CN216830914U - Medical robot and mobile medical device - Google Patents
Medical robot and mobile medical device Download PDFInfo
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- CN216830914U CN216830914U CN202220504556.4U CN202220504556U CN216830914U CN 216830914 U CN216830914 U CN 216830914U CN 202220504556 U CN202220504556 U CN 202220504556U CN 216830914 U CN216830914 U CN 216830914U
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Abstract
The application discloses medical robot and mobile medical equipment, wherein, a medical robot includes: a robot body; a drug bin arranged in the robot body; the first end of the hollow multiaxial joint is connected with the robot body; the pesticide spraying assembly is arranged at the second end of the multiaxial joint; the connecting pipe penetrates through the hollow part of the multiaxial joint, one end of the connecting pipe is connected with the medicament bin, and the other end of the connecting pipe is connected with the medicament spraying assembly; and the delivery pump is used for delivering the medicament in the medicament bin to the medicament spraying assembly through the connecting pipe. The medical robot of this application can carry the medicine in the medicament storehouse to spouting the medicine subassembly through the connecting pipe through the delivery pump to can directly spray the medicine to target department, cooperation moving platform can realize carrying out the operation of preliminary treatment to the wounded.
Description
Technical Field
The utility model relates to a robot field, concretely relates to medical robot and mobile medical equipment.
Background
The existing search and rescue robot has single function, usually only can search the wounded and cannot directly treat the wounded.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the above problem, provide medical robot and mobile medical equipment.
The utility model adopts the following technical scheme:
a medical robot, comprising:
a robot body;
a drug cartridge disposed within the robot body;
a hollow polyaxial joint, a first end of which is connected with the robot body;
a pesticide spraying assembly mounted at a second end of the polyaxial joint;
the connecting pipe penetrates through the hollow part of the multi-axis joint, one end of the connecting pipe is connected with the medicament bin, and the other end of the connecting pipe is connected with the medicament spraying assembly; and
and the delivery pump is used for delivering the medicament in the medicament bin to the medicament spraying assembly through the connecting pipe.
The medical robot of this application can carry the medicine in the medicament storehouse to spouting the medicine subassembly through the connecting pipe through the delivery pump to can directly spray the medicine to target department, cooperation moving platform can realize carrying out the operation of preliminary treatment to the wounded.
In practice, the driving form of the multiaxial joint can adopt various existing multiaxial joints (such as the multiaxial joints of CN108621118A and CN 207223960U), and the present application is to provide a channel for the connecting pipe to pass through on the basis of the existing multiaxial joints.
In one embodiment of the present invention, the device further comprises at least one drug tank connected to the drug chamber and at least one water injection tank connected to the drug chamber, wherein the drug tank and the water injection tank are provided with a conveying element.
Set up medicament jar and water injection jar and can carry corresponding medicament and regulation medicament concentration to the medicament storehouse as required, design like this and strengthened the suitability.
In one embodiment of the present invention, the robot further comprises a detection mechanism installed on the robot body, wherein the detection mechanism includes a laser radar and a camera.
In one embodiment of the present invention, there are two cameras.
In one embodiment of the present invention, the robot further comprises a first rotating motor, the detecting mechanism is rotatably installed above the robot body, and the first rotating motor is used for driving the detecting mechanism to rotate.
In one embodiment of the present invention, the detecting mechanism includes a head support rotatably mounted above the robot body, a machine head rotatably mounted on the head support, and a head driving element for driving the machine head to change in pitch; the laser radar and the camera are installed on the machine head, and the rotating axis of the head support is perpendicular to that of the machine head.
In one embodiment of the present invention, the pesticide spraying assembly is a bionic hand, the bionic hand is rotatably mounted at the second end of the multi-axis joint, and the multi-axis joint is provided with a driving structure for driving the bionic hand to rotate;
the bionic hand comprises a palm part and a plurality of finger joint assemblies, the palm part is provided with a medicine outlet channel, and one end of the connecting pipe is communicated with the medicine outlet channel.
The design of the finger joint assembly enables the bionic hand to carry out pesticide spraying operation and further carry out detailed actions through the joints.
In one embodiment of the present invention, the bionic hand comprises 5 finger joint components, four of which are three joint components, the fifth is two joint components,
the three-joint assembly comprises a first joint, a second joint and a third joint which are sequentially connected in a rotating manner, wherein the first end of the first joint is connected with the palm part through a steering engine, the second end of the first joint is connected with the first end of the second joint through the steering engine, and the second end of the second joint is connected with the first end of the third joint through the steering engine;
the two joint components comprise a first joint and a second joint which are sequentially connected in a rotating mode, wherein the first end of the first joint is connected with the palm portion through a steering engine, and the second end of the first joint is connected with the first end of the second joint through the steering engine.
The bionic hand can perform some detailed operations like a human hand through the work of the steering engine.
In one embodiment of the present invention, the two sets of multi-axis joints are respectively installed on two sides of the robot body.
The application also discloses a mobile medical device, which comprises a mobile platform and a medical robot arranged on the mobile platform, wherein the medical robot is the medical robot.
In one embodiment of the present invention, the medical robot further includes a mounting plate and a second rotating motor, the robot body is rotatably mounted on the mounting plate, the second rotating motor is used for driving the robot body to rotate in pitch relative to the mounting plate, and the mounting plate is used for being fixed on the mobile platform.
By the arrangement, the medical robot can also perform pitching operation, and is various in adjustment form and high in applicability.
The utility model has the advantages that: the medical robot of this application can carry the medicine in the medicament storehouse to spouting the medicine subassembly through the connecting pipe through the delivery pump to can directly spray the medicine to target department, cooperation moving platform can realize carrying out the operation of preliminary treatment to the wounded.
Drawings
FIG. 1 is a schematic illustration of a mobile platform after retraction of the track arms;
FIG. 2 is a schematic diagram of an embodiment of a mobile platform;
FIG. 3 is a top view of the mobile platform;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is an exploded view of the upper bracket assembly;
FIG. 6 is a partial exploded view of the mobile platform;
fig. 7 is a partial exploded view of the mobile platform with a partial structure omitted;
FIG. 8 is a schematic view of the first cylindrical spline, the second cylindrical spline and the spline housing;
FIG. 9 is a schematic view of a first double-curved bevel gear and a second double-curved bevel gear;
fig. 10 is a schematic structural view of the medical robot;
FIG. 11 is a schematic view of a bionic hand;
fig. 12 is a partial exploded view of the medical robot;
FIG. 13 is a first state diagram of the ambulatory medical device;
FIG. 14 is a second state diagram of the ambulatory medical device;
FIG. 15 is a third state diagram of the ambulatory medical device;
fig. 16 is a schematic view of the detection mechanism and the first rotating electric machine.
The figures are numbered:
1. a mobile platform; 2. a movable body; 3. a connecting arm; 4. a first pitch drive mechanism; 5. an upper bracket device; 6. an installation mechanism; 7. a second pitch drive mechanism; 8. rotating the connecting assembly; 9. a pitch drive motor; 10. a first double-curve bevel gear; 11. a second double-curved bevel gear; 12. a bracket; 13. rotating the disc; 14. a first gear; 15. rotating the adjusting motor; 16. a second gear; 17. a frame; 18. a main crawler belt power mechanism; 19. a first drive wheel; 20. a first driven wheel; 21. a first track; 22. a track drive motor; 23. a transmission assembly; 24. a power supply battery; 25. supporting the rollers; 26. a battery holder; 27. a crawler support arm; 28. a third pitch drive mechanism; 29. an arm supporting plate; 30. an arm shaft; 31. installing a shaft; 32. a second drive wheel; 33. a second driven wheel; 34. a second crawler belt; 35. locking the screw; 36. a limiting groove; 37. a limiting block; 38. a threaded hole; 39. a first cylindrical spline; 40. a second barrel spline; 41. a cylindrical body; 42. a first connecting key; 43. a spline housing; 44. a second connecting key; 45. a drive shaft; 46. a support arm driving motor; 47. a connecting shaft; 48. a balancing weight; 49. a track support plate; 50. a medical robot; 51. a robot body; 52. a medicament bin; 53. a multi-axis joint; 54. simulating a living hand; 55. a connecting pipe; 56. a delivery pump; 57. a medicament canister; 58. a water injection tank; 59. a detection mechanism; 60. a laser radar; 61. a camera; 62. a first rotating electric machine; 63. a palm portion; 64. a medicine outlet channel; 65. a three joint assembly; 66. a second joint component; 67. a first joint; 68. a second joint; 69. a third joint; 70. a steering engine; 71. mounting a disc; 72. a second rotating electric machine; 87. a head support; 88. a machine head; 89. a head drive element.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 10 and 12, the present embodiment discloses a medical robot 50 including:
a robot body 51;
a medicine chamber 52 provided in the robot body 51;
a hollow polyaxial joint 53 having a first end connected to the robot body 51;
a pesticide spraying assembly mounted at a second end of the multi-axial joint 53, the pesticide spraying assembly being a bionic hand 54 in this embodiment;
a connecting pipe 55 inserted into the hollow part of the multi-axis joint 53, one end of which is connected with the chemical bin 52 and the other end of which is connected with the chemical spraying component; and
a delivery pump 56 for delivering the medicament in the medicament container 52 to the spraying assembly through the connecting tube 55.
The medical robot 50 of this application can carry the medicine in the medicament storehouse 52 to spouting the medicine subassembly through connecting pipe 55 through delivery pump 56 to can directly spray the medicine to target department, the operation of preliminary treatment can be realized carrying out the wounded to cooperation moving platform.
In practice, the driving form of the multi-axial joint 53 may be various existing multi-axial joints 53, and the present application is provided with a passage for passing the connection pipe 55 on the basis of the existing multi-axial joint 53.
As shown in fig. 12, in the present embodiment, the drug delivery device further includes at least one drug tank 57 connected to the drug chamber 52 and at least one water injection tank 58 connected to the drug chamber 52, and the drug tank 57 and the water injection tank 58 are mounted with delivery elements.
The medicament tank 57 and the water injection tank 58 are arranged to deliver corresponding medicaments to the medicament bin 52 and adjust the medicament concentration according to requirements, so that the design enhances the applicability.
As shown in fig. 10, in the present embodiment, the robot further includes a detection mechanism 59 mounted on the robot body 51, and the detection mechanism 59 includes a laser radar 60 and a camera 61. In the present embodiment, there are two cameras 61.
As shown in fig. 12, in the present embodiment, a first rotating motor 62 is further included, the detecting mechanism 59 is rotatably installed above the robot body 51, and the first rotating motor 62 is used for driving the detecting mechanism 59 to rotate.
As shown in fig. 12 and 16, in the present embodiment, the detection mechanism 59 includes a head mount 87 rotatably mounted above the robot body 51, a head 88 rotatably mounted on the head mount 87, and a head driving element 89 for driving the head 88 to change in pitch; the laser radar 60 and the camera 61 are mounted on a machine head 88, and the rotation axis of the head mount 87 and the rotation axis of the machine head 88 are perpendicular to each other.
As shown in fig. 10 and 11, in the present embodiment, the dummy hand 54 is rotatably mounted on the second end of the polyaxial joint 53, and the polyaxial joint 53 has a driving structure for driving the dummy hand 54 to rotate;
the bionic hand 54 includes a palm portion 63 and a plurality of finger joint components, the palm portion 63 has a medicine outlet passage 64, and one end of the connection pipe 55 is communicated with the medicine outlet passage 64.
The finger joint assembly is designed so that the bionic hand 54 can not only perform a spraying operation, but also perform a further refining action through the joint.
As shown in fig. 11, in the present embodiment, the bionic hand 54 includes 5 finger joint components, four of which are three joint components 65, the fifth of which is two joint components 66,
the three-joint assembly 65 comprises a first joint 67, a second joint 68 and a third joint 69 which are sequentially connected in a rotating manner, wherein the first end of the first joint 67 is connected with the palm part 63 through a steering engine 70, the second end of the first joint is connected with the first end of the second joint 68 through the steering engine 70, and the second end of the second joint 68 is connected with the first end of the third joint 69 through the steering engine 70;
the two-joint assembly 66 comprises a first joint 67 and a second joint 68 which are sequentially connected in a rotating manner, wherein the first end of the first joint 67 is connected with the palm part 63 through a steering engine 70, and the second end of the first joint 67 is connected with the first end of the second joint 68 through the steering engine 70.
The bionic hand 54 can be made to perform some detailed operations like a human hand by the operation of the steering engine 70.
As shown in fig. 1, in the present embodiment, two sets of the multi-axis joints 53 are respectively installed on both sides of the robot body 51.
As shown in fig. 13, 14 and 15, the present embodiment further discloses an ambulatory medical device, which includes a mobile platform and a medical robot 50 mounted on the mobile platform, where the medical robot 50 is the medical robot 50 of the present embodiment.
As shown in fig. 10 and 12, in the present embodiment, the medical robot 50 further includes a mounting plate 71 and a second rotating motor 72, the robot body 51 is rotatably mounted on the mounting plate 71, the second rotating motor 72 is used for driving the robot body 51 to rotate in a pitching manner relative to the mounting plate 71, and the mounting plate 71 is used for being fixed on the moving platform. With the arrangement, the medical robot 50 can perform pitching operation, and has various adjustment modes and strong applicability.
As shown in fig. 1 and 2, the mobile platform 1 of the present embodiment includes:
a movable body 2;
a connecting arm 3, the lower end of which is rotatably mounted on the movable body 2;
the first pitching driving mechanism 4 is used for driving the connecting arm 3 to rotate;
an upper bracket device 5 rotatably mounted on the upper end of the connecting arm 3, the upper bracket device 5 including a mounting mechanism 6 for mounting the medical robot; and
and a second pitching driving mechanism 7 for driving the upper bracket device 5 to rotate relative to the connecting arm 3.
The application of mobile platform 1 can drive linking arm 3 and upper bracket device 5 through first every single move actuating mechanism 4 and rotate, can drive the relative linking arm 3 of upper bracket device 5 through second every single move actuating mechanism 7 and rotate, can enough make upper bracket device 5 realize the action of going up and down like this, can adjust the focus position of the medical robot of installation on upper bracket device 5 as required again, improves and hinders the ability more.
As shown in fig. 3, 4, 5 and 7, in the present embodiment, the first pitch drive mechanism 4 is provided on the movable body 2, and the first pitch drive mechanism 4 includes:
a rotating connection assembly 8 rotatably mounted on the movable body 2 and fixed with the connecting arm 3; and
the pitching driving motor 9 is used for driving the corresponding rotating connecting component 8 to rotate;
the second pitch drive mechanism 7 is provided on the upper bracket device 5, and the second pitch drive mechanism 7 includes:
a rotary connecting assembly 8 rotatably mounted on the connecting arm 3 and fixed with the upper bracket device 5; and
and the pitching driving motor 9 is used for driving the corresponding rotating connecting component 8 to rotate.
As shown in fig. 4, 5, 7 and 9, in the present embodiment, there are two sets of the first pitch drive mechanisms 4, which are respectively located on both sides of the connecting arm 3; two groups of second pitching driving mechanisms 7 are respectively positioned at two sides of the connecting arm 3; the rotation connecting assembly 8 comprises a first double-bevel gear 10, and a second double-bevel gear 11 meshed with the first double-bevel gear 10 is mounted on an output shaft of the pitching driving motor 9.
The hyperbolic bevel gear has the advantages of high bearing capacity, high transmission efficiency, stable transmission, low noise and the like compared with bevel gear transmission due to the fact that the teeth are inclined and the contact ratio is large.
The output shaft of the pitch drive motor 9 in the present application is a general term, and may be a rotating shaft of a motor or a shaft of a reduction motor connected to a motor.
As shown in fig. 4 and 5, in the present embodiment, the upper bracket device 5 includes a bracket 12, and the mounting mechanism 6 includes:
a rotating disc 13 rotatably mounted on the bracket 12, the rotating disc 13 being used for mounting the medical robot;
a first gear 14 coaxially fixed to the rotating disk 13; and
a rotation adjusting motor 15, and a second gear 16 meshed with the first gear 14 is mounted on an output shaft of the rotation adjusting motor 15.
The rotating disc 13 can be driven to rotate by rotating the adjusting motor 15, so that the medical robot is driven to rotate.
The first gear 14 and the second gear 16 may be any of a variety of gears, such as the first gear 14 may be a worm gear and the second gear 16 may be a worm.
As shown in fig. 6 and 7, in the present embodiment, the movable body 2 includes a frame 17 and two main track power mechanisms 18 mounted on the frame 17; the main track power mechanism 18 comprises:
a first driving wheel 19 which is rotatably arranged on the frame 17;
a first driven wheel 20 rotatably mounted on the frame 17;
a first crawler belt 21 wound around the first driving wheel 19 and the first driven wheel 20; and
and the track driving motor 22 is matched with the first driving wheel 19 through a transmission assembly 23 and is used for driving the first driving wheel 19 to rotate.
In practice, the transmission assembly 23 may be a gear set or other conventional structure.
As shown in fig. 6, in the present embodiment, the movable body 2 further includes a power supply battery 24, a battery holder 26 and a support roller 25, the battery holder 26 is fixed to the frame 17, the power supply battery 24 is mounted on the battery holder 26 and located in the first crawler 21, and the support roller 25 is mounted below the battery holder 26 for rolling engagement with the first crawler 21.
The power supply battery 24 is arranged in the first crawler belt 21, which can make full use of the structural space and make the structure more compact; the support rollers 25 can provide support for the first track 21 to ensure reliable operation of the main track power mechanism 18.
As shown in fig. 1, 2, 4, 6 and 7, in the present embodiment, two track arms 27 and a third pitch driving mechanism 28 for driving the track arms 27 to pitch and rotate are further included;
the track arm 27 includes:
a support arm plate 29 located outside the first drive pulley 19;
one end of the supporting arm shaft 30 is fixed with the supporting arm plate 29, and the other end of the supporting arm shaft passes through the corresponding first driving wheel 19 and then is matched with the third pitching driving mechanism 28;
a mounting shaft 31 fixed to the arm plate 29;
the second driving wheel 32 is rotatably mounted on the arm shaft 30 and positioned outside the first driving wheel 19, and the second driving wheel 32 and the first driving wheel 19 are relatively fixed in the circumferential direction and can synchronously rotate along with the first driving wheel 19;
a second driven wheel 33 rotatably mounted on the mounting shaft 31; and
and a second crawler belt 34 wound around the second driving wheel 32 and the second driven wheel 33.
The crawler support arm 27 is arranged on the frame 17 through a support arm shaft 30, and the angle of the crawler support arm 27 can be adjusted through the third pitching driving mechanism 28, so that the angle is conveniently formed for obstacle crossing; the second driving wheel 32 and the first driving wheel 19 are relatively fixed in the circumferential direction, so that the power of the first driving wheel 19 can be shared, and a power mechanism does not need to be additionally arranged on the crawler support arm 27.
As shown in fig. 4 and 6, in this embodiment, track arm 27 further includes a locking screw 35; the arm plate 29 is provided with a limiting groove 36, the outer end of the arm shaft 30 is provided with a limiting block 37 embedded in the limiting groove 36, the outer end of the arm shaft 30 is provided with a threaded hole 38, and the arm shaft 30 is fixed with the arm plate 29 through a locking screw 35 matched with the threaded hole 38. The structure is convenient to mount and dismount.
In this embodiment, a hollow first tooth (not shown) is fixed on the first driving wheel 19, and the track driving motor 22 is engaged with the first tooth through a transmission assembly 23;
as shown in fig. 4, 6, 7 and 8, the first drive wheel 19 is further fixed with a first cylindrical spline 39 at the middle part thereof, the second drive wheel 32 is fixed with a second cylindrical spline 40 at the middle part thereof, and each of the first cylindrical spline 39 and the second cylindrical spline 40 comprises a cylindrical body 41 and a first connecting key 42 located on the outer side wall of the cylindrical body 41;
the track support arm 27 further comprises a spline housing 43, the spline housing 43 is sleeved on the first cylindrical spline 39 and the second cylindrical spline 40, the inner side wall of the spline housing 43 is provided with a second connecting key 44 matched with the first connecting key 42, and the first driving wheel 19 and the second driving wheel 32 realize synchronous rotation through the first cylindrical spline 39, the second cylindrical spline 40 and the spline housing 43;
the inner end of the boom shaft 30 passes through the first cylindrical spline 39 and the second cylindrical spline 40 and engages with the third pitch drive mechanism 28.
The first teeth and the first cylindrical spline 39 of the present application can be either separate components or a unitary piece.
As shown in fig. 4 and 7, in the present embodiment, the third pitch drive mechanism 28 includes:
the transmission shaft 45 is rotatably arranged on the rack 17, the transmission shaft 45 is connected with the supporting arm shaft 30, and the supporting arm shaft 30 is driven to synchronously rotate when the transmission shaft 45 rotates; and
the support arm driving motor 46 is used for driving the transmission shaft 45 to rotate;
two transmission shafts 45 are respectively matched with the corresponding support arm shafts 30, and the two transmission shafts 45 are fixed through a connecting shaft 47 to realize synchronous rotation.
As shown in fig. 6, in the present embodiment, the track arm 27 further includes a weight 48 fixed to the arm plate 29, and the weight 48 has a track support plate 49 at upper and lower ends thereof for engaging with the second track 34.
The above only is the preferred embodiment of the present invention, not therefore the limit the patent protection scope of the present invention, all applications the equivalent structure transformation made by the contents of the specification and the drawings of the present invention is directly or indirectly applied to other related technical fields, and all the same principles are included in the protection scope of the present invention.
Claims (10)
1. A medical robot, comprising:
a robot body;
a drug cartridge disposed within the robot body;
a hollow polyaxial joint, a first end of which is connected with the robot body;
a pesticide spraying assembly mounted at a second end of the polyaxial joint;
the connecting pipe penetrates through the hollow part of the multiaxial joint, one end of the connecting pipe is connected with the medicament bin, and the other end of the connecting pipe is connected with the medicament spraying assembly; and
and the delivery pump is used for delivering the medicament in the medicament bin to the medicament spraying assembly through the connecting pipe.
2. The medical robot of claim 1, further comprising at least one drug canister coupled to the drug cartridge and at least one infusion canister coupled to the drug cartridge, the drug canister and infusion canister having a delivery element mounted thereon.
3. The medical robot of claim 1, further comprising a detection mechanism mounted on the robot body, the detection mechanism including a lidar and a camera.
4. The medical robot of claim 3, wherein there are two of said cameras; the medical robot further comprises a first rotating motor, the detection mechanism is rotatably mounted above the robot body, and the first rotating motor is used for driving the detection mechanism to rotate.
5. The medical robot of claim 4, wherein the detection mechanism includes a head mount rotatably mounted above the robot body, a head rotatably mounted on the head mount, and a head drive element for driving the head pitch change; the laser radar and the camera are installed on the machine head, and the rotating axis of the head support is perpendicular to that of the machine head.
6. The medical robot of claim 1, wherein the spray assembly is a bionic hand rotatably mounted at the second end of the multi-axis joint, the multi-axis joint having a drive structure thereon for driving the bionic hand to rotate;
the bionic hand comprises a palm part and a plurality of finger joint assemblies, the palm part is provided with a medicine outlet channel, and one end of the connecting pipe is communicated with the medicine outlet channel.
7. The medical robot of claim 6, wherein the biomimetic hand comprises 5 finger joint components, four of which are three joint components and a fifth of which is a two joint component,
the three-joint assembly comprises a first joint, a second joint and a third joint which are sequentially connected in a rotating manner, wherein the first end of the first joint is connected with the palm part through a steering engine, the second end of the first joint is connected with the first end of the second joint through the steering engine, and the second end of the second joint is connected with the first end of the third joint through the steering engine;
the two joint components comprise a first joint and a second joint which are sequentially connected in a rotating mode, wherein the first end of the first joint is connected with the palm portion through a steering engine, and the second end of the first joint is connected with the first end of the second joint through the steering engine.
8. The medical robot of claim 1, wherein there are two sets of the multi-axis joints, each set being mounted on either side of the robot body.
9. An ambulatory medical device comprising a mobile platform and a medical robot mounted on the mobile platform, wherein the medical robot is the medical robot according to any one of claims 1 to 8.
10. The ambulatory medical device according to claim 9, wherein said medical robot further comprises a mounting plate and a second rotary motor, said robot body being rotatably mounted to said mounting plate, said second rotary motor being adapted to drive said robot body in pitch rotation relative to said mounting plate, said mounting plate being adapted to be secured to said mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220504556.4U CN216830914U (en) | 2022-03-08 | 2022-03-08 | Medical robot and mobile medical device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220504556.4U CN216830914U (en) | 2022-03-08 | 2022-03-08 | Medical robot and mobile medical device |
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| Publication Number | Publication Date |
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| CN216830914U true CN216830914U (en) | 2022-06-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559444A (en) * | 2022-03-08 | 2022-05-31 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559444A (en) * | 2022-03-08 | 2022-05-31 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
| CN114559444B (en) * | 2022-03-08 | 2024-03-12 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
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