | 2017-07-05 | 2017-07-05 | A kind of external navigation device of capsule endoscopic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207745115U true CN207745115U (en) | 2018-08-21 |
Family
ID=63145672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720806681.XU Expired - Fee Related CN207745115U (en) | 2017-07-05 | 2017-07-05 | A kind of external navigation device of capsule endoscopic |
Country Status (1)
| Country | Link |
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| CN (1) | CN207745115U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107307839A (en) * | 2017-07-05 | 2017-11-03 | 上海楠青自动化科技有限公司 | A kind of external guider of capsule endoscopic |
| CN110433058A (en) * | 2019-09-16 | 2019-11-12 | 湖南信息职业技术学院 | A kind of massage bed based on thermotherapy treatment prolapse of lumbar intervertebral disc |
| CN111544027A (en) * | 2020-04-16 | 2020-08-18 | 深圳瀚维智能医疗科技有限公司 | Portable scanning bed and automatic breast scanning equipment |
| CN112891071A (en) * | 2021-02-01 | 2021-06-04 | 宁波市第九医院 | Automatic insert endotracheal tube's removal stretcher |
-
2017
- 2017-07-05 CN CN201720806681.XU patent/CN207745115U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107307839A (en) * | 2017-07-05 | 2017-11-03 | 上海楠青自动化科技有限公司 | A kind of external guider of capsule endoscopic |
| CN110433058A (en) * | 2019-09-16 | 2019-11-12 | 湖南信息职业技术学院 | A kind of massage bed based on thermotherapy treatment prolapse of lumbar intervertebral disc |
| CN110433058B (en) * | 2019-09-16 | 2021-09-10 | 湖南信息职业技术学院 | Massage bed for treating lumbar disc herniation based on thermotherapy |
| CN111544027A (en) * | 2020-04-16 | 2020-08-18 | 深圳瀚维智能医疗科技有限公司 | Portable scanning bed and automatic breast scanning equipment |
| CN112891071A (en) * | 2021-02-01 | 2021-06-04 | 宁波市第九医院 | Automatic insert endotracheal tube's removal stretcher |
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Address after: Room 612, 916A and 916B, 3389 Longwu Road, Minhang District, Shanghai 201108 Patentee after: Nanqing Medical Technology (Shanghai) Co., Ltd. Address before: Room 2-323, 588 Zixing Road, Minhang District, Shanghai, 200241 Patentee before: Shanghai Nan Qing Automation Technology Co., Ltd. |
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| CP03 | Change of name, title or address | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180821 Termination date: 20210705 |
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| CF01 | Termination of patent right due to non-payment of annual fee |