CN211214946U - Friction wheel type particle implantation device for robot far-end touch force feedback - Google Patents
Friction wheel type particle implantation device for robot far-end touch force feedback Download PDFInfo
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- CN211214946U CN211214946U CN201921252565.3U CN201921252565U CN211214946U CN 211214946 U CN211214946 U CN 211214946U CN 201921252565 U CN201921252565 U CN 201921252565U CN 211214946 U CN211214946 U CN 211214946U
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- 239000002245 particle Substances 0.000 title claims abstract description 62
- 238000002513 implantation Methods 0.000 title claims abstract description 30
- 238000004804 winding Methods 0.000 claims abstract description 49
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 3
- 235000011613 Pinus brutia Nutrition 0.000 claims description 3
- 241000018646 Pinus brutia Species 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000011084 recovery Methods 0.000 abstract description 5
- 239000007943 implant Substances 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 230000002285 radioactive effect Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 206010060862 Prostate cancer Diseases 0.000 description 1
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000004027 cell Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000005251 gamma ray Effects 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 231100000957 no side effect Toxicity 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 210000005259 peripheral blood Anatomy 0.000 description 1
- 239000011886 peripheral blood Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000001959 radiotherapy Methods 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 210000004881 tumor cell Anatomy 0.000 description 1
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Abstract
The utility model relates to the field of medical equipment, specifically robot distal end touches force feedback and implants device with wheeled particle of friction, including sharp slip table and set up cushion on sharp slip table, the limit switch group that links to each other with external control, still include: the wire winding device and the needle feeding device comprise the following specific use steps: s1; linear motion; s2; accurately positioning; s3; rotating; s4; transmitting the driving force; s5; directing the particles; s6; implanting; through the recovery length of needle in the roll silk motor with send a motor control, and adopt gear drive's mode to realize the implantation of interior needle, make the implantation compact structure of interior needle, and the implantation length of needle in can the direct control, the implantation state of needle outside can the direct control of used sharp slip table, adopt six-dimensional force transducer directly to link to each other with outer needle, can the outer atress condition of needle of real-time supervision, and give the controller with atress information transmission, realize holistic feedback control.
Description
Technical Field
The utility model relates to the field of medical equipment, specifically a wheeled particle of friction implants device is used in feedback of robot distal end touch force.
Background
The close-range shooting particle implantation has the characteristics of strong targeting property, no side effect, small wound and definite curative effect, and is a standard means for treating early-stage prostate cancer in China. According to the traditional radiotherapy, under the guidance of ultrasound, by means of a guide plate fixed on an ultrasound bracket, a clinician uses a manual particle implanter to implant 20-120 particles of 125I 144Gy/103Pd120Gy particles wrapped by nickel-titanium alloy into a target region, and tumor cells are killed by continuous low-dose gamma-ray radiation. Most of current particle implanters at home and abroad are manually performed by doctors, and the accuracy of the particle implantation is uncertain depending on clinical experience of the doctors. Meanwhile, the fatigue and shaking of the doctor can prolong the operation time and possibly cause certain damage to the patient. Because the operation is gone into route epidermis, muscle, fat, diolame, gland cell tissue and peripheral blood vessel, nerve, bone tissue etc. and biomechanics characteristic is complicated, consequently need carry out accurate the control to intervention apparatus, but current automatic puncture robot exists puncture process power perception information not enough, mostly relies on the fixed program work of people's prior settlement, and this precision and the security to the process continuation operation of current puncture robot provide great challenge.
For example, in the ultrasonic image guided short-distance particle implantation robot of chinese patent No. 102921099B, the end of the robot uses a linear sliding table to complete the motion of the needle insertion part, and an encoder is used to complete the closed-loop control of the needle insertion, but the implanter lacks a real-time contact force feedback device, and if the puncture process encounters arterial blood vessels, nerves or bone tissues, if the operation is performed by a fixed program set in advance, a significant risk is brought to the safety of the puncture process.
For example, in the radioactive particle implantation device of chinese patent No. 104288904B, the device uses an electric dual linear sliding table to realize the continuous implantation of the particles, but the device is not designed and installed with a real-time force detection device, which also affects the fine control and safety of the puncturing process.
Disclosure of Invention
In order to solve the problem, the utility model provides a robot distal end touches force feedback and implants device with wheeled particle of friction.
Device is implanted with wheeled particle of friction to robot distal end touch force feedback, including sharp slip table and setting up cushion on sharp slip table, set up be used for fixing a position and the limit switch group that links to each other with external control to sharp slip table on sharp slip table, still include:
the wire winding device is arranged on the linear sliding table and used for providing advancing power through wire winding;
the needle feeding device is matched with the silk winding device to sense the pine needles to the outer needle.
The limit switch group comprises a first limit switch, a second limit switch and a third limit switch which are respectively arranged on the linear sliding table.
The wire winding device comprises a sliding table connecting plate, a wire winding motor device, a wire feeding wheel support and a wire feeding motor device, wherein the sliding table connecting plate is used for fixing a cushion block on the linear sliding table through a screw, and the wire winding motor device, the wire feeding wheel support and the wire feeding motor device are fixedly connected onto the sliding table connecting plate.
The wire winding motor device comprises a wire winding motor support, a wire winding motor, a wire winding wheel and an inner needle, wherein the wire winding motor is fixedly arranged on the wire winding motor support through a screw; the wire feeding motor device comprises a wire feeding motor support, a wire feeding motor arranged on the wire feeding motor support and a driving gear fixedly connected on the wire feeding motor.
An inner needle guide table is fixedly connected to the wire feeding motor support.
The wire feeding wheel support and the wire winding motor support are respectively provided with a wire feeding wheel shaft group, a wire feeding wheel shaft bearing group arranged on the wire feeding wheel shaft group, a wire feeding wheel group arranged on the wire feeding wheel shaft bearing group and a driven gear group matched with the wire feeding wheel group; the wire feeding wheel shaft group comprises a wire feeding wheel shaft I, a wire feeding wheel shaft II, a wire feeding wheel shaft III and a wire feeding wheel shaft IV; the wire feeding wheel shaft bearing group comprises a wire feeding wheel shaft bearing I, a wire feeding wheel shaft bearing II, a wire feeding wheel shaft bearing III and a wire feeding wheel shaft bearing IV; the wire feeding wheel set comprises a wire feeding wheel I, a wire feeding wheel II, a wire feeding wheel III and a wire feeding wheel IV; the driven gear set comprises a first driven gear, a second driven gear, a third driven gear and a fourth driven gear.
The wire feeding wheel shaft group, the wire feeding wheel shaft bearing group, the wire feeding wheel group and the driven wheel group are in one-to-one correspondence, and snap springs for axial positioning are arranged at the matching positions of the wire feeding wheel group and the wire feeding wheel shaft group.
The needle feeding device comprises a particle cabin support arranged on the sliding table connecting plate, a particle cabin arranged on the particle cabin support, a first inner needle guide hole and a second inner needle guide hole which are arranged on the particle cabin, a six-dimensional force sensor which is arranged on the particle cabin through screws and used for fixedly connecting an outer needle, an outer needle guide table arranged on the linear sliding table, and an outer needle guide hole arranged on the outer needle guide table.
A method for utilizing a friction wheel type particle implantation device for robot far-end touch force feedback comprises the following specific steps:
s1: linear motion: when the linear sliding table is acted by external force, the wire winding device and the needle feeding device are driven to do linear reciprocating motion, so that the outer needle does linear motion;
s2: and (3) accurate positioning: the outer needle is accurately positioned by controlling the moving distance of the linear sliding table;
s3: rotating movement: when the outer needle reaches the designated position, the driving gear rotates under the drive of the wire feeding motor to drive the driven gear II and the driven gear IV to rotate;
s4: transmitting a driving force: under the action of the driven gear II and the driven gear IV, the driven gear III and the driven gear I simultaneously do rotary motion to drive the wire feeding wheel I, the wire feeding wheel II, the wire feeding wheel III and the wire feeding wheel IV which are fixedly connected with the driven gear I, the driven gear II, the driven gear III and the driven gear IV to do rotary motion;
s5: guiding particles: the inner needle enters the particle cabin through the inner needle guide hole I and the inner needle guide hole II under the action of the wire feeding wheel set, and radioactive particles in the particle cabin enter the outer needle fixedly connected in the central hole of the six-dimensional force sensor under the action of the inner needle and reach a designated position through the hollowed outer needle;
s6: implanting: and after the radioactive particles reach the designated position, the wire winding wheel rotates under the driving of the wire winding motor, the inner needle is retracted out of the particle cabin, and the next particle exciting command is waited.
The utility model has the advantages that: through the recovery length of needle in the roll silk motor with send a motor control, and adopt gear drive's mode to realize the implantation of interior needle, make the implantation compact structure of interior needle, and the implantation length of needle in can the direct control, the implantation state of needle outside can the direct control of used sharp slip table, adopt six-dimensional force transducer directly to link to each other with outer needle, can the outer atress condition of needle of real-time supervision, and give the controller with atress information transmission, realize holistic feedback control.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic perspective view of the present invention;
fig. 3 is a schematic three-dimensional structure diagram of the present invention;
fig. 4 is a schematic three-dimensional structure diagram of the present invention;
FIG. 5 is a schematic perspective view of the wire feeding wheel set and the driven gear set of the present invention;
fig. 6 is a schematic view of the three-dimensional structure of the wire feeding wheel shaft bearing set and the wire feeding wheel shaft of the present invention.
Detailed Description
In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, and the utility model is further explained below.
As shown in fig. 1 to 6, the friction wheel type particle implantation device for robot remote touch force feedback comprises a linear sliding table 1, a cushion block 2 arranged on the linear sliding table 1, and a limit switch group arranged on the linear sliding table 1 and used for positioning the linear sliding table 1 and connected with external control, and further comprises:
the wire winding device is arranged on the linear sliding table 1 and used for providing advancing power through wire winding;
and the needle feeding device is matched with the silk winding device to sense the pine needles of the outer needle 6.
The limit switch group comprises a first limit switch 41, a second limit switch 42 and a third limit switch 43 which are respectively arranged on the linear sliding table 1.
The linear sliding table 1 is fixed at the tail end of an external particle implantation robot, when the particles are implanted, the robot is adopted to perform initial positioning to the target height, the incident point posture of the outer needle 6 on the epidermis is adjusted by the robot, and the linear sliding table 1 drives the outer needle 6 to start to insert the needle to the tumor target area.
The wire winding device comprises a sliding table connecting plate 3, a wire winding motor device, a wire feeding wheel support 11 and a wire feeding motor device, wherein the sliding table connecting plate 3 is used for fixing a cushion block 2 on a linear sliding table 1 through screws.
The controller is an embedded motion controller.
Through the recovery length of the needle in the roll silk motor 15 and the control of sending a motor 18, and adopt gear drive's mode to realize the implantation of interior needle 22, make the implantation compact structure of interior needle 22, and the implantation length of needle 22 in can the direct control, the implantation state of needle 6 outside can the direct control of used sharp slip table 1, adopt six-dimensional force transducer 7 directly to link to each other with outer needle 6, can the real-time supervision stress condition of outer needle 6, and transmit stress information for the controller, realize holistic feedback control.
The wire winding motor 15 is provided with a magnetic encoder, the wire feeding motor 18 is provided with a photoelectric encoder, the magnetic encoder and the photoelectric encoder are respectively communicated with the controller, the controller can control the speed and the working time of the wire winding motor 15 to control the recovery speed and the recovery length of the inner needle, and meanwhile, the output length of the inner needle 22 can be controlled by controlling the speed of the wire feeding motor 18.
The wire winding motor device comprises a wire winding motor support 14, a wire winding motor 15 which is fixedly arranged on the wire winding motor support 14 through a screw, a wire winding wheel 20 connected with the wire winding motor 15, and an inner needle 22 arranged on the wire winding wheel 20; the wire feeding motor device comprises a wire feeding motor support 19, a wire feeding motor 18 arranged on the wire feeding motor support 19, and a driving gear 13 fixedly connected on the wire feeding motor 18.
The wire feeding motor support 19 is fixedly connected with an inner needle guide table 12.
The six-dimensional force sensor 7 can measure the force and moment applied to the outer needle 6 in real time when the outer needle 6 acts, and transmits the stress information to the controller, and the controller can control the motion states of the linear sliding table 1, the wire feeding motor 1 and the wire winding motor 15 according to the stress condition.
The wire feeding wheel support 11 and the wire winding motor support 14 are respectively provided with a wire feeding wheel shaft group, a wire feeding wheel shaft bearing group arranged on the wire feeding wheel shaft group, a wire feeding wheel group arranged on the wire feeding wheel shaft bearing group and a driven gear group matched with the wire feeding wheel group; the wire feeding wheel shaft group comprises a wire feeding wheel shaft I251, a wire feeding wheel shaft II 252, a wire feeding wheel shaft III 253 and a wire feeding wheel shaft IV 254; the wire feeding wheel bearing group comprises a first wire feeding wheel bearing 241, a second wire feeding wheel bearing 242, a third wire feeding wheel bearing 243 and a fourth wire feeding wheel bearing 244; the wire feeding wheel set comprises a first wire feeding wheel 211, a second wire feeding wheel 212, a third wire feeding wheel 213 and a fourth wire feeding wheel 214; the driven gear set comprises a first driven gear 171, a second driven gear 172, a third driven gear 173 and a fourth driven gear 174.
The wire feeding wheel shaft group, the wire feeding wheel shaft bearing group, the wire feeding wheel group and the driven wheel group are in one-to-one correspondence, and clamping springs 23 for axial positioning are arranged at the matching positions of the wire feeding wheel group and the wire feeding wheel shaft group.
The needle feeding device comprises a particle cabin bracket 9 arranged on the sliding table connecting plate 3, a particle cabin 8 arranged on the particle cabin bracket 9, a first inner needle guide hole 101 and a second inner needle guide hole 102 which are arranged on the particle cabin 8, a six-dimensional force sensor 7 which is arranged on the particle cabin 8 through screws and is used for fixedly connecting an outer needle 6, an outer needle guide table 5 arranged on the linear sliding table 1, and an outer needle guide hole 16 arranged on the outer needle guide table 5.
The particle chamber bracket 9 is fixed on the sliding table connecting plate 3 by screws and is used as a supporting and positioning part of the particle chamber 8, the six-dimensional force sensor 7 is fixedly connected on the particle chamber 8, and the outer needle 6 is arranged in a central hole of the six-dimensional force sensor 7 and is used as a guide rail of radioactive particles.
The first inner needle guide hole 101 and the second inner needle guide hole 102 are connected with the inner needle guide table 12 in a screw pair mode, and the first inner needle guide hole 101 and the second inner needle guide hole 102 are matched to mark the bent inner needle 22 straight.
A method for utilizing a friction wheel type particle implantation device for robot far-end touch force feedback comprises the following specific steps:
s1: linear motion: when the linear sliding table 1 is acted by external force, the wire winding device and the needle feeding device are driven to do linear reciprocating motion, so that the outer needle 6 does linear motion;
s2: and (3) accurate positioning: the outer needle 6 is accurately positioned by controlling the moving distance of the linear sliding table 1;
s3: rotating movement: when the outer needle 6 reaches the designated position, the driving gear 13 is driven by the wire feeding motor 18 to rotate, and the second driven gear 172 and the fourth driven gear 174 are driven to rotate;
s4: transmitting a driving force: under the action of the second driven gear 172 and the fourth driven gear 174, the third driven gear 173 and the first driven gear 171 simultaneously make rotary motion to drive the first wire feeding wheel 211, the second wire feeding wheel 212, the third wire feeding wheel 213 and the fourth wire feeding wheel 214 which are fixedly connected with the first driven gear 171, the second driven gear 172, the third driven gear 173 and the fourth driven gear 174 to make rotary motion;
s5: guiding particles: the inner needle 22 enters the particle cabin 8 through the first inner needle guide hole 101 and the second inner needle guide hole 102 under the action of the wire feeding wheel set, and radioactive particles in the particle cabin 8 enter the outer needle 6 fixedly connected in the central hole of the six-dimensional force sensor 7 under the action of the inner needle 22 and reach a designated position through the hollowed outer needle 6;
s6: implanting: after the radioactive particles reach the designated position, the wire winding wheel 20 is driven by the wire winding motor 15 to perform a rotary motion, and the inner needle 22 is retracted out of the particle chamber 8 to wait for the next particle excitation command.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. Device is implanted with wheeled particle of friction to robot distal end touch force feedback, including sharp slip table (1) and setting up cushion (2) on sharp slip table (1), set up be used for on sharp slip table (1) to fix a position sharp slip table (1) and with the continuous limit switch group of external control, its characterized in that: further comprising:
the wire winding device is arranged on the linear sliding table (1) and used for providing advancing power through wire winding;
the needle feeding device is matched with the silk winding device to sense the pine needles of the outer needle (6).
2. The robotic distal end haptic force feedback friction wheel type particle implantation device of claim 1, wherein: the limit switch group comprises a first limit switch (41), a second limit switch (42) and a third limit switch (43) which are respectively arranged on the linear sliding table (1).
3. The robotic distal end haptic force feedback friction wheel type particle implantation device of claim 1, wherein: the wire winding device comprises a sliding table connecting plate (3) which fixes a cushion block (2) on a linear sliding table (1) through screws, a wire winding motor device which is fixedly connected on the sliding table connecting plate (3), a wire feeding wheel support (11) and a wire feeding motor device.
4. The robotic friction wheel type particle implantation device for distal end haptic force feedback of claim 3, wherein: the wire winding motor device comprises a wire winding motor support (14), a wire winding motor (15) which is fixedly arranged on the wire winding motor support (14) through a screw, a wire winding wheel (20) connected with the wire winding motor (15), and an inner needle (22) arranged on the wire winding wheel (20); the wire feeding motor device comprises a wire feeding motor support (19), a wire feeding motor (18) arranged on the wire feeding motor support (19), and a driving gear (13) fixedly connected on the wire feeding motor (18).
5. The robotic distal end haptic force feedback friction wheel type particle implantation device of claim 4, wherein: an inner needle guide table (12) is fixedly connected to the wire feeding motor support (19).
6. The robotic friction wheel type particle implantation device for distal end haptic force feedback of claim 3, wherein: the wire feeding wheel support (11) and the wire winding motor support (14) are respectively provided with a wire feeding wheel shaft group, a wire feeding wheel shaft bearing group arranged on the wire feeding wheel shaft group, a wire feeding wheel group arranged on the wire feeding wheel shaft bearing group and a driven gear group matched with the wire feeding wheel group; the wire feeding wheel shaft group comprises a wire feeding wheel shaft I (251), a wire feeding wheel shaft II (252), a wire feeding wheel shaft III (253) and a wire feeding wheel shaft IV (254); the wire feeding wheel shaft bearing group comprises a wire feeding wheel shaft bearing I (241), a wire feeding wheel shaft bearing II (242), a wire feeding wheel shaft bearing III (243) and a wire feeding wheel shaft bearing IV (244); the wire feeding wheel set comprises a first wire feeding wheel (211), a second wire feeding wheel (212), a third wire feeding wheel (213) and a fourth wire feeding wheel (214); the driven gear set comprises a first driven gear (171), a second driven gear (172), a third driven gear (173) and a fourth driven gear (174).
7. The robotic distal end haptic force feedback friction wheel type particle implantation device of claim 6, wherein: the wire feeding wheel shaft group, the wire feeding wheel shaft bearing group, the wire feeding wheel group and the driven wheel group are in one-to-one correspondence, and snap springs (23) for axial positioning are arranged at the matching positions of the wire feeding wheel group and the wire feeding wheel shaft group.
8. The robotic distal end haptic force feedback friction wheel type particle implantation device of claim 1, wherein: the needle feeding device comprises a particle cabin support (9) arranged on a sliding table connecting plate (3), a particle cabin (8) arranged on the particle cabin support (9), an inner needle guide hole I (101) and an inner needle guide hole II (102) arranged on the particle cabin (8), a six-dimensional force sensor (7) which is arranged on the particle cabin (8) through screws and used for fixedly connecting an outer needle (6), an outer needle guide table (5) arranged on a linear sliding table (1), and an outer needle guide hole (16) arranged on the outer needle guide table (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921252565.3U CN211214946U (en) | 2019-08-03 | 2019-08-03 | Friction wheel type particle implantation device for robot far-end touch force feedback |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921252565.3U CN211214946U (en) | 2019-08-03 | 2019-08-03 | Friction wheel type particle implantation device for robot far-end touch force feedback |
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| CN211214946U true CN211214946U (en) | 2020-08-11 |
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| CN201921252565.3U Expired - Fee Related CN211214946U (en) | 2019-08-03 | 2019-08-03 | Friction wheel type particle implantation device for robot far-end touch force feedback |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393850A (en) * | 2019-08-03 | 2019-11-01 | 安徽工程大学 | Robot distal end touch feedback friction wheel type seeds implanted device and method |
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2019
- 2019-08-03 CN CN201921252565.3U patent/CN211214946U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393850A (en) * | 2019-08-03 | 2019-11-01 | 安徽工程大学 | Robot distal end touch feedback friction wheel type seeds implanted device and method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200811 |