CN212853600U - Puncture surgery robot device with breathing following function - Google Patents
Puncture surgery robot device with breathing following function Download PDFInfo
- Publication number
- CN212853600U CN212853600U CN202021670037.2U CN202021670037U CN212853600U CN 212853600 U CN212853600 U CN 212853600U CN 202021670037 U CN202021670037 U CN 202021670037U CN 212853600 U CN212853600 U CN 212853600U
- Authority
- CN
- China
- Prior art keywords
- puncture
- arm
- needle
- rotational joint
- breath
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a puncture surgery robot device that area was breathed and is followed, includes perpendicular linear motion mechanism, horizontal plane positioning mechanism, pjncture needle angle adjustment mechanism and pjncture needle end mechanism, perpendicular linear motion mechanism control connection horizontal plane positioning mechanism, horizontal plane positioning mechanism control connection pjncture needle angle adjustment mechanism, pjncture needle angle adjustment mechanism control connection pjncture needle end mechanism, pjncture needle end mechanism is including breathing and follow subassembly and needle clamping assembly. Compared with the prior art, the utility model positions the puncture needle clamped by the clamping needle assembly through the multidimensional positioning mechanism, and has the advantages of compact structure, high positioning precision and large working range; the needle clamping assembly can meet the requirements of multi-needle puncture and multiple times of puncture; the breath following mechanism can solve the drawing risk caused by the breath or displacement of the patient. The robot can make up the defects of manual puncture and the existing puncture robot, help doctors to perform better operations, and improve the safety and success rate of the operations.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to puncture surgery robot device that follows is breathed in area.
Background
1. In the existing puncture surgery, a doctor generally needs to perform manual puncture by means of personal experience and continuous angle adjustment by means of medical image results, so that the surgery process consumes time and energy, and the surgery effect fluctuates greatly. In order to reduce the problems caused by human factors, more and more puncture operations begin to use mechanical arms to replace manual puncture;
2. at present, most of mechanical arms used in puncture robots for market or research are multi-degree-of-freedom rotary joint type mechanical arms or rectangular coordinate type mechanical arms;
3. the rectangular coordinate type mechanical arm occupies a large space, and the limitation of the degree of freedom is more;
4. the multi-degree-of-freedom rotary joint type mechanical arm occupies small space, has a compact structure and can meet the requirements of operation puncture. However, the existing puncture robot has the following problems: 1) the joint structure and the needle angle adjusting device are complex, and the processing and assembling problems such as gear clearance, belt clearance, connecting rod hinge precision and the like need to be overcome. 2) The robot has no locking or unreliable locking, no power-off protection, and has the risk of position deviation and other risks in the operation process;
5. the puncture robot at the present stage does not solve the drawing risk caused by the respiration and displacement of the patient;
6. the multi-point puncture problem is not solved by the puncture robot in the current stage.
SUMMERY OF THE UTILITY MODEL
To prior art defect more than exists, the utility model provides a puncture operation robot device that follows is breathed in area as follows:
the technical scheme of the utility model is realized like this:
the utility model provides a puncture surgery robot device that area was breathed and is followed, includes perpendicular linear motion mechanism, horizontal plane positioning mechanism, pjncture needle angle adjustment mechanism and pjncture needle end mechanism, perpendicular linear motion mechanism control connection horizontal plane positioning mechanism, horizontal plane positioning mechanism control connection pjncture needle angle adjustment mechanism, pjncture needle angle adjustment mechanism control connection pjncture needle end mechanism, pjncture needle end mechanism follows the subassembly and presss from both sides the needle subassembly including breathing.
Preferably, the horizontal plane positioning mechanism includes a first arm, a first rotational joint, a second arm, a second rotational joint, and a third arm, the vertical linear motion mechanism is fixedly connected to the first arm, the first arm is connected to the second arm through the first rotational joint, and the second arm is connected to the third arm through the second rotational joint.
Preferably, the puncture needle angle adjustment mechanism comprises a third rotary motion joint, a fourth rotary motion joint and a fourth arm, the third rotary motion joint is connected with the second rotary motion joint through the fourth arm, and the third rotary motion joint and the fourth rotary motion joint are vertically arranged.
Preferably, the puncture needle end mechanism comprises a puncture main body, the upper end of the puncture main body is connected with the respiration following component, the lower end of the puncture main body is connected with the needle clamping component, the respiration following component comprises an adapter piece, a locking block and a universal ball which are connected with a fourth rotary motion joint, the adapter is provided with an arc-shaped groove matched with the universal ball in size, the universal ball is arranged in the arc-shaped groove and can rotate in the arc-shaped groove, and the universal ball is fixedly connected with the puncture main body through a connecting rod, one end of the locking block is arranged on the puncture main body through a locking knob and a positioning pin, the other end of the locking block is arranged on the adapter piece through the positioning pin, the needle clamping assembly comprises two half clamping jaws which are matched with each other, the half clamping jaws are arranged on the puncture main body through a positioning piece, the puncture device is characterized in that an elastic part for separating the two half clamping jaws is arranged at a positioning part between the two half clamping jaws, and a limiting component for clamping the two half clamping jaws is further arranged on the puncture body.
Preferably, the limiting assembly comprises two limiting blocks, one end of each limiting block is connected with the puncture main body through a shaft or a sliding groove, and the other end of each limiting block can be correspondingly clamped into the positioning grooves of the two half clamping jaws to clamp and limit the two half clamping jaws.
Preferably, first rotary motion joint, second rotary motion joint, third rotary motion joint and fourth rotary motion joint structure are unanimous, first rotary motion joint includes fixed arm and motion arm, is provided with drive module, cross roller bearing, electromagnetism and loses electric brake between fixed arm and the motion arm, drive module fixed mounting is on the motion arm, and cross roller bearing outer lane and motion arm fixed setting, drive module's output shaft and cross roller bearing inner circle are fixed, and the output shaft is fixed with the fixed arm, be equipped with the driven shaft on the motion arm, the driven shaft outer lane sets up electromagnetism and loses electric brake, electromagnetism loses electric brake and fixes on the motion arm.
Preferably, the positioning element comprises one of a positioning pin, a positioning groove or a linear slide rail, and the elastic element comprises a spring.
Preferably, the limiting block is connected with the puncture main body in a shaft or sliding groove mode.
Preferably, the outer side of the half clamping jaw is provided with a limiting protrusion for limiting a limiting stopper.
Compared with the prior art, the utility model discloses there is following beneficial effect:
the puncture surgical robot device with the respiration following function of the utility model positions the puncture needle clamped by the needle clamping component through the multidimensional positioning mechanism, and has the advantages of compact structure, high positioning precision and large working range; the needle clamping assembly can realize one-key clamping and releasing of the puncture needle, and can meet the requirements of multi-needle puncture and multiple times of puncture; the breath following mechanism can solve the drawing risk caused by the breath or displacement of the patient; the joint locking device can prevent the displacement of the robot in the operation process from causing positioning deviation. The robot has good safety, no redundant degree of freedom and no collision with patients in the movement process, can make up the defects of manual puncture and the existing puncture robot, helps doctors to perform better operations, and improves the safety and success rate of the operations.
Drawings
FIG. 1 is a schematic structural view of a robotic puncture device with breath follow according to the present invention;
FIG. 2 is a schematic structural view of the rotary motion joint of the present invention;
FIG. 3 is a cross-sectional view of the rotary motion joint of the present invention;
fig. 4 is a schematic structural view of the puncture needle tip mechanism of the present invention.
In the figure: the puncture needle comprises a vertical linear motion mechanism 100, a horizontal plane positioning mechanism 200, a first rotary motion joint 210, a fixed arm 211, a motion arm 212, a driven shaft 2121, a driving module 213, an output shaft 2131, a crossed roller bearing 214, an electromagnetic power-off brake 215, a second rotary motion joint 220, a first arm 230, a second arm 240, a third arm 250, a fourth arm 260, a puncture needle angle adjusting mechanism 300, a third rotary motion joint 310, a fourth rotary motion joint 320, an adapter 330, a locking block 340, a universal ball 350, a locking knob 360, a puncture needle end mechanism 400, a puncture body 410, a half clamping jaw 420, a positioning piece 430, an elastic piece 440, a limiting block 450 and a limiting protrusion 460.
Detailed Description
The present invention will be described more fully and clearly with reference to the accompanying drawings, which are incorporated in and constitute a part of this specification.
As shown in fig. 1 to 4, a puncture surgical robot device with respiration following function includes a vertical linear motion mechanism 100, a horizontal plane positioning mechanism 200, a puncture needle angle adjusting mechanism 300 and a puncture needle end mechanism 400, wherein the vertical linear motion mechanism 100 is in control connection with the horizontal plane positioning mechanism 200, the horizontal plane positioning mechanism 200 is in control connection with the puncture needle angle adjusting mechanism 300, the puncture needle angle adjusting mechanism 300 is in control connection with the puncture needle end mechanism 400, and the puncture needle end mechanism 400 includes a respiration following component and a needle clamping component. The horizontal plane positioning mechanism 200 includes a first arm 230, a first rotational joint 210, a second arm 240, a second rotational joint 220, and a third arm 250, the vertical linear motion mechanism is fixedly connected to the first arm 230, the first arm 230 and the second arm 240 are connected by the first rotational joint 210, and the second arm 240 and the third arm 250 are connected by the second rotational joint 220. The puncture needle angle adjustment mechanism 300 includes a third rotational joint 310, a fourth rotational joint 320, and a fourth arm 260, the third rotational joint 310 is connected to the second rotational joint 220 via the fourth arm 260, and the third rotational joint 310 is perpendicular to the fourth rotational joint 320. Puncture needle end mechanism 400 includes puncture main part 410, the subassembly is followed in the connection of puncture main part 410 upper end, and lower extreme joint clip subassembly, the subassembly is followed in the breathing includes adaptor 330, latch segment 340, the universal ball 350 of being connected with fourth rotary motion joint 320, be provided with the arc wall with the size matching of universal ball 350 on the adaptor 330, universal ball 350 sets up in the arc wall and can rotate in it, and universal ball 350 passes through a connecting rod fixed connection puncture main part 410, latch segment 340 one end is installed on puncture main part 410 through a latch knob 360 and locating pin, and the other end passes through the locating pin and installs on adaptor 330, and when the latch knob 360 was screwed up, latch segment 340 will puncture main part 410 and adaptor 330 fixed. When the locking knob 360 is released, the piercing body 410 is free to move with the universal ball 350. The needle clamping assembly comprises two half clamping jaws 420 matched with each other, the half clamping jaws 420 are installed on the puncture body 410 through a positioning part 430, an elastic part 440 for separating the two half clamping jaws 420 is arranged at the position of the positioning part 430 between the two half clamping jaws 420, and a limiting assembly for clamping the two half clamping jaws 420 is further arranged on the puncture body 410. The limiting assembly comprises two limiting blocks 450, one end of each limiting block 450 is connected with the puncture main body 410 through a shaft or a sliding groove, and the other end of each limiting block 450 can be correspondingly clamped into the positioning grooves of the two half clamping jaws to clamp and limit the two half clamping jaws 420. The first rotary motion joint 210, the second rotary motion joint 220, the third rotary motion joint 310 and the fourth rotary motion joint 320 have the same structure, the first rotary motion joint 210 comprises a fixed arm 211 and a moving arm 212, a driving module 213, a crossed roller bearing 214 and an electromagnetic power-off brake 215 are arranged between the fixed arm 211 and the moving arm 212, the driving module can comprise a motor, the driving module 213 is fixedly installed on the moving arm 212, the outer ring of the crossed roller bearing 214 is fixedly arranged with the moving arm 212, an output shaft 2131 of the driving module 213 is fixedly arranged with the inner ring of the crossed roller bearing 214, the output shaft 2131 is fixed with the fixed arm 211, a driven shaft 2121 is arranged on the moving arm 212, the outer ring of the driven shaft 2121 is provided with the electromagnetic power-off brake 215, and the electromagnetic power-off brake 215 is fixed on the moving arm 212. The positioning member 430 includes one of a positioning pin, a positioning groove or a linear slide rail, and the elastic member 440 includes a spring. The stopper 450 is connected to the piercing body 410 by means of a shaft or a sliding groove. The outer side of the half clamping jaw 420 is provided with a limiting bulge 460 for limiting the limiting block 450.
Examples
This embodiment includes a five degree-of-freedom robot comprising: a vertical linear motion mechanism, a horizontal plane positioning mechanism, a puncture needle angle adjusting mechanism and a puncture needle tail end mechanism. The horizontal plane positioning mechanism is composed of a first rotary motion joint and a second rotary motion joint, the first rotary motion joint is connected with the linear motion through an arm, the second rotary motion joint is connected with the first rotary motion joint through an arm, and the first rotary motion joint is parallel to a rotary shaft of the second rotary motion joint and is perpendicular to the ground. The puncture needle angle adjusting mechanism consists of a third rotary motion joint and a fourth rotary motion joint, the third rotary motion joint is connected with the second rotary motion joint through an arm and is parallel to a second rotary motion joint rotating shaft, and the fourth rotary motion joint is connected with the third rotary motion joint through an arm and is perpendicular to the third joint rotating shaft. The distal end is directly connected to the fourth rotational motion joint.
The vertical linear motion mechanism controls the mechanical arm (the horizontal plane positioning mechanism, the puncture needle angle adjusting mechanism and the puncture needle tail end mechanism) to move up and down integrally. The first rotary motion joint drives the second rotary motion joint, the third rotary motion joint, the fourth rotary motion joint and the puncture needle tail end mechanism to rotate. The second rotary motion joint drives the third rotary motion joint, the fourth rotary motion joint and the tail end to rotate. The third rotary motion joint drives the fourth rotary motion joint and the puncture needle tail end mechanism to rotate. The fourth rotary motion joint drives the puncture needle tail end mechanism to rotate.
The puncture needle end mechanism consists of a respiration following component and a needle clamping component.
The breath following assembly comprises a universal mechanism and a locking block, and after the locking block is opened, the angle can be changed within a certain range according to the breath of a patient. The universal mechanism can be in the form of a ball, 1 or more rotating shafts, an arc-shaped surface, 1 or more linear shafts or sliding tables and the like.
The needle clamping assembly comprises a main body, two clamping jaws and a locking knob. The main part is connected through 2 or a plurality of locating pins respectively with 2 clamping jaws, sets up elastic element between clamping jaw and the main part. The jaws are free to slide on the locating pins. The clamping jaw is provided with 2 locking grooves respectively, when the locking knob is screwed into the locking grooves, the clamping jaw is clamped, and when the locking knob is screwed out of the locking grooves, the clamping jaw is loosened. A small boss is arranged on the clamping jaw to prevent the locking knob from being disengaged in a locking state. The needle clamping assembly can also be a single clamping jaw, and the locking mode comprises a knob but not limited to a knob, and can also be other modes such as sliding or a bolt.
The robotic arm may be fixed to a floor truck or a mobile stand.
The rotary motion joint consists of a driving module, a crossed roller bearing and an electromagnetic power-off brake.
The driving module is provided with an output shaft and is fixed on the rotating arm. The driving module or the rotating arm is provided with a driven shaft. The output shaft is connected with the fixed arm through a crossed roller bearing. The electromagnetic power-off brake is fixed on the fixed arm, and the driven shaft is connected with the electromagnetic power-off brake through the limiting mechanism.
The electromagnetic power-off brake comprises an electromagnetic coil, an armature, a friction plate and an elastic unit, wherein the friction plate is fixed on a driven shaft through a limiting mechanism. The mechanical arm is locked and kept after being rotated to a specified position, and the mechanical arm is prevented from shifting in a sudden power-off state, so that safety accidents are caused. Under the power-off state, the elastic element props against the armature iron to be attached to the friction plate to generate friction force, and at the moment, the brake is used for braking or keeping the working condition. When the electromagnetic coil is electrified, the armature is attracted, the elastic force of the elastic unit is overcome, the armature is separated from the friction plate, and the brake is in a non-working state. The friction plate and the driven shaft are relatively fixed through the limiting mechanism, and axial movement does not occur.
The vertical linear motion mechanism can be a push rod, a ball screw sliding table and other linear motion mechanisms.
The driving module of each rotary motion joint can be a steering engine, a speed reducer, a servo motor, a turntable and other forms of rotary motion mechanisms.
By combining the structure of the utility model, the puncture needle clamped by the clamping needle component is positioned by the multidimensional positioning mechanism, which has the advantages of compact structure, high positioning precision and large working range; the needle clamping assembly can realize one-key clamping and releasing of the puncture needle, and can meet the requirements of multi-needle puncture and multiple times of puncture; the breath following mechanism can solve the drawing risk caused by the breath or displacement of the patient; the joint locking device can prevent the displacement of the robot in the operation process from causing positioning deviation. The robot can make up the defects of manual puncture and the existing puncture robot, help doctors to perform better operations, and improve the safety and success rate of the operations.
Claims (9)
1. The utility model provides a puncture surgery robot device that area was breathed and is followed, its characterized in that, including perpendicular linear motion mechanism, horizontal plane positioning mechanism, pjncture needle angle adjustment mechanism and pjncture needle end mechanism, perpendicular linear motion mechanism control connection horizontal plane positioning mechanism, horizontal plane positioning mechanism control connection pjncture needle angle adjustment mechanism, pjncture needle angle adjustment mechanism control connection pjncture needle end mechanism, pjncture needle end mechanism follows the subassembly and presss from both sides the needle subassembly including breathing.
2. The robotic puncture surgical device with breath follow of claim 1, wherein the horizontal positioning mechanism comprises a first arm, a first rotational joint, a second arm, a second rotational joint, and a third arm, wherein the vertical linear motion mechanism is fixedly coupled to the first arm, wherein the first arm is coupled to the second arm via the first rotational joint, and wherein the second arm is coupled to the third arm via the second rotational joint.
3. The robotic puncture surgical device with breath follow of claim 2, wherein the puncture needle angle adjustment mechanism comprises a third rotational joint, a fourth rotational joint, and a fourth arm, the third rotational joint is connected to the second rotational joint through the fourth arm, and the third rotational joint is perpendicular to the fourth rotational joint.
4. A robotic puncture surgical device with breath follow according to claim 3, wherein the puncture needle end mechanism comprises a puncture body, the upper end of the puncture body is connected with a breath follow assembly, the lower end of the puncture body is connected with a needle clamping assembly, the breath follow assembly comprises an adapter connected with a fourth rotary joint, a locking block and a universal ball, the adapter is provided with an arc-shaped groove matched with the universal ball in size, the universal ball is arranged in the arc-shaped groove and can rotate in the arc-shaped groove, the universal ball is fixedly connected with the puncture body through a connecting rod, one end of the locking block is arranged on the puncture body through a locking knob and a positioning pin, the other end of the locking block is arranged on the adapter through a positioning pin, the needle clamping assembly comprises two half clamping jaws matched with each other, the half clamping jaws are arranged on the puncture body through positioning pieces, and an elastic piece for separating the two half clamping jaws is arranged at the positioning piece between the two, the puncture main body is also provided with a limiting assembly for clamping the two half clamping jaws.
5. A robotic breath-following puncture surgical device according to claim 4, wherein the stop assembly comprises two stop blocks, one end of each stop block is connected to the puncture body via a shaft or a sliding groove, and the other end of each stop block can be correspondingly snapped into the positioning grooves of the two halves of the jaws to clamp and stop the two halves of the jaws.
6. A puncture surgical robot device with breath following according to claim 2, wherein the first rotational joint, the second rotational joint, the third rotational joint and the fourth rotational joint are identical in structure, the first rotational joint comprises a fixed arm and a moving arm, a driving module, a crossed roller bearing and an electromagnetic power-off brake are arranged between the fixed arm and the moving arm, the driving module is fixedly mounted on the moving arm, an outer ring of the crossed roller bearing is fixedly arranged with the moving arm, an output shaft of the driving module is fixed with an inner ring of the crossed roller bearing, the output shaft is fixed with the fixed arm, a driven shaft is arranged on the moving arm, an electromagnetic power-off brake is arranged on an outer ring of the driven shaft, and the electromagnetic power-off brake is fixed on the moving arm.
7. A robotic breath-following puncture surgical device according to claim 5, wherein said positioning element comprises one of a positioning pin, a positioning slot, or a linear slide, and said resilient element comprises a spring.
8. A robotic breath-following puncture surgical device according to claim 5, wherein said stop block is connected to the puncture body by means of a shaft or a chute.
9. A puncture surgical robot device with breath follower according to claim 5, wherein the outer side of the half-clamping jaw is provided with a limiting protrusion for limiting a limiting stopper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021670037.2U CN212853600U (en) | 2020-08-12 | 2020-08-12 | Puncture surgery robot device with breathing following function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021670037.2U CN212853600U (en) | 2020-08-12 | 2020-08-12 | Puncture surgery robot device with breathing following function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212853600U true CN212853600U (en) | 2021-04-02 |
Family
ID=75221767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021670037.2U Active CN212853600U (en) | 2020-08-12 | 2020-08-12 | Puncture surgery robot device with breathing following function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212853600U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114469284A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Four-freedom-degree puncture needle positioning and guiding device |
| WO2022247837A1 (en) * | 2021-05-24 | 2022-12-01 | 武汉联影智融医疗科技有限公司 | Puncture device and puncture system |
-
2020
- 2020-08-12 CN CN202021670037.2U patent/CN212853600U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022247837A1 (en) * | 2021-05-24 | 2022-12-01 | 武汉联影智融医疗科技有限公司 | Puncture device and puncture system |
| EP4327764A4 (en) * | 2021-05-24 | 2024-09-18 | Wuhan United Imaging Healthcare Surgical Tech Co Ltd | Puncture device and puncture system |
| CN114469284A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Four-freedom-degree puncture needle positioning and guiding device |
| CN114469284B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Four-freedom-degree puncture needle positioning and guiding device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111821001A (en) | Puncture surgery robot device with breathing following function | |
| CN110236684B (en) | Slave-end propelling device of interventional operation robot and control method thereof | |
| CN212853600U (en) | Puncture surgery robot device with breathing following function | |
| US10898189B2 (en) | Push-pull stapler with two degree of freedom wrist | |
| EP2429441B1 (en) | Remote centre of motion positioner | |
| CN107280768A (en) | One kind operation auxiliary equipment | |
| CN109363889B (en) | Left hand and right hand interchanging device for upper limb exoskeleton robot | |
| US11839518B2 (en) | Treatment assistance equipment | |
| CN110623714A (en) | Fixed-point puncture device and robot using same | |
| CN211271130U (en) | Intervene operation robot from end advancing device | |
| CN210872032U (en) | Minimally invasive surgery robot with vertical telescopic joint and vertical telescopic joint | |
| CN117297708B (en) | Respiration-follow-up ultrasonic bone knife end effector | |
| CN109452977A (en) | A kind of laparoscopic surgery robot driven by crossbeam | |
| CN116898552A (en) | End effector of parallel RCM mechanism for orthopedic surgery | |
| CN217244797U (en) | Accurate injection robot end controlling means | |
| CN109620403B (en) | Operating device | |
| CN113081475B (en) | Master manipulator of master-slave type intraocular surgery robot | |
| CN115038404A (en) | Surgical robot | |
| CN215306653U (en) | Multi-arm orthopedic medical robot | |
| CN116549121B (en) | Mechanical arm tail end tool fast-assembling fixing device | |
| CN219021533U (en) | But angle adjustment's puncture surgical robot | |
| CN220572244U (en) | Push rotary twisting mechanism of interventional instrument | |
| CN117481785B (en) | Limiting and buffering structure for tip of ablation needle and puncture device thereof | |
| CN219374844U (en) | Mammary gland puncture surgical robot | |
| CN218889894U (en) | Adjustable ophthalmic surgery head position fixer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |