CN219712229U - Transmission structure and vascular intervention operation robot - Google Patents
Transmission structure and vascular intervention operation robot Download PDFInfo
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- CN219712229U CN219712229U CN202321033906.4U CN202321033906U CN219712229U CN 219712229 U CN219712229 U CN 219712229U CN 202321033906 U CN202321033906 U CN 202321033906U CN 219712229 U CN219712229 U CN 219712229U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 67
- 230000002792 vascular Effects 0.000 title claims abstract description 17
- 210000001503 joint Anatomy 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- 230000013011 mating Effects 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000036512 infertility Effects 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The embodiment of the utility model belongs to the field of medical instruments, and relates to a transmission structure and a vascular intervention surgical robot. The transmission structure is used for connecting and transmitting a driving box and an aseptic box of the vascular interventional operation robot, the driving box is provided with a driving shaft, the aseptic box is provided with a power input end, the transmission structure comprises a first rotating piece and a floating mechanism, the floating mechanism is used for floating connection between the first rotating piece and the driving shaft, and the first rotating piece is connected and transmitted with the power input end. The vascular intervention operation robot comprises a driving box, a sterile box and the transmission structure; the driving box and the sterile box are connected and driven through a transmission structure. When the aseptic box is installed, the driving shaft can jack up the floating structure when the aseptic box is not connected with the floating mechanism in a butt joint way, so that the aseptic box is installed in place, the aseptic box can be connected with the floating mechanism in a butt joint way when the driving shaft rotates, and power can be transmitted to the aseptic box through the first rotating piece after the aseptic box is installed in place, so that stable and effective power transmission is realized.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a transmission structure and a vascular intervention surgical robot.
Background
The existing vascular intervention operation robot is provided with a driving box and an aseptic box, wherein a driving motor is arranged in the driving box, and a mechanism for driving a guide wire or a catheter in the aseptic box to move can be driven by the driving motor, so that the intervention operation is performed.
In the existing driving mode, a motor in a driving box is connected with a power output shaft to drive the power output shaft to rotate, and meanwhile, the power output shaft is connected with a groove of an upper interface of the sterile box to transmit power to a driving mechanism inside the sterile box, such as a guide pipe delivery roller to rotate, a quick-crossing roller to rotate, a T valve to rotate and the like. The existing power transmission structure between the driving box and the aseptic box has the following problems:
when the sterile box is in butt joint with the driving box, the situation that the power output shaft is not in butt joint with the sterile box interface groove exists, so that the sterile box is not installed in place, the driving box is caused to transmit power to the sterile box to fail, and the operation safety is affected.
Disclosure of Invention
The embodiment of the utility model provides a transmission structure and a vascular intervention surgical robot, which are used for solving the problem that in the prior art, when a driving box transmits power to an aseptic box through a power output shaft, the power transmission is invalid due to the fact that the butt joint process of the power output shaft and an aseptic box interface groove is not in place.
In order to solve the above technical problems, the embodiment of the present utility model provides a transmission structure, which adopts the following technical scheme:
a transmission structure is used for connecting transmission of a driving box and an aseptic box of a vascular intervention surgical robot, the driving box is provided with a driving shaft, the aseptic box is provided with a power input end, the transmission structure comprises a first rotating piece and a floating mechanism, the floating mechanism is used for floating connection between the first rotating piece and the driving shaft, and the first rotating piece is connected with the power input end for transmission.
Further, the floating mechanism comprises an elastic piece and a second rotating piece, wherein the second rotating piece is used for driving the first rotating piece to coaxially rotate;
the second rotating piece is in sliding fit with the first rotating piece through an elastic piece;
the second rotating piece is detachably connected with the driving shaft, the second rotating piece can bear force to compress the elastic piece when the second rotating piece is in dislocation butt joint with the driving shaft, moves axially towards the first rotating piece, and can reset in the rotation process of the driving shaft to be in counterpoint connection with the driving shaft.
Further, a protruding portion is formed on one side of the first rotating member, which faces the second rotating member, the protruding portion is provided with a containing cavity, and the elastic member and the second rotating member are arranged in the containing cavity.
Further, the second rotating member is provided with at least one first inserting part for connecting the first rotating member, and a first groove extending along the axial direction is arranged on the inner wall of the accommodating cavity of the first rotating member corresponding to the first inserting part;
the first inserting part is in sliding connection with the first groove, and the second rotating piece drives the first rotating piece to coaxially rotate through the first inserting part.
Further, the shell of the sterile box is provided with a limiting table for limiting the second rotating piece axially, and two ends of the elastic piece are propped against the first rotating piece and the second rotating piece respectively.
Further, at least one second inserting portion used for being connected with the driving shaft is arranged on the second rotating piece, a butt joint portion is arranged on the end face of the driving shaft corresponding to the second inserting portion, and the second inserting portion is in butt joint with the butt joint portion in a butt joint mode.
Further, the second plug-in connection part is a second groove, and the butt joint part is a bump; or, the second plug-in connection part is a bump, and the butt joint part is a second groove.
Further, the first rotating member is a gear, and the elastic member is a spring or an air bag.
Further, the floating mechanism comprises an elastic piece and a second rotating piece, wherein the second rotating piece is used for driving the first rotating piece to coaxially rotate;
the second rotating piece can be in sliding fit with the driving shaft through an elastic piece;
the second rotating piece is detachably connected with the first rotating piece, the second rotating piece can be stressed to compress the elastic piece when being in dislocation butt joint with the first rotating piece, axially moves towards the driving shaft, and can reset in the rotating process to be in counterpoint connection with the first rotating piece.
In order to solve the technical problems, the embodiment of the utility model also provides a vascular intervention surgical robot, which adopts the following technical scheme:
a vascular intervention surgical robot, comprising a driving box, a sterile box and a transmission structure as described above; the driving box and the sterile box are connected and driven through the transmission structure.
Compared with the prior art, the embodiment of the utility model has the following main beneficial effects: when the sterile box is installed, the driving shaft of the driving box is connected with the power input end of the sterile box through the transmission structure, the driving shaft can jack up the floating mechanism when the driving shaft is not connected with the floating mechanism in a butt joint mode, the sterile box is guaranteed to be installed in place, the driving shaft can be connected with the floating mechanism in a butt joint mode when the driving shaft rotates, the power can be transmitted to the sterile box through the first rotating piece after the sterile box is guaranteed to be installed in place, and stable and effective power transmission is achieved.
Drawings
In order to more clearly illustrate the solution of the present utility model, a brief description will be given below of the drawings required for the description of the embodiments, it being apparent that the drawings in the following description are some embodiments of the present utility model and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a drive cassette coupled to a sterile cassette according to an embodiment of the present utility model;
FIG. 2 is a schematic illustration of the drive cassette of FIG. 1 separated from the sterility case;
FIG. 3 is a schematic view of the structure of FIG. 1 shown separated from the sterility case at another angle;
FIG. 4 is a schematic illustration of a transmission structure provided by an embodiment of the present utility model;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is a schematic view of a first rotary member according to an embodiment of the present utility model;
FIG. 7 is a schematic view of a second rotary member according to an embodiment of the present utility model;
FIG. 8 is a top view of the structure shown in FIG. 1;
FIG. 9 is a cross-sectional view taken along line A-A of FIG. 8;
FIG. 10 is an enlarged schematic view of B in FIG. 9;
FIG. 11 is a schematic view of a drive shaft provided by an embodiment of the present utility model;
fig. 12 is a schematic view of the power input end of the sterility case connected to the drive shaft of the drive case through a transmission structure in an embodiment of the present utility model.
Reference numerals:
1-a transmission structure; 11-a first rotating member; 111-a protrusion; 112-a receiving cavity; 113-a first groove; 12-a floating mechanism; 121-an elastic member; 122-a second rotating member; 1221-a first plug-in part; 1222-a second plug; 2-a drive box; 21-a drive shaft; 211-butt joint part; 3-a sterile cassette; 31-a housing; 311-limiting tables; 32-power input.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model; the terms "comprising" and "having" and any variations thereof in the description of the utility model and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the utility model. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to make the person skilled in the art better understand the solution of the present utility model, the technical solution of the embodiment of the present utility model will be clearly and completely described below with reference to the accompanying drawings.
Embodiment of the transmission structure
The embodiment of the utility model provides a transmission structure, as shown in fig. 1 to 3, the transmission structure 1 is used for connecting and transmitting a driving box 2 and an aseptic box 3 of a vascular interventional operation robot, wherein the driving box 2 is provided with a driving shaft 21, the aseptic box 3 is provided with a power input end (not shown in fig. 1 to 3), the transmission structure 1 is detachably arranged on one side of the aseptic box 3 facing the driving box 2 and is connected with the power input end inside the aseptic box 3, when the driving box 2 and the aseptic box 3 are connected through the transmission structure 1, the transmission structure 1 is in alignment connection with the driving shaft 21, and the transmission structure 1 is detachably connected with the driving shaft 21.
In this embodiment, as shown in fig. 4, the transmission structure 1 includes a first rotating member 11 and a floating mechanism 12, the floating mechanism 12 is used for floating connection between the first rotating member 11 and the driving shaft 21, and the first rotating member 11 is connected to the power input end for transmission. Specifically, when the floating mechanism 12 is mounted on the side of the aseptic box 3 facing the driving box 2, the first rotating member 11 is connected with the power input end inside the aseptic box 3, and when the driving box 2 and the aseptic box 3 are connected through the transmission structure 1, the floating mechanism 12 can be connected with the driving shaft 21 in an alignment manner.
During the mounting of the sterile cassette 3 to the drive cassette 2 via the transmission 1, the transmission 1 has two initial mating relations with the drive shaft 21.
The first initial matching relationship is that the transmission structure 1 and the driving shaft 21 are accurately aligned, the floating mechanism 12 and the driving shaft 21 are directly connected in an aligned manner, the sterile box 3 is still in positioning and butting connection with the driving box 2, the floating mechanism 12 is driven to rotate through the rotation of the driving shaft 21, the first rotating member 11 is driven to rotate, and power is transmitted to the structure inside the sterile box 3 through the power input end, so that the medical instruments such as a catheter or a guide wire (such as the forward, backward and rotation of the guide wire or the catheter) are driven inside the sterile box 3.
The second initial matching relationship is that the alignment of the transmission structure 1 and the driving shaft 21 is inaccurate, the driving shaft 21 is propped against the floating mechanism 12, the floating mechanism 12 is propped up and moves towards the direction of the sterile box 3, the sterile box 3 can still be correctly positioned and butted with the driving box 2, but power transmission cannot be carried out, on the basis, when the driving shaft 21 rotates, the driving shaft 21 can be aligned with the floating mechanism 12 in the rotating process, after the alignment, the floating mechanism 12 is reset to be connected with the driving shaft 21 in an alignment manner, the floating mechanism 12 is driven to rotate through the rotation of the driving shaft 21, the first rotating member 11 is driven to rotate, and power is transmitted to the structure inside the sterile box 3 through the power input end.
Further, in the present embodiment, as shown in fig. 5, the floating mechanism 12 includes an elastic member 121 and a second rotating member 122 for driving the first rotating member 11 to coaxially rotate, and the second rotating member 122 is detachably connected to the driving shaft 21.
The second rotating member 122 is slidably matched with the first rotating member 11 through an elastic member 121, specifically, as shown in fig. 6, a protruding portion 111 is formed on one side of the first rotating member 11 facing the second rotating member 122, the protruding portion 111 has a containing cavity 112, the elastic member 121 and the second rotating member 122 are disposed in the containing cavity 112, the second rotating member 122 slides in the containing cavity 112, the elastic member 121 abuts against the second rotating member 122 and the first rotating member 11 in the containing cavity 112 respectively, and by providing the containing cavity 112, the sliding of the second rotating member 122 can be more stable, and meanwhile, the matching of the first rotating member 11, the elastic member 121 and the second rotating member 122 can be more compact, which is beneficial to saving space.
Further, as shown in fig. 7, the second rotating member 122 is provided with at least one first insertion portion 1221 for connecting with the first rotating member 11, and, as shown in fig. 6, the inner wall of the accommodating cavity 112 of the first rotating member 11 is provided with a first groove 113 extending along the axial direction corresponding to the first insertion portion 1221; in the circumferential direction of the first rotating member 11, the width of the first plugging portion 1221 is smaller than the width of the first groove 113, so that the first plugging portion 1221 may be slidably connected with the first groove 113 along the axial direction of the first rotating member 11, and on the other hand, when the driving shaft 21 drives the second rotating member 122 to rotate, the first plugging portion 1221 located in the first groove 113 applies a circumferential force to the protruding portion 111, thereby driving the first rotating member 11 to rotate, so as to realize that the second rotating member 122 drives the first rotating member 11 to coaxially rotate through the first plugging portion 1221.
In this embodiment, the second rotating member 122 is detachably connected to the driving shaft 21, and the second rotating member 122 can compress the elastic member 121 under force when the second rotating member is in dislocation butt joint with the driving shaft 21, moves axially toward the first rotating member 11, and can be reset to connect the driving shaft 21 in alignment during the rotation of the driving shaft 21. Specifically, with reference to the above-mentioned two initial mating relationships between the transmission structure 1 and the driving shaft 21 during the process of mounting the sterile cassette 3 to the driving cassette 2 through the transmission structure 1, correspondingly, in the first initial mating relationship, the second rotating member 122 is aligned with the driving shaft 21, while in the second initial mating relationship, the second rotating member 122 is dislocated with the driving shaft 21, at this time, the second rotating member 122 will move axially towards the first rotating member 11 under the action of the driving shaft 21, and the elastic member 121 is compressed, on the basis that, when the driving shaft 21 rotates, the driving shaft 21 can be aligned with the second rotating member 122 during the rotation, and the elastic member 121 pushes the second rotating member 122 to reset, so as to realize the alignment connection between the second rotating member 122 and the driving shaft 21.
Further, in the present embodiment, as shown in fig. 8 to 10, the housing 31 of the aseptic box 3 has a limiting platform 311 for axially limiting the second rotating member 122, and two ends of the elastic member 121 can be respectively abutted against the first rotating member 11 and the second rotating member 122 by the limiting platform 311, so that the elastic member 121 is initially in a compressed or compression-tending state, so as to facilitate the restoration of the second rotating member 122 after the second rotating member 122 is abutted against the driving shaft 21.
Further, as shown in fig. 7, at least one second plugging portion 1222 for connecting the driving shaft 21 is provided on the second rotating member 122, and as shown in fig. 11, a docking portion 211 is provided on an end surface of the driving shaft 21 corresponding to the second plugging portion 1222, and the second plugging portion 1222 is aligned with the docking portion 211. With reference to the above-mentioned process of mounting the sterile cassette 3 to the drive cassette 2 through the transmission structure 1, the transmission structure 1 and the drive shaft 21 have two initial mating relationships, correspondingly, in the first initial mating relationship, the second plugging portion 1222 is aligned with the abutting portion 211 to achieve plugging, while in the second initial mating relationship, the second plugging portion 1222 is dislocated with the abutting portion 211, at this time, the abutting portion 211 abuts against the rest portion on the second rotating member 122, the second rotating member 122 will move axially towards the first rotating member 11 under the abutting action of the abutting portion 211, the elastic member 121 is compressed, on the basis that when the drive shaft 21 rotates, the abutting portion 211 can align with the second rotating member 122 in the rotating process, and the elastic member 121 pushes the second rotating member 122 to reset, so that the second plugging portion 1222 is plugged with the abutting portion 211 to achieve the aligning connection of the second rotating member 122 and the drive shaft 21.
In some embodiments, the second mating portion 1222 is a second recess, and the mating portion 211 is a bump. In other embodiments, the second mating portion 1222 is a bump, and the mating portion 211 is a second groove.
In some embodiments, the first rotating member 11 is a gear, and accordingly, as shown in fig. 12, the power input end 32 is a gear engaged with the first rotating member 11, and the elastic member 121 is a spring or an air bag.
The transmission structure 1 provided by the embodiment of the utility model has the beneficial effects that: according to the utility model, when the aseptic box 3 is installed, the driving shaft 21 of the driving box 2 is connected with the power input end 32 of the aseptic box 3 through the transmission structure 1, the driving shaft 21 can jack up the floating mechanism 12 when the driving shaft 21 is not aligned with the floating mechanism 12, the aseptic box 3 is ensured to be installed in place, the driving shaft 21 can be abutted with the floating mechanism 12 when rotated, and after the aseptic box 3 is ensured to be installed in place, the power can be transmitted to the aseptic box 3 through the first rotating piece 11, so that stable and effective power transmission is realized.
Embodiment two of the transmission structure 1
Unlike the setting position of the floating mechanism 12 in the above-described embodiment, in the present embodiment, the floating mechanism 12 is provided on the side of the drive cassette 2 facing the aseptic cassette 3.
Specifically, the floating mechanism 12 has the same structure as the first embodiment, and includes an elastic member 121 and a second rotating member 122 for driving the first rotating member 11 to coaxially rotate, where in this embodiment, the second rotating member 122 is slidably engaged with the driving shaft 21 through the elastic member 121; the second rotating member 122 is detachably connected with the first rotating member 11, and the second rotating member 122 can be forced to compress the elastic member 121 when the second rotating member 122 is in dislocation butt joint with the first rotating member 11, axially move towards the driving shaft 21, and can be reset in the rotating process to be in alignment connection with the first rotating member 11.
The cooperation of the second rotating member 122 with the first rotating member 11 is the same as that of the second rotating member 122 with the driving shaft 21 in the above embodiment, and is not unfolded here.
Embodiment III of the Transmission Structure 1
Unlike the above-described embodiment in which the accommodating chamber 112 is formed, in the present embodiment, the accommodating chamber 112 is formed by recessing the first rotating member 11 toward the side of the driving shaft 21, which is advantageous in terms of space saving.
Fourth embodiment of Transmission Structure 1
Unlike the float mechanism 12 in the above-described embodiment, the float mechanism 12 in this embodiment is a cylinder, an electric cylinder, or a screw motor.
Vascular intervention robot embodiment one
The embodiment of the utility model also provides a vascular intervention surgical robot, as shown in fig. 1 to 3, which comprises a driving box 2, a sterile box 3 and a transmission structure 1 as described in the previous embodiment; the drive box 2 and the sterile box 3 are connected and driven through the transmission structure 1. The transmission structure 1 adopted by the vascular intervention surgical robot provided by the embodiment of the utility model enables the driving box 2 and the sterile box 3 to be accurately abutted in any state, thereby realizing effective power transmission.
It is apparent that the above-described embodiments are only some embodiments of the present utility model, but not all embodiments, and the preferred embodiments of the present utility model are shown in the drawings, which do not limit the scope of the patent claims. This utility model may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the utility model are directly or indirectly applied to other related technical fields, and are also within the scope of the utility model.
Claims (10)
1. The utility model provides a transmission structure for the connection transmission of vascular intervention surgical robot's drive box and aseptic box, the drive box has the drive shaft, aseptic box has the power input, its characterized in that, transmission structure includes first rotation piece and floating mechanism, floating mechanism is used for first rotation piece with the connection that floats between the drive shaft, first rotation piece with the power input connection transmission.
2. The transmission structure according to claim 1, wherein the floating mechanism includes an elastic member and a second rotating member for coaxially rotating the first rotating member;
the second rotating piece is in sliding fit with the first rotating piece through an elastic piece;
the second rotating piece is detachably connected with the driving shaft, the second rotating piece can bear force to compress the elastic piece when the second rotating piece is in dislocation butt joint with the driving shaft, moves axially towards the first rotating piece, and can reset in the rotation process of the driving shaft to be in counterpoint connection with the driving shaft.
3. The transmission structure according to claim 2, wherein a projection is formed on a side of the first rotating member facing the second rotating member, the projection having a receiving cavity, the elastic member and the second rotating member being disposed in the receiving cavity.
4. A transmission structure according to claim 3, wherein the second rotating member is provided with at least one first insertion portion for connecting with the first rotating member, and a first groove extending in an axial direction is provided on an inner wall of the accommodating chamber of the first rotating member corresponding to the first insertion portion;
the first inserting part is in sliding connection with the first groove, and the second rotating piece drives the first rotating piece to coaxially rotate through the first inserting part.
5. A transmission structure according to claim 3, wherein the housing of the sterile case has a limiting table for axially limiting the second rotating member, and two ends of the elastic member respectively abut against the first rotating member and the second rotating member.
6. The transmission structure according to any one of claims 2 to 5, wherein at least one second plug-in portion for connecting the driving shaft is provided on the second rotating member, a butt-joint portion is provided on the driving shaft end face corresponding to the second plug-in portion, and the second plug-in portion is aligned and plugged with the butt-joint portion.
7. The transmission structure according to claim 6, wherein the second insertion portion is a second groove, and the abutting portion is a bump; or, the second plug-in connection part is a bump, and the butt joint part is a second groove.
8. The transmission structure according to claim 2, wherein the first rotating member is a gear, and the elastic member is a spring or an air bag.
9. The transmission structure according to claim 1, wherein the floating mechanism includes an elastic member and a second rotating member for coaxially rotating the first rotating member;
the second rotating piece can be in sliding fit with the driving shaft through an elastic piece;
the second rotating piece is detachably connected with the first rotating piece, the second rotating piece can be stressed to compress the elastic piece when being in dislocation butt joint with the first rotating piece, axially moves towards the driving shaft, and can reset in the rotating process to be in counterpoint connection with the first rotating piece.
10. A vascular interventional surgical robot comprising a drive cassette, a sterile cassette and a transmission structure as claimed in any one of claims 1 to 9;
the driving box and the sterile box are connected and driven through the transmission structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321033906.4U CN219712229U (en) | 2023-04-28 | 2023-04-28 | Transmission structure and vascular intervention operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321033906.4U CN219712229U (en) | 2023-04-28 | 2023-04-28 | Transmission structure and vascular intervention operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219712229U true CN219712229U (en) | 2023-09-19 |
Family
ID=87978264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321033906.4U Active CN219712229U (en) | 2023-04-28 | 2023-04-28 | Transmission structure and vascular intervention operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219712229U (en) |
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2023
- 2023-04-28 CN CN202321033906.4U patent/CN219712229U/en active Active
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Address after: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |
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| CP03 | Change of name, title or address |