CN106964054B - Conveying device for pipeline object transmission - Google Patents
Conveying device for pipeline object transmission Download PDFInfo
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- CN106964054B CN106964054B CN201710295382.9A CN201710295382A CN106964054B CN 106964054 B CN106964054 B CN 106964054B CN 201710295382 A CN201710295382 A CN 201710295382A CN 106964054 B CN106964054 B CN 106964054B
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- pinch roller
- pressing wheel
- transmission
- pressing
- gear
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 60
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000000712 assembly Effects 0.000 claims abstract description 3
- 238000000429 assembly Methods 0.000 claims abstract description 3
- 230000007704 transition Effects 0.000 claims description 5
- 230000020347 spindle assembly Effects 0.000 claims 1
- 238000005056 compaction Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 7
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002716 delivery method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Hematology (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- General Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Surgical Instruments (AREA)
- Rollers For Roller Conveyors For Transfer (AREA)
Abstract
The invention discloses a conveying device for pipeline object transmission, wherein each pressing wheel mechanism comprises a pressing wheel assembly and a pressing wheel frame, two ends of the pressing wheel assembly are respectively and rotatably connected to the head end of the pressing wheel frame, two ends of a transmission member are respectively and rotatably connected to the tail end of the pressing wheel frame, the power input end of the transmission member is linked with the transmission member, the power output end of the transmission member is linked with the pressing wheel assemblies, a pipeline object to be transmitted is clamped between the pressing wheel mechanisms in each two groups of pressing wheel sets, and the head end of the pressing wheel frame is pressed to the pipeline object to be transmitted. The invention has simple structure and convenient use, can not only compact the object to be transmitted, but also play a role of self-expanding and tightening by using the two compaction wheel mechanisms, has reliable transmission and high precision, can effectively eliminate or reduce the slipping phenomenon of the catheter which is only conveyed by friction force, greatly reduces the operation difficulty of doctors and reduces the time of medical operation.
Description
Technical Field
The invention relates to a driving piece for driving a catheter in a medical instrument, in particular to a conveying device for conveying pipeline objects.
Background
The catheter intervention treatment is suitable for the treatment process of some diseases such as heart or cancer. In the catheter intervention treatment, a catheter needs to be delivered into a patient, and the reliability and accuracy of catheter delivery are very important. The catheter delivery methods commonly used at present are manually input by a physician, which places high demands on the skill and skill of the operator.
If use conventional pinch roller, do not have drive function, generally only play the supporting role, lean on action wheel and pinch roller to compress tightly, carry the pipe through frictional force, perhaps be one side drive, one side compresses tightly, and the phenomenon of skidding is difficult to avoid in the whole use, and the stationarity is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a conveying device for conveying pipeline objects, which realizes uniform and smooth movement of fine pipeline objects.
The pipeline object clamping device comprises at least two groups of pressing wheel sets, wherein a pipeline object is clamped between the two groups of pressing wheel sets, each group of pressing wheel set comprises a transmission part, a transmission shaft part and at least one pressing wheel mechanism, each pressing wheel mechanism comprises a pressing wheel component and a pressing wheel frame, two ends of each pressing wheel component are respectively and rotatably connected to the head end of the corresponding pressing wheel frame, two ends of each transmission shaft part are respectively and rotatably connected to the tail end of the corresponding pressing wheel frame, the power input end of the transmission part is linked with the transmission shaft part, the power output end of the transmission part is linked with the corresponding pressing wheel component, the pipeline object to be transmitted is clamped between the pressing wheel mechanisms in each two groups of pressing wheel sets, and the head ends of the pressing wheel frames are pressed to the pipeline object to be transmitted.
The pressing wheel mechanisms are symmetrically arranged, the transmission part is provided with a power input end and two power output ends, the transmission directions of the two power output ends are the same, the power output ends of the transmission part are respectively linked with the corresponding pressing wheel assemblies, the tail ends of the pressing wheel frames on the two pressing wheel mechanisms are connected together, and the elastic part is arranged between the two pressing wheel frames. The two pressing wheel mechanisms are adopted, the elastic piece is compressed between the two pressing wheel frames, and the elastic piece enables the pressing wheel frames to rotate downwards around the transmission shaft piece due to restoring force generated by compression, so that the whole pressing wheel assembly is pressed on an object to be transmitted. The self-expansion function can be realized.
The pressing wheel frame is of a frame structure, a clamping opening used for clamping the elastic piece is formed in the top of the frame structure, an opening is formed in the bottom of the frame structure, the pressing wheel assembly is located in the frame structure and protrudes out of the opening in the bottom of the frame structure, the head end of the frame structure is rotatably connected with the pressing wheel assembly, and the tail end of the frame structure is rotatably connected with the end of the transmission shaft.
The transmission part is a gear transmission part which comprises a driving gear and two driven gears, the driving gear is meshed with the two driven gears respectively, the driving gear is linked with the transmission shaft part, and the two driven gears are linked with the pinch roller assembly respectively. The gear transmission is stable and consistent, the power input of one driving gear can be realized, and the two driven gears are driven in the same direction, so that the object to be transmitted is movably output.
The pressing wheel assembly comprises a pressing wheel core, a wheel shaft and a pressing wheel rim, the pressing wheel rim is sleeved on the pressing wheel core, the end part of the pressing wheel core is connected with the power output end of the transmission part, and the pressing wheel core is sleeved at the head end of the pressing wheel frame through a wheel shaft.
The pressing wheel rim is in interference fit with the pressing wheel core. The binding force can also be increased by coating the adhesive between the pressing wheel rim and the pressing wheel core.
The pressing wheel core is of a hollow structure, the wheel shaft penetrates into the hollow structure of the pressing wheel core, and the end of the wheel shaft is limited at the head end of the pressing wheel frame through the cushion piece and the clamp spring. The limiting adjustment is carried out through the cushion piece and the clamp spring.
The transmission shaft part comprises a pressing rotating shaft and a bearing shaft sleeve; the pressing rotating shaft and the power input end of the transmission part are in shaft fit with each other, the pressing rotating shaft penetrates into the bearing shaft sleeve, and the bearing shaft sleeve is connected to the tail end of the pressing wheel carrier.
The conveying device is further provided with a shell and a cover plate assembly, the shell is wrapped outside the pressing wheel set, a channel for pipeline object transmission is formed in the shell, and the cover plate assembly is fixed outside the shell. The shell and the cover plate assembly play a role of sealing support.
And a transition gear matched with a transmission shaft part of the pressing wheel set is arranged in the shell.
Compared with the prior art, the invention has the following advantages: the invention has simple structure and convenient use, can not only compact the object to be transmitted, but also play a role of self-expanding and tightening by using the two compaction wheel mechanisms, has reliable transmission and high precision, can effectively eliminate or reduce the slipping phenomenon of the catheter which is only conveyed by friction force, greatly reduces the operation difficulty of doctors and reduces the time of medical operation.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded schematic view of FIG. 1;
FIG. 3 is a schematic view of a pinch roller set;
FIG. 4 is a schematic diagram of a pinch roller mechanism of the pinch roller assembly of the present invention;
FIG. 5 is a schematic view of another pinch roller mechanism of the pinch roller assembly of the present invention;
fig. 6 is a schematic structural view of the pinch wheel assembly.
Detailed Description
The following examples are given for the detailed implementation and the specific operation procedures, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1 to 6, the present embodiment includes two sets of pressing wheel sets, a housing 9 and a cover plate assembly 91, the housing 9 covers the pressing wheel sets, a channel for transmitting the pipeline object 6 is formed on the housing 9, the cover plate assembly 91 is fixed outside the housing 9, and the housing 9 and the cover plate assembly 91 play a role of sealing and supporting; the utility model discloses a pipeline clamping device, including two sets of pinch roller sets, every pinch roller set includes driving medium 3, transmission shaft spare 4 and two pinch roller mechanisms, and two pinch roller mechanism symmetries set up, every pinch roller mechanism includes pinch roller subassembly 1 and pinch roller carrier 2, the head end at pinch roller carrier 2 is connected in the rotation respectively at the both ends of pinch roller subassembly 1, driving medium 3 has a power input end and two power output end, and two power output end's transmission direction is the same, the power output end of driving medium 3 links with corresponding pinch roller subassembly 1 respectively, the end-to-end connection of pinch roller carrier 2 on two pinch roller mechanisms is in the same place, be equipped with elastic component 5 between two pinch roller carriers 2, be equipped with in the casing 9 with the transmission shaft spare 4 assorted transition gear 94 that compresses tightly the wheelset. The elastic member 5 of the present embodiment is a spring in a compressed state.
The conveying member of this embodiment further has a transition gear set 94 including a first gear 941 and a second gear 942, the first gear 941 being engaged with an external power source and the second gear 942, respectively, and the second gear 942 being fixed to the driving shaft member 4 by a transition bearing 93.
In this embodiment, the cover plate assembly 91 is attached to the housing 9 by screws 92.
In other embodiments, two sets of pressing wheel sets can be arranged on the left and the right.
In the embodiment, two pinch roller mechanisms are adopted, the elastic part 5 is compressed between the two pinch roller frames 2, and the elastic part 5 enables the pinch roller frames 2 to rotate downwards around the transmission shaft 4 due to the restoring force generated by compression, so that the whole pinch roller assembly 1 is pressed on an object to be transmitted. The self-expansion function can be realized.
The pinch roller carrier 2 of this embodiment is frame construction, the centre gripping mouth that is used for centre gripping elastic component 5 is seted up at frame construction's top, frame construction's bottom is equipped with the opening, pinch roller subassembly 1 is located in the frame construction and protruding in frame construction's bottom opening part, frame construction's head end and pinch roller subassembly 1 rotate to be connected, frame construction's end and the end rotation of transmission shaft are connected.
The transmission 3 of this embodiment is a gear transmission, the gear transmission includes a driving gear 31 and two driven gears 32, driving gear 31 meshes with two driven gears 32 respectively, driving gear 31 and transmission shaft 4 linkage, two driven gears 32 link with pinch roller subassembly 1 respectively. The gear transmission is stable and consistent, the power input of one driving gear 31 can be realized, and the two driven gears 32 are driven in the same direction, so that the object to be transmitted is movably output.
The pinch roller assembly 1 of this embodiment includes a pinch roller core 11, a wheel shaft 12 and a pinch roller 13, the pinch roller 13 is sleeved on the pinch roller core 11, the end of the pinch roller core 11 is connected with a driven gear 32, and the pinch roller core 11 is sleeved at the head end of the pinch roller frame 2 through the wheel shaft 12.
The pressing rim 13 of the present embodiment is interference fitted on the pressing hub 11. It is also possible to apply an adhesive between the pressing rim 13 and the pressing core 11 to increase the coupling force.
The pressing wheel core 11 of this embodiment is a hollow structure, the wheel shaft 12 penetrates into the hollow structure of the pressing wheel core 11, and the end of the wheel shaft 12 is limited at the head end of the pressing wheel frame 2 through the pad 7 and the clamp spring 8. The spacing adjustment is carried out by the cushion member 7 and the circlip 8.
The transmission shaft part 4 comprises a pressing rotating shaft and a bearing shaft sleeve; the compressing rotating shaft is axially matched with the driving gear 31, the compressing rotating shaft penetrates into a bearing shaft sleeve, and the bearing shaft sleeve is connected to the tail end of the compressing wheel frame 2.
The transmission shaft member 4 of the present embodiment includes a pressing rotation shaft 41 and a bearing bush; the pressing rotating shaft 41 penetrates into a bearing shaft sleeve, and the bearing shaft sleeve is connected to the tail ends of the two pressing wheel frames 2. The bearing shaft set comprises a pressing bearing 42, a pressing shaft sleeve 43 and a sliding bearing 44, the pressing rotating shaft 41 is axially combined on the driving gear 31 through the pressing bearing 42, one end of the pressing shaft sleeve 43 is matched with the pressing bearing 42, and the other end of the pressing shaft sleeve is connected to the pressing wheel frame 2 through the sliding bearing 44.
The two groups of pressing wheel sets generate pressing force by respective internal springs and are pressed mutually, the driving gear 31 rotates to drive the two driven gears 32, so that the pressing wheel set 1 on the corresponding pressing wheel set is driven to rotate, the four pressing wheel rims 13 are ensured to drive the pipeline object 6 to perform front and back feeding motion according to the operation requirement by controlling the rotating speed and the rotating direction of the driving gears 31 on the two groups of pressing wheel sets, the purpose of inputting fine tubular and linear objects is also achieved, and the two groups of pressing wheel sets are matched to ensure the input stability and the anti-slip effect.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. The utility model provides a conveyor for pipeline object transmission, its characterized in that, includes at least two sets of pinch roller groups, centre gripping pipeline object, every group between two sets of pinch roller groups the pinch roller group includes driving medium, transmission shaft spare and at least one pinch roller mechanism, every pinch roller mechanism includes pinch roller subassembly and compresses tightly the wheel carrier, the head end of connection at the pinch roller carrier is rotated respectively at the both ends of pinch roller subassembly, the both ends of transmission shaft spare are rotated respectively and are connected the end at the pinch roller carrier, the power input end and the transmission shaft spare linkage of driving medium, the power output end and the pinch roller subassembly linkage of driving medium, centre gripping pipeline object waiting to transmit between the pinch roller mechanism in every two sets of pinch roller groups, the head end of pinch roller carrier receives the pressure of pressing to pipeline object waiting to transmit.
2. The conveying device for pipeline object transmission according to claim 1, wherein there are two pinch roller mechanisms, the two pinch roller mechanisms are symmetrically arranged, the transmission member has a power input end and two power output ends, the transmission directions of the two power output ends are the same, the power output ends of the transmission member are respectively linked with the corresponding pinch roller assemblies, the ends of the pinch roller frames on the two pinch roller mechanisms are connected together, and an elastic member is arranged between the two pinch roller frames.
3. The conveying device for pipeline object transmission according to claim 2, wherein the pinch roller frame is a frame structure, a clamping opening for clamping the elastic member is formed in the top of the frame structure, an opening is formed in the bottom of the frame structure, the pinch roller assembly is located in the frame structure and protrudes from the opening in the bottom of the frame structure, the head end of the frame structure is rotatably connected with the pinch roller assembly, and the tail end of the frame structure is rotatably connected with the end of the transmission shaft.
4. The conveying device for pipeline object transmission according to claim 2, wherein the transmission member is a gear transmission member, the gear transmission member comprises a driving gear and two driven gears, the driving gear is engaged with the two driven gears respectively, the driving gear is linked with the transmission shaft member, and the two driven gears are linked with the pressing wheel assembly respectively.
5. The conveying device for pipeline object transmission according to claim 1, wherein the pressing wheel assembly comprises a pressing wheel core, a wheel shaft and a pressing wheel rim, the pressing wheel rim is sleeved on the pressing wheel core, the end part of the pressing wheel core is connected with the power output end of the transmission part, and the pressing wheel core is sleeved at the head end of the pressing wheel frame through a wheel shaft.
6. A transporting arrangement for pipeline object transport according to claim 5, wherein the clamping rim is an interference fit on the clamping hub.
7. The conveying device for pipeline object transmission according to claim 5, wherein the pressing wheel core is a hollow structure, the wheel shaft penetrates into the hollow structure of the pressing wheel core, and the end part of the wheel shaft is limited at the head end of the pressing wheel frame through a cushion piece and a clamp spring.
8. A conveying apparatus for pipeline object transport according to claim 1, wherein the drive shaft member comprises a pressing spindle and a bearing spindle assembly; the pressing rotating shaft and the power input end of the transmission part are in shaft fit, the pressing rotating shaft penetrates into the bearing shaft sleeve, and the bearing shaft sleeve is connected to the tail end of the pressing wheel carrier.
9. A conveyor apparatus for pipeline object transport according to claim 1 or 2, wherein the conveyor apparatus further comprises a transition gear set comprising a first gear and a second gear, the first gear meshing with the output end of the reversing gear set and the second gear, respectively, the second gear being fixed to the drive shaft member.
10. The conveying device for conveying pipeline objects according to claim 9, further comprising a housing and a cover plate assembly, wherein the housing covers the pressing wheel set, the housing is provided with a channel for conveying pipeline objects, the cover plate assembly is fixed outside the housing, and the first gear is fixed in the cover plate assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295382.9A CN106964054B (en) | 2017-04-28 | 2017-04-28 | Conveying device for pipeline object transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295382.9A CN106964054B (en) | 2017-04-28 | 2017-04-28 | Conveying device for pipeline object transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106964054A CN106964054A (en) | 2017-07-21 |
| CN106964054B true CN106964054B (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710295382.9A Active CN106964054B (en) | 2017-04-28 | 2017-04-28 | Conveying device for pipeline object transmission |
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| CN (1) | CN106964054B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107376096B (en) * | 2017-09-04 | 2023-05-19 | 合肥美亚光电技术股份有限公司 | Pipeline conveying device |
| CN111729181A (en) * | 2020-07-06 | 2020-10-02 | 刘玉霞 | CT small intestine contrast intelligent filling device |
| CN112850529A (en) * | 2021-02-19 | 2021-05-28 | 广州鸿海海洋技术服务有限公司 | Auxiliary winding and unwinding equipment for mooring rope |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29808180U1 (en) * | 1998-05-06 | 1998-07-23 | STM Medizintechnik Starnberg GmbH, 86947 Weil | Drive device for slip hose system |
| US6171234B1 (en) * | 1998-09-25 | 2001-01-09 | Scimed Life Systems, Inc. | Imaging gore loading tool |
| JP2002291766A (en) * | 2001-03-30 | 2002-10-08 | Medikit Kk | Medical long material storage case |
| TW201000160A (en) * | 2008-06-25 | 2010-01-01 | Univ Nat Taiwan | The control system of catheter feeder |
| CN101933837B (en) * | 2010-07-08 | 2011-10-12 | 中国科学院自动化研究所 | Minimally invasive vascular interventional surgical robot tube feeding device |
| CN103830828B (en) * | 2012-11-22 | 2016-01-20 | 燕山大学 | The interventional surgery with balloon/stent delivery functions send pipe wire feeder |
| CN103157170B (en) * | 2013-02-25 | 2014-12-03 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| CN203662950U (en) * | 2014-01-16 | 2014-06-25 | 南阳医学高等专科学校第一附属医院 | Cardiovascular stent insertion feeding device |
| CN105709325B (en) * | 2014-11-30 | 2021-10-29 | 中国科学院沈阳自动化研究所 | An interventional catheter delivery operation device |
| CN104840257B (en) * | 2015-05-22 | 2018-04-13 | 林健泽 | A kind of interposing catheter conveying and recycling guidance robot |
| CN105662586B (en) * | 2016-03-03 | 2017-12-12 | 北京理工大学 | A kind of intervention operation robot and its control method of catheter guide wire collaboration push |
| CN207591082U (en) * | 2017-04-28 | 2018-07-10 | 合肥美亚光电技术股份有限公司 | A kind of conveying device for pipeline object transport |
| CN108114360B (en) * | 2017-12-19 | 2020-06-16 | 深圳先进技术研究院 | Vascular interventional surgical guidewire/catheter delivery device |
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2017
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