CN208659531U - A kind of soft tissue expander - Google Patents
A kind of soft tissue expander Download PDFInfo
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- CN208659531U CN208659531U CN201721344432.XU CN201721344432U CN208659531U CN 208659531 U CN208659531 U CN 208659531U CN 201721344432 U CN201721344432 U CN 201721344432U CN 208659531 U CN208659531 U CN 208659531U
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- soft tissue
- tissue expander
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Abstract
The utility model discloses a kind of soft tissue expanders, especially a kind of robot assisted navigation orthopaedics Minimally Invasive Surgery soft tissue expander, belong to bone surgery the field of medical instrument technology.Soft tissue expander includes guider, work sleeve and expansion core, guider includes fixed link, guide rod and the guide pipe for connecting with the mechanical arm pedestal of orthopedic surgery navigation positioning system, wherein one end of guide rod is connect with fixed link, and the other end of guide rod is connect with guide pipe.It is equipped with work sleeve in guide pipe, expansion core is equipped in work sleeve.The utility model had both been able to guide the merging of unidirectional or universal solid pedicle screw, moreover it is possible to be used cooperatively well with orthopedic surgery navigation positioning system mechanical arm, improve operation precision.
Description
Technical field
The utility model relates to a kind of soft tissue expander, especially a kind of robot assisted navigation orthopaedics Minimally Invasive Surgery is used
Soft tissue expander belongs to bone surgery the field of medical instrument technology.
Background technique
Since open surgery destroys paraspinal muscle larger, operating time is long, bleeding is more, and postoperative complications are more, restore compared with
Slowly, doctor and patient increasingly favor in the percutaneous orthopedic Minimally Invasive Surgery of chest waist section in recent years.With robotic assisted surgery technology
It is widely used in all kinds of bone surgeries, in spinal surgery percutaneous cervical arc root screw minimal invasive internal fixation, orthopedic surgery navigation
Positioning system increases substantially percutaneous cervical arc root screw merging accuracy, and operation time shortens.It is led in bone surgery
Under positioning system of navigating auxiliary, existing matched vertebral column minimally invasive end-of-arm tooling can guide Kirschner wire, and it is accurately fixed to carry out in pedicle of vertebral arch
Position and merging, patient can further guide the merging of hollow Pediculus arcus vertebrae screw using Kirschner wire.But due to solid pedicle of vertebral arch
Screw cannot be guided using Kirschner wire, so the system also cannot achieve at present cither indirectly or directly guides solid pedicle screw
Merging.Compared to solid pedicle screw, the mechanical property of hollow screw is weaker, and patient is postoperative cannot to carry out weight bearing function as early as possible
Training.Also, the upper segment of patient lesser for figure or thoracic vertebrae, pedicle of vertebral arch is tiny, if using hollow pedicle spiral shell
Nail is limited by itself design, and for the lesser hollow screw of diameter compared with the solid screw of same diameter, intensity will certainly be by
Weaken significantly.Furthermore the guider of existing orthopedic surgery navigation positioning system, due to needing the lesser Kirschner wire of lead diameter,
Therefore guiding pipe diameter is also smaller, and when leading to implement spine corrective operation, guide sleeve is not able to satisfy other auxiliary operation tools
And pedicle screw passes through.In addition, the Kirschner wire for positioning and guiding, during merging, patient is careless slightly
Anterior margin of vertebral body is punched, the damage of blood vessel and abdominal cavity internal organs is caused.
Utility model content
The purpose of the utility model is to provide a kind of soft tissue expanders.The utility model is changed by special structure
Into the merging of unidirectional solid pedicle screw or universal solid pedicle screw can be guided, moreover it is possible to well with bone surgery
Navigation positioning system mechanical arm is used cooperatively, and is improved operation precision, is shortened operating time, while having evaded and having brought using Kirschner wire
Operation risk.
In order to solve the above technical problems, the utility model adopts the following technical solutions:
A kind of soft tissue expander includes guider, work sleeve and expansion core.The guider includes one being used for and bone
Fixed link, guide rod and the guide pipe of the mechanical arm pedestal connection of section's surgical navigational positioning system, wherein the one of the guide rod
End is connect with fixed link, and the other end of guide rod is connect with guide pipe.Work sleeve, the work set are equipped in the guide pipe
Expansion core is equipped in cylinder.The wherein guide pipe, work sleeve and the expansion concentric cooperation of core.The utility model and bone surgery
The mechanical arm pedestal of navigation positioning system is combined, and is not necessarily to the hand steered operation of patient, is eliminated human factor bring error, simultaneously
Also healthcare givers's human cost is reduced.
The junction of fixed link above-mentioned and guide rod is additionally provided with a locating flange, when mechanical arm pedestal is connect with fixed link
Later, the locating flange is tightly against the end of pedestal, avoids the occurrence of axial gap, to realize pedestal and guider
It is fastenedly connected.The side of the fixed link is also provided with a locking slot, and the fixed link protrudes into the orthopedic surgery navigation positioning
In the mechanical arm pedestal mounting groove of system, the stop screw rod on the pedestal is headed into locking slot, more with guider by mechanical arm
It is fixedly connected well.
Since the structure design of the utility model is guided without Kirschner wire, the internal diameter of guide pipe above-mentioned can be 12 ㎜ of φ
20 ㎜ of~φ.When implementing spine corrective operation, which had both been able to satisfy passing through for nondominant hand art tool, moreover it is possible to directly or indirectly
Ground guides the merging of unidirectional or universal solid pedicle screw.
Guide pipe above-mentioned offers internal thread hole far from the side of guide rod, and fixed spiral shell is equipped on the internal thread hole
It is female.The fixture nut is screwed in guide pipe by internal thread hole, is attached to the lateral surface of work sleeve, for preferably regular worker
Make sleeve.The fixture nut includes screw rod and knob interconnected, and the knob is quincunx knob.Fixture nut uses
Quincunx design effectively prevent skidding in operating process.
Work sleeve above-mentioned includes sequentially connected sleeve head end, cylindrical circular sleeve body and sleeve tail end,
Described in sleeve body outer diameter be less than the guide pipe internal diameter.The length of work sleeve is greater than complete solid pedicle of vertebral arch screw
The overall length of nail, the internal diameter of the work sleeve can satisfy solid pedicle screw and pass through.The sleeve head end is to have certain thickness
The ring-shaped component of degree, the ring-shaped component outer diameter are greater than the outer diameter of the guide pipe, and the sleeve tail end is a circular saw.
Chamfered is done in the inner edge of sleeve head end above-mentioned, is preferably placed in convenient for expansion core or pedicle screw.It is described
The circular saw tip of sleeve tail end is converged to sleeve body axis direction, and the axial length of the circular saw is 1~3cm.
Further, the length of work sleeve above-mentioned is 35mm~170mm, and the internal diameter for the sleeve that works is 8mm~25mm.
Further, expansion core above-mentioned is solid construction.
Expansion core above-mentioned includes sequentially connected expansion core print end, expansion core middle part and expansion core tail end.It is wherein described
Length >=work length sleeve in the middle part of core is expanded, the expansion core print end outer diameter is slightly larger than the work sleeve diameter, the expansion
In the middle part of Zhang Xin and the outer diameter of expansion core tail end is respectively less than the work sleeve diameter, and expansion core is allowed to pass through work set
Cylinder and connect be integral, but combine after do not shake mutually.In conclusion the length of expansion core is greater than work sleeve
Length, so that expansion core print end and expansion core tail end are revealed in other than work sleeve after expansion core insertion work sleeve.
Expansion core print end periphery above-mentioned offers several recessed portions, convenient for hand-held.The expansion core tail end is far from expansion
One end in the middle part of Zhang Xin is cone, since expansion core tail end is in sharp cone, it is easy to be expanded muscle, work sleeve
Pedicle of vertebral arch can be smoothly touched along the spatium intermusculare of expansion, time saving and energy saving, few to the cutting of soft tissue, damage is small, expands convenient for passivity
Open soft tissue.Outer diameter in the middle part of the expansion core is less than the outer diameter of the expansion core tail end.Except expansion core print end and expansion core tail
The internal diameter that the outer diameter in the middle part of core is much smaller than work sleeve is expanded at end, to mitigate self weight and material utilization amount.
A kind of application method of soft tissue expander, using soft tissue expander above-mentioned, comprising the following steps: performing the operation
In, the fixed link of guider is connected to the mechanical arm tail end of orthopedic surgery navigation positioning system by locking slot, in mechanical arm
Under the guidance positioning of pedestal and guider, the sleeve that works is passed through to the guide pipe of guider, sleeve tail end touches patient skin,
The position of implantation pedicle screw is determined on patient skin and does the notch of 10 ㎜ -30 ㎜, cuts skin, muscle and deep fascia；
Along work sleeve insertion expansion core, the two is made closely to merge into a single whole, after expansion core tail end touches muscle, Shu Zheyong
It pushes into sleeve head end and expansion core print end, expands muscle and deep fascia by passivity, until expansion core tail end touches vertebra first
Nut continues propelling sleeve head end, until the circular saw of sleeve tail end touches pedicle of vertebral arch, then takes out expansion core；
Using other spine corrective operation instruments, fascia is carried out in pedicle of vertebral arch and polished, cortical bone open circuit, tapping, set and follow closely etc.
Operation.
Compared with prior art, the utility model has the beneficial effect that
(1) it is improved by special structure, adjusts the internal diameter of guide pipe, it, should when so that implementing spine corrective operation
Size had both been able to satisfy passing through for nondominant hand art tool, moreover it is possible to cither indirectly or directly guide unidirectional or universal solid pedicle screw
Merging, and guided without using Kirschner wire；
(2) since traditional operation mode relies primarily on patient to the skilled of the understanding of anatomical knowledge and surgical instrument operation
Degree, in conjunction with real time fluoroscopy images, it may be necessary to it attempts finally just to can determine that Minimally Invasive Surgery access several times, and the utility model energy
It is enough to be used cooperatively well with orthopedic surgery navigation positioning system, it is accurately positioned, is determined using navigation positioning system in art
The pedicle of vertebral arch that will be operated further implements minimal invasion operation in the corresponding region of patient body-surface, positions more smart
Standard, accuracy significantly improve, while simplifying operating procedure；
(3) it during implementing minimally invasive expansion, is guided completely by navigation positioning system, improves operation precision, shortens hand
The art time, small to patient muscle, ligament and neurotrosis, amount of bleeding is small, can be with benefit after accurately operation pathway has been determined
The merging that pedicle screw is carried out with mating operation tool is a kind of operation that can adapt to orthopedic surgery navigation positioning system
Instrument is suitable for promoting in robot assisted vertebral column minimally invasive orthomorphia.
Detailed description of the invention
Fig. 1 is the operation schematic diagram of the mechanical arm pedestal cooperation of the utility model and orthopedic surgery navigation positioning system；
Fig. 2 is the structural schematic diagram of guider in the utility model；
Fig. 3 is also the structural schematic diagram of guider in the utility model；
Fig. 4 is the top view of fixture nut in the utility model；
Fig. 5 is the lateral plan of fixture nut in the utility model；
Fig. 6 is the structural schematic diagram of sleeve of working in the utility model；
Fig. 7 is the partial enlargement diagram of sleeve of working in Fig. 6；
Fig. 8 is the structural schematic diagram that core is expanded in the utility model.
The meaning of appended drawing reference: 1- guider, 101- fixed link, 102- locking slot, 103- guide rod, 104- positioning mode
Orchid, 105- fixture nut, 106- guide pipe, 107- screw rod, 108- knob, 2- work sleeve, 201- sleeve body, 202- sleeve
Head end, 203- sleeve tail end, 3- expand core, and 301- expands core print end, and 302- expands in the middle part of core, and 303- expands core tail end, 304-
Recessed portion, 4- mechanical arm pedestal.
The utility model is further described with reference to the accompanying drawings and detailed description.
Specific embodiment
The embodiments of the present invention 1: as shown in FIG. 1 to FIG. 8, a kind of soft tissue expander includes guider 1, work set
Cylinder 2 and expansion core 3.Guider 1 includes a fixed link for connecting with the mechanical arm pedestal 4 of orthopedic surgery navigation positioning system
101, guide rod 103 and guide pipe 106, wherein one end of guide rod 103 is connect with fixed link 101, the other end of guide rod 103
It is connect with guide pipe 106.Wherein the junction of fixed link 101 and guide rod 103 is additionally provided with a locating flange 104, works as mechanical arm
After pedestal 4 is connect with fixed link 101, locating flange 104 is tightly against the end of pedestal, avoids the occurrence of axial gap, from
And realize being fastenedly connected for mechanical arm pedestal 4 and guider 1.The side of fixed link 101 is also provided with a locking slot 102, fixed
Bar 101 protrudes into 4 mounting groove of mechanical arm pedestal of orthopedic surgery navigation positioning system, and the stop screw rod on pedestal heads into locking slot
In 102, mechanical arm is preferably fixedly connected with guider 1.It is equipped with work sleeve 2 in guide pipe 106, is set in the sleeve 2 that works
There is expansion core 3.Wherein, guide pipe 106, work sleeve 2 and the expansion concentric cooperation of core 3.The utility model is led with bone surgery
The mechanical arm pedestal 4 of boat positioning system is combined, and is not necessarily to the hand steered operation of patient, is eliminated human factor bring error, simultaneously
Also healthcare givers's human cost is reduced.
Embodiment 2: as shown in FIG. 1 to FIG. 8, a kind of soft tissue expander includes guider 1, work sleeve 2 and expansion core
3.Guider 1 include one for connect with the mechanical arm pedestal 4 of orthopedic surgery navigation positioning system fixed link 101, guide rod
103 and guide pipe 106, wherein one end of guide rod 103 is connect with fixed link 101, the other end and guide pipe of guide rod 103
106 connections.The internal diameter of guide pipe 106 is 12 ㎜ of φ~φ, 20 ㎜.Specifically, the internal diameter of guide pipe 106 is 15 ㎜ of φ.Implement ridge
When column orthomorphia, which had both been able to satisfy passing through for nondominant hand art tool, moreover it is possible to cither indirectly or directly guide unidirectional or universal
The merging of solid pedicle screw.Wherein the junction of fixed link 101 and guide rod 103 is additionally provided with a locating flange 104, works as machine
After tool arm pedestal 4 is connect with fixed link 101, locating flange 104 is tightly against the end of pedestal.The side of fixed link 101
It is also provided with a locking slot 102, fixed link 101 protrudes into the mounting groove of mechanical arm pedestal 4 of orthopedic surgery navigation positioning system,
Stop screw rod on pedestal heads into locking slot 102, and mechanical arm is fixedly connected with guider 1.Work is equipped in guide pipe 106
Sleeve 2, work sleeve 2 is interior to be equipped with expansion core 3, and expansion core 3 is solid construction.Guide pipe 106, work sleeve 2 and expansion core 3 are same
Axle center cooperation.
Guide pipe 106 offers internal thread hole far from the side of guide rod 103, is equipped with fixture nut on internal thread hole
105.Fixture nut 105 is screwed in guide pipe 106 by internal thread hole, is attached to the lateral surface of work sleeve 2, for preferably solid
Surely work sleeve 2.Fixture nut 105 includes screw rod 107 interconnected and knob 108, and knob 108 is quincunx knob.Its
In, work sleeve 2 includes sequentially connected sleeve head end 202, cylindrical circular sleeve body 201 and sleeve tail end 203, wherein
The outer diameter of sleeve body 201 is less than the internal diameter of guide pipe 106.The length of work sleeve 2 is greater than complete solid pedicle screw
Overall length, the internal diameter of work sleeve 2 can satisfy solid pedicle screw and passes through.Working the length range of sleeve 2 can be
The inside diameter ranges of 35mm-170mm, work sleeve 2 can be in 8mm-25mm.Specifically, the length of work sleeve 2 is 100mm, work
The internal diameter for making sleeve 2 is 15mm.Sleeve head end 202 is to have certain thickness ring-shaped component, and ring-shaped component outer diameter is greater than guide pipe
Chamfered is done in the inner edge of 106 outer diameter, sleeve head end 202, is preferably placed in convenient for expansion core 3 or pedicle screw.Sleeve
Tail end 203 is a circular saw, and circular saw tip is converged to 201 axis direction of sleeve body, the axial length of circular saw
For 1~3cm.Further, the axial length of circular saw is 2cm.
Wherein, expansion core 3 includes sequentially connected expansion core print end 301, expansion core middle part 302 and expansion core tail end 303.
302 length >=2 length of work sleeve in the middle part of core is expanded, expansion 301 outer diameter of core print end is slightly larger than 2 internal diameter of work sleeve, expands core
The outer diameter of middle part 302 and expansion core tail end 303 is respectively less than 2 internal diameter of sleeve that works, and expansion core 3 is allowed to pass through work set
Cylinder 2 and connect be integral, expansion core 3 be inserted into work sleeve 2 after, expansion core print end 301 and expansion core tail end 303 appear
Other than the sleeve 2 that works.In addition, expansion 301 periphery of core print end offers several recessed portions 304, convenient for hand-held.Expand core tail
End 303 is cone far from the middle part of expansion core 302 one end, it is easy to be expanded muscle, work sleeve 2 can be along the flesh of expansion
Pedicle of vertebral arch is smoothly touched in gap, expands soft tissue convenient for passivity.The outer diameter for expanding in the middle part of core 302 is less than expansion core tail end 303
Outer diameter.Except expansion core print end 301 and expansion core tail end 303,302 outer diameter is much smaller than the internal diameter of work sleeve 2 in the middle part of expansion core,
To mitigate self weight and material utilization amount.
Embodiment 3: as shown in FIG. 1 to FIG. 8, a kind of application method of soft tissue expander is expanded using above-mentioned soft tissue
Prop, comprising the following steps:
During surgery, the fixed link 101 of guider 1 is connected to orthopedic surgery navigation positioning system by locking slot 102
Mechanical arm tail end, mechanical arm pedestal 4 and guider 1 guidance positioning under, will work sleeve 2 pass through guider 1 guiding
Pipe 106, sleeve tail end 203 touch patient skin, and the position of implantation pedicle screw is determined on patient skin and is 10 ㎜ -30
The notch of ㎜ cuts skin, muscle and deep fascia；
Along the work insertion expansion core 3 of sleeve 2, the two is made closely to merge into a single whole, after expansion core tail end 303 touches muscle,
Patient forcibly drives sleeve head end 202 and expansion core print end 301, expands muscle and deep fascia by passivity, until expansion core tail
Pedicle of vertebral arch is touched at end 303 first, continues propelling sleeve head end 202, until the circular saw of sleeve tail end 203 touches pedicle of vertebral arch,
Then take out expansion core 3；
Using other spine corrective operation instruments, fascia is carried out in pedicle of vertebral arch and polished, cortical bone open circuit, tapping, set and follow closely etc.
Operation.
Claims (10)
1. a kind of soft tissue expander, which is characterized in that described to lead including guider (1), work sleeve (2) and expansion core (3)
To device (1) include one for connect with orthopedic surgery navigation positioning system mechanical arm pedestal (4) fixed link (101), guide rod
(103) and guide pipe (106), wherein one end of the guide rod (103) is connect with fixed link (101), guide rod (103) it is another
One end is connect with guide pipe (106)；Work sleeve (2) are equipped in the guide pipe (106), are equipped in the work sleeve (2)
It expands core (3).
2. soft tissue expander according to claim 1, which is characterized in that the fixed link (101) and guide rod (103)
Junction be additionally provided with a locating flange (104), the side of the fixed link (101) is also provided with a locking slot (102).
3. soft tissue expander according to claim 2, which is characterized in that the internal diameter of the guide pipe (106) is φ 12
20 ㎜ of ㎜~φ.
4. soft tissue expander according to claim 2, which is characterized in that the guide pipe (106) is far from guide rod
(103) side offers internal thread hole, and fixture nut (105) are equipped on the internal thread hole；The fixture nut (105)
Including screw rod interconnected (107) and knob (108), the knob (108) is quincunx knob.
5. soft tissue expander according to claim 1, which is characterized in that the work sleeve (2) includes being sequentially connected with
Sleeve head end (202), cylindrical circular sleeve body (201) and sleeve tail end (203), wherein the sleeve body (201)
Outer diameter be less than the guide pipe (106) internal diameter；The sleeve head end (202) is a ring-shaped component, outside the ring-shaped component
Diameter is greater than the outer diameter of the guide pipe (106)；The sleeve tail end (203) is a circular saw.
6. soft tissue expander according to claim 5, which is characterized in that do down the inner edge of the sleeve head end (202)
The circular saw tip of angle processing, the sleeve tail end (203) is converged to sleeve body (201) axis direction, the band saw
The axial length of tooth is 1~3cm.
7. soft tissue expander according to claim 5, which is characterized in that the length of the work sleeve (2) is 35mm
~170mm, the internal diameter of work sleeve (2) are 8mm~25mm.
8. soft tissue expander according to claim 1, which is characterized in that the expansion core (3) is solid construction.
9. -8 any soft tissue expander according to claim 1, which is characterized in that the expansion core (3) includes sequentially
Expansion core print end (301), expansion core middle part (302) and expansion core tail end (303) of connection, wherein in the middle part of the expansion core
(302) length >=work sleeve (2) length, the expansion core print end (301) outer diameter are greater than work sleeve (2) internal diameter, institute
It states the outer diameter of (302) and expansion core tail end (303) in the middle part of expansion core and is respectively less than work sleeve (2) internal diameter.
10. soft tissue expander according to claim 9, which is characterized in that expansion core print end (301) periphery opens up
There are several recessed portions (304), the one end of expansion core tail end (303) far from (302) in the middle part of expansion core is cone, described
The outer diameter for expanding (302) in the middle part of core is less than the outer diameter of expansion core tail end (303).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721344432.XU CN208659531U (en) | 2017-10-19 | 2017-10-19 | A kind of soft tissue expander |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721344432.XU CN208659531U (en) | 2017-10-19 | 2017-10-19 | A kind of soft tissue expander |
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| CN208659531U true CN208659531U (en) | 2019-03-29 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107518941A (en) * | 2017-10-19 | 2017-12-29 | 北京天和诚医疗科技有限公司 | A kind of soft tissue expander |
| CN109998646A (en) * | 2019-04-28 | 2019-07-12 | 青岛大学附属医院 | A kind of backbone scope hollow arbor braid lock puncture positioning device |
| CN111956330A (en) * | 2020-08-19 | 2020-11-20 | 南京普爱医疗设备股份有限公司 | Quick locking detachable surgical mechanical device |
| CN112120777A (en) * | 2019-06-24 | 2020-12-25 | 南京普爱医疗设备股份有限公司 | Pedicle screw implantation method and device based on three-dimensional navigation orthopedic robot |
| CN113303927A (en) * | 2021-07-07 | 2021-08-27 | 浙江大学 | Anterior cruciate ligament stump dilator |
| CN113332571A (en) * | 2021-07-07 | 2021-09-03 | 浙江大学 | Anterior cruciate ligament stub expander that can fix a position |
| CN115645048A (en) * | 2022-10-27 | 2023-01-31 | 南京普爱医疗设备股份有限公司 | Surgical robot tail end tracking device and integrated registration method |
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2017
- 2017-10-19 CN CN201721344432.XU patent/CN208659531U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107518941A (en) * | 2017-10-19 | 2017-12-29 | 北京天和诚医疗科技有限公司 | A kind of soft tissue expander |
| CN109998646A (en) * | 2019-04-28 | 2019-07-12 | 青岛大学附属医院 | A kind of backbone scope hollow arbor braid lock puncture positioning device |
| CN112120777A (en) * | 2019-06-24 | 2020-12-25 | 南京普爱医疗设备股份有限公司 | Pedicle screw implantation method and device based on three-dimensional navigation orthopedic robot |
| CN111956330A (en) * | 2020-08-19 | 2020-11-20 | 南京普爱医疗设备股份有限公司 | Quick locking detachable surgical mechanical device |
| CN111956330B (en) * | 2020-08-19 | 2022-03-08 | 南京普爱医疗设备股份有限公司 | Quick locking detachable surgical mechanical device |
| CN113303927A (en) * | 2021-07-07 | 2021-08-27 | 浙江大学 | Anterior cruciate ligament stump dilator |
| CN113332571A (en) * | 2021-07-07 | 2021-09-03 | 浙江大学 | Anterior cruciate ligament stub expander that can fix a position |
| CN113332571B (en) * | 2021-07-07 | 2024-02-09 | 浙江大学 | Anterior cruciate ligament stump expander capable of being positioned |
| CN115645048A (en) * | 2022-10-27 | 2023-01-31 | 南京普爱医疗设备股份有限公司 | Surgical robot tail end tracking device and integrated registration method |
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