CN1299883C - Micro mechanical band for microsurgery - Google Patents
Micro mechanical band for microsurgery Download PDFInfo
- Publication number
- CN1299883C CN1299883C CNB2004100938297A CN200410093829A CN1299883C CN 1299883 C CN1299883 C CN 1299883C CN B2004100938297 A CNB2004100938297 A CN B2004100938297A CN 200410093829 A CN200410093829 A CN 200410093829A CN 1299883 C CN1299883 C CN 1299883C
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- Prior art keywords
- sleeve
- stepper motor
- microsurgery
- micro mechanical
- outer sleeve
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- 238000002406 microsurgery Methods 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 5
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 210000004204 blood vessel Anatomy 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- 238000012856 packing Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
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Abstract
本发明公开了一种显微外科用微机械手，包括由外套筒和内套筒构成的本体、设置在本体内套筒尾端内的第一步进电机、设置在本体外套筒尾端的第二步进电机，以及设置在本体外套筒上的第一限位器；所述第二步进电机输出端设置有器械旋转机构；所述本体内套筒内设置有凸台，卡住由内套筒前端伸出的支撑管；所述第一步进电机的输出端设置有器械开合机构；所述支撑管前端设置有传动锷结构的器械快换机构；所述第二主动法兰上设置有第二限位器。本发明满足了对微机械手在更换速度、体积、功能和夹持力等多方面的要求，主要应用于主从式显微外科手术机器人的末端，在显微外科手术中进行血管缝合等工作。
The invention discloses a micromanipulator for microsurgery, comprising a body composed of an outer sleeve and an inner sleeve, a first stepping motor arranged in the tail end of the inner sleeve of the body, a second stepping motor arranged at the tail end of the outer sleeve of the body Stepper motor, and the first limiter arranged on the outer sleeve of the body; the output end of the second stepper motor is provided with an instrument rotation mechanism; the inner sleeve of the body is provided with a boss, which is stuck by the inner The support tube protruding from the front end of the sleeve; the output end of the first stepper motor is provided with an instrument opening and closing mechanism; the front end of the support tube is provided with a device quick-change mechanism with a transmission collar structure; A second limiter is provided. The invention satisfies the requirements for the replacement speed, volume, function and clamping force of the micromanipulator, and is mainly applied to the end of a master-slave microsurgical robot to perform blood vessel suturing and the like in microsurgery.
Description
Technical field
The present invention relates to a kind of Medical Devices, relate in particular to the parts of used Medical Devices in a kind of microsurgery.
Background technology
Phase early 1990s, the development of medical surgery robot has obtained tremendous development, and a collection of achievement in research is in the news in succession, and the microsurgery mechanical hand is an important branch in the medical surgery robot research.At present, domestic minority scientific research institutions are carrying out the research-and-development activity of microsurgery mechanical hand.For example the application for a patent for invention of application number 03100038.x discloses a kind of microsurgery micro-machine hand, comprises body, finger tip replacing apparatus, device unloading replacement mechanism, apparatus rotating mechanism, device opening and closing mechanism and apparatus position-limit mechanism; Described apparatus position-limit mechanism comprises stop screw that is arranged on the body and the block that is arranged on the above-mentioned flange; The tail end of described body relies on the flange attaching parts to be connected with stepper motor in the described apparatus rotating mechanism, described apparatus position-limit mechanism relies on stop screw to be connected with the apparatus rotating mechanism with block, and the front end of described body relies on parts of bearings to be connected with described device unloading replacement mechanism; Described device unloading replacement mechanism relies on steel ball dop structure and finger tip replacing apparatus to be connected; Described apparatus rotating mechanism relies on dual spring to be connected with described device opening and closing mechanism with the screw thread pair structure, rotatablely moving of stepper motor is converted to the rectilinear motion of screw rod in the device opening and closing mechanism in the apparatus rotating mechanism thereby make, device opening and closing mechanism relies on the pin connection to be connected with the finger tip apparatus, finishes the folding of finger tip apparatus.Deficiencies such as but it exists chucking power accurately not regulate, and volume is bigger, and the operation tool that operation tool can't be changed fast and be suitable for is less.
Summary of the invention
In order to overcome deficiency of the prior art, technical problem to be solved by this invention provides a kind of micro mechanical band for microsurgery, by adopting torque spring energy store mechanism, guarantees the fine adjustment of chucking power; Between the inner and outer sleeves of body, adopt steel ball to replace bearing, the diameter of mechanical arm is reduced, reduce the volume of mechanical arm; Adopt transmission blade of a sword structure simultaneously, guarantee the quick replacing of operating theater instruments; And can change that pin is held, multiple operation tools such as scalpel, surgical scissors and operation tweezers, increase the function of micro-operation hand; Thereby satisfy mechanical arm in many-sided requirements such as replacing speed, volume, function and chucking powers.
In order to solve the problems of the technologies described above, purpose of the present invention can realize by following technical scheme:
A kind of micro mechanical band for microsurgery, comprise the body that constitutes by outer sleeve and inner sleeve, be arranged on first stepper motor in the body inner sleeve tail end, be arranged on second stepper motor of body outer sleeve tail end, and be arranged on first stop on the body outer sleeve; The described second stepper motor output be provided with by set gradually second initiatively flange, drive block, be fixed on the inner baffle ring in the body inner sleeve tail end outside, and be locked in the apparatus rotating mechanism that the outer baffle ring in the body inner sleeve front end outside, gather second steel ball between inner baffle ring and body outer sleeve and the 3rd steel ball between outer baffle ring and body outer sleeve of gathering are constituted; Be provided with boss in the described body inner sleeve, block the stay pipe that stretches out by the inner sleeve front end; The output of described first stepper motor be provided with by in stay pipe, set gradually first initiatively flange, torsionspring, first steel ball, driven pipe, screw rod, second bearing pin, be socketed in the back-up block on second bearing pin, and first bearing pin, overcoat be fixed on the stay pipe in cover be fixed in the device opening and closing mechanism that bearing and inner screw sheath constituted on the driven pipe; The tail end of described first stepper motor is provided with spacer sleeve; Described inner screw sheath is provided with groove, and first bearing pin and second bearing pin pass groove and be fixed on the stay pipe; Described stay pipe front end is provided with the apparatus quick-changing mechanism of transmission blade of a sword structure, be made of the compression spring, support column, the finger tip replacing instrument that are against on the back-up block that set gradually, described finger tip replacing instrument is provided with the groove that is mutually 60～120 degree of two connections; The described second active flange is provided with second stop.
Described finger tip replacing instrument is that pin is held or scalpel or operation tweezers or surgical scissors; Ditch flute length 15mm～25mm on the described inner screw sheath is generally 20mm; Described first stop is a screw, and second stop is screw or block; Described spacer sleeve is the plastic cylinder sleeve.
Micro mechanical band for microsurgery of the present invention compared with prior art has following beneficial effect:
1. because the present invention adopts torque spring energy store mechanism in described device opening and closing mechanism, the first active flange drives driven pipe by torsionspring, here torsionspring plays the energy storage effect, guaranteeing the fine adjustment of chucking power, thereby makes organ and the tissue that mechanical arm can the clamping softness;
2. because the present invention adopts transmission blade of a sword structure in described apparatus quick-changing mechanism, can guarantee the quick replacing of operation tool;
3. the present invention can adopt multiple finger tip to change instrument, comprises that pin is held, scalpel, operation tweezers and surgical scissors etc., thereby has increased the function of mechanical arm;
4. adopt steel ball to replace bearing between the inner and outer sleeves of body of the present invention, make the diameter of mechanical arm reduce to 20mm, thereby reduced the volume of mechanical arm by original 25mm～30mm.
Description of drawings
Fig. 1 is the structural representation of micro mechanical band for microsurgery of the present invention;
Fig. 2 a is the structural representation of one of finger tip replacing instrument of the present invention surgical scissors;
Fig. 2 b is the structural representation of one of finger tip replacing instrument of the present invention operation tweezers;
Fig. 2 c is the structural representation of one of finger tip replacing instrument of the present invention scalpel.
Reference numeral:
1---finger tip replacing instrument 2---inner screw sheath 3---first bearing pin
4---support column 5---compression spring 6---back-up blocks
7---the driven pipes of screw rod 8---stay pipe 9---
10---torsionspring 11---first active flange 12---round nuts
13---outer baffle ring 14---outer sleeve 15---inner sleeves
16---spacer sleeve 17---inner baffle ring 18---drive blocks
19---second active flange 20---counter flange 21---springs
22---spring housing 32---bearing 35---first stepper motors
38---second stepper motor 33---first steel ball 36---, second steel balls
45---second bearing pin 42---first stop 43---, second stops
46---the 3rd steel ball 31,34,37,39,40,41,44---screw
61-surgical scissors 62---scissors bearing pin 63---scissors quick change dop
64---scissors packing ring 65---scissors spring leaf 66,67---scissors screws
71---operation tweezers 72---tweezers bearing pin 73---tweezers quick change dops
74---tweezers packing ring 75--- tweezers spring leaf 76,77---tweezers screws
81---scalpel 82---scalpel rivet 83---scalpel quick change dops
The specific embodiment
Below in conjunction with the drawings and specific embodiments a kind of micro mechanical band for microsurgery of the present invention is done to describe in further detail.
In Fig. 1, a kind of micro mechanical band for microsurgery of the present invention, comprise the body that constitutes by outer sleeve 14 and inner sleeve 15, be arranged on first stepper motor 35 in body inner sleeve 15 tail ends, be fixed on second stepper motor 38 of body outer sleeve 14 tail ends, and be positioned at first stop 42 on the body outer sleeve by counter flange 20; Described second stepper motor, 38 outputs be provided with by set gradually second initiatively flange 19, drive block 18, be fixed on the inner baffle ring 17 in the body inner sleeve tail end outside, and be locked in the apparatus rotating mechanism that the outer baffle ring 13 in the body inner sleeve 15 front ends outside, gather second steel ball 36 between inner baffle ring 17 and body outer sleeve 14 and the 3rd steel ball 46 between outer baffle ring 13 and body outer sleeve 14 of gathering are constituted by round nut 12; Be provided with boss in the described body inner sleeve 15, block the stay pipe 8 that stretches out by the inner sleeve front end; The output of described first stepper motor 35 be provided with by in stay pipe 8, set gradually first initiatively flange 11, torsionspring 10, first steel ball 33, driven pipe 9, screw rod 7, second bearing pin 45, be socketed in the back-up block 6 on second bearing pin 45, and first bearing pin 3, overcoat be fixed on the stay pipe in cover be fixed in the device opening and closing mechanism that bearing 32 on the driven pipe and inner screw sheath 2 are constituted; Described first stepper motor, 35 tail ends are provided with spacer sleeve, and spacer sleeve is the plastic cylinder sleeve; Described inner screw sheath 2 is provided with long 15mm～25mm groove, is generally 20mm; First bearing pin 3 and second bearing pin 45 pass groove and are fixed on the stay pipe 8; Described stay pipe 8 front ends are provided with the apparatus quick-changing mechanism of transmission blade of a sword structure, are made of the compression spring 5, support column 4, the finger tip replacing instrument 1 that are against on the back-up block 6 that set gradually; The described second active flange 19 is provided with second stop 43, can adopt screw or block, and described first stop can adopt screw.It is 1524 series that described stepper motor can be selected for use, and its drive circuit adopts the driver with described electric drilling match, for example AD-VL-M or AD-VM-M or AD-CM-M.
Finger tip of the present invention is changed the groove that is mutually 90 degree that pad is provided with two connections, described finger tip replacing instrument has following two states: described finger tip replacing instrument inserts in the inner screw sheath 2, after the process dextrorotation turn 90 degrees, supported post 4 and compression spring 5 were changed instrument 1 with finger tip and are held out against fixing; Or after described finger tip replacing instrument headed into inner screw sheath 2, being rotated counterclockwise 90 degree, finger tip replacing instrument withdraws from.Described finger tip is changed instrument 1 and is held for pin, also can use surgical scissors 61, scalpel 81 or operation tweezers 71.Fig. 2 a is the surgical scissors structural representation, comprises scissors bearing pin 62, scissors quick change dop 63, scissors packing ring 64, scissors spring leaf 65 and scissors screw 66,67; Fig. 2 b is a surgical forceps minor structure schematic diagram, comprises tweezers bearing pin 72, tweezers quick change dop 73, tweezers packing ring 74, tweezers spring leaf 75 and tweezers screw 76,77; Fig. 2 c is the scalpel structure schematic diagram, comprises scalpel rivet 82, scalpel quick change dop 83.
The present invention's first stop 42 is positioned on the body outer sleeve, second stop 43 is positioned on the second active flange 19, described second initiatively flange 19 rotation under second stepper motor 38 drives, driving described second stop 43 together rotates, because the mutual alignment of second stop 43 on first stop 42 on the described body outer sleeve and the described second active flange 19, the described second active flange rotation is no more than 360 degree, thereby the angle of restriction finger tip instrument rotation is no more than 360 degree, prevents first stepper motor problem that circuit twines in rotary course.
Be that pin holds now be the structure that embodiment further specifies micro mechanical band for microsurgery of the present invention with finger tip replacing instrument.
The fluting and the enclosed slot that are interconnected above holding, pin are arranged, first bearing pin 3 that is fixed on the stay pipe 8 can enter in pin holds from fluting, and by the rotation an angle of 90 degrees move in the enclosed slot, the bottom that pin is held is connected with support column 4, being compressed spring 5 together holds out against fixing, the other end of compression spring 5 withstands on the back-up block 6, and above-mentioned part is installed in the inner screw sheath 2 of device opening and closing mechanism; First stepper motor 35 is connected with the first active flange 11 of device opening and closing mechanism, it is to be realized by first steel ball 33 that the first active flange 11 axially is connected with driven pipe 9, this mechanism guarantees that again it freely rotates in the driven pipe 9 of axial restraint, the first active flange 11 is rotationally connected with driven pipe 9, realize the separation of the transmission mechanism of rigidity by torsionspring 10, make holding action have flexible characteristic, above-mentioned part is installed in the stay pipe 8 by Bearning mechanism 32; Second stepper motor 38 is connected with the second active flange 19 of apparatus rotating mechanism, the second active flange 19 drives inner baffle rings 17 rotations by drive block 18, inner baffle ring 17 is fixed on first stepper motor 35 in the stay pipe 8 with outer baffle ring 13, wherein outer baffle ring 13 is locked by round nut 12, and above-mentioned part is rotated in body outer sleeve 14 by second steel ball 36 and the 3rd steel ball 46 of sealing.
Be that pin holds still below be that embodiment further specifies the process that the action of micro mechanical band for microsurgery of the present invention realizes with finger tip replacing instrument.
The main finger tip of the action of a kind of micro mechanical band for microsurgery of the present invention itself change instrument around the folding of the rotation of self axis and operation replacing instrument to meet in the operation requirement to the finger tip instrument.
Mechanical arm finger tip parts are to drive the second active flange 19 by second stepper motor 38 by stop around the rotation of self axis, second initiatively has fluting on the flange 19, thereby drive inner baffle ring 17 rotations by the drive block 18 that is fixed in the fluting on the inner baffle ring 17, between inner baffle ring 17 and outer baffle ring 13 and the body outer sleeve 14 by sealing second steel ball 36 and the 3rd steel ball 46 links together, and can in body outer sleeve 14, rotate, thereby realized the spinfunction of finger tips around self axis.
In addition, the opening and closing movement of apparatus is driven by first stepper motor 35, first stepper motor 35 drives first initiatively flange 11 rotations by trip bolt 34, the first active flange 11 drives driven pipe 9 by torsionspring 10 and rotates, driven pipe 9 is connected with screw rod 7, screw rod 7 will rotatablely move and be converted into the rectilinear motion of inner screw sheath 2, because pin is held and is positioned at inner screw sheath 2 inside, just can realize the closed action that pin is held by the rectilinear motion forward of inner screw sheath 2; Pin is held and is had spring 21 and spring housing 22, when inner screw sheath 2 backward during rectilinear motion, because himself elasticity realizes opening action.
A kind of micro mechanical band for microsurgery of the present invention is mainly used in the end of master-slave mode microsurgery robot, carries out work such as vascular suture in microsurgery.
More than be schematically to the description of the present invention and embodiment thereof, do not have restricted.So, if those of ordinary skill in the art is enlightened by it, under the situation that does not break away from the invention aim, make other embodiment, all should belong to protection scope of the present invention.
Claims (7)
1, a kind of micro mechanical band for microsurgery, comprise the body that constitutes by outer sleeve and inner sleeve, be arranged on first stepper motor in the body inner sleeve tail end, be arranged on second stepper motor of body outer sleeve tail end, and be arranged on first stop on the body outer sleeve, it is characterized in that, the described second stepper motor output is provided with by the second active flange that sets gradually, drive block, be fixed on the inner baffle ring in the body inner sleeve tail end outside, and the outer baffle ring that is locked in the body inner sleeve front end outside, the apparatus rotating mechanism that second steel ball between inner baffle ring and body outer sleeve and the 3rd steel ball between outer baffle ring and body outer sleeve of gathering constituted gathers; Be provided with boss in the described body inner sleeve, block the stay pipe that stretches out by the inner sleeve front end; The output of described first stepper motor be provided with by in stay pipe, set gradually first initiatively flange, torsionspring, first steel ball, driven pipe, screw rod, second bearing pin, be socketed in the back-up block on second bearing pin, and first bearing pin, overcoat be fixed on the stay pipe in cover be fixed in the device opening and closing mechanism that bearing and inner screw sheath constituted on the driven pipe; The tail end of described first stepper motor is provided with spacer sleeve; Described inner screw sheath is provided with groove, and first bearing pin and second bearing pin pass groove and be fixed on the stay pipe; Described stay pipe front end is provided with the apparatus quick-changing mechanism of transmission blade of a sword structure, it is made of the compression spring, support column, the finger tip replacing instrument that are against on the back-up block that set gradually, and described finger tip replacing instrument is provided with the groove that is mutually 60～120 degree of two connections; The described second active flange is provided with second stop.
2, a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, described finger tip replacing instrument is that pin is held or scalpel or operation tweezers or surgical scissors.
3, a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, the ditch flute length 20mm on the described inner screw sheath.
4, a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, described first stop is a screw.
5, a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, described second stop is screw or block.
6, a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, described spacer sleeve is a cylindrical sleeves.
7, a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, described spacer sleeve is that plastics are made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100938297A CN1299883C (en) | 2004-12-03 | 2004-12-03 | Micro mechanical band for microsurgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100938297A CN1299883C (en) | 2004-12-03 | 2004-12-03 | Micro mechanical band for microsurgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1618579A CN1618579A (en) | 2005-05-25 |
| CN1299883C true CN1299883C (en) | 2007-02-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100938297A Expired - Fee Related CN1299883C (en) | 2004-12-03 | 2004-12-03 | Micro mechanical band for microsurgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1299883C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101416893B (en) * | 2008-11-27 | 2010-06-23 | 清华大学 | Operation needle gripping quick-changing device for micro-wound operation robot |
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| GB2459210C (en) * | 2006-12-27 | 2016-07-27 | Mako Surgical Corp | Apparatus and method for providing an adjustable positive stop in space |
| CN101194848B (en) * | 2008-01-09 | 2010-04-21 | 北京航空航天大学 | Quick switching device at the end of the actuator |
| DE102012108267A1 (en) | 2012-09-05 | 2014-03-06 | Aesculap Ag | Surgical torque transmitting instrument including associated tool |
| DE102012108264A1 (en) | 2012-09-05 | 2014-03-06 | Aesculap Ag | Surgical torque transmitting instrument including associated tool |
| DE102012108265A1 (en) | 2012-09-05 | 2014-03-06 | Aesculap Ag | Surgical torque transmitting instrument including associated tool |
| CN104688420A (en) * | 2015-04-03 | 2015-06-10 | 苏州贝尔一锋医疗器械有限公司 | Microscopic intraocular forceps |
| CN107813281B (en) * | 2017-12-13 | 2024-07-19 | 蓝天宇 | Control chuck for controlling terminal transmission tool through narrow channel |
| CN115867110B (en) * | 2023-02-21 | 2023-05-09 | 宁波大学 | Autonomous-searching type flexible piezoelectric micro-nano manipulator and preparation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1990014753A1 (en) * | 1989-05-26 | 1990-11-29 | Adalbert Fritsch | Manipulator head for manipulating miniaturized electronic components |
| US4994079A (en) * | 1989-07-28 | 1991-02-19 | C. R. Bard, Inc. | Grasping forceps |
| CN2080888U (en) * | 1990-06-04 | 1991-07-17 | 庄斗南 | Miniature mechanical fingers |
| US5609608A (en) * | 1995-10-27 | 1997-03-11 | Regents Of The University Of California | Miniature plastic gripper and fabrication method |
| DE29705871U1 (en) * | 1997-04-04 | 1997-06-26 | Bartels Mikrotechnik GmbH, 44227 Dortmund | Micro gripping device |
| CN1438097A (en) * | 2003-01-07 | 2003-08-27 | 天津大学 | Micro mechanical arm for micro surgery |
| CN2765740Y (en) * | 2004-12-08 | 2006-03-22 | 天津大学 | Micro mechanical hand for microsurgery |
-
2004
- 2004-12-03 CN CNB2004100938297A patent/CN1299883C/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1990014753A1 (en) * | 1989-05-26 | 1990-11-29 | Adalbert Fritsch | Manipulator head for manipulating miniaturized electronic components |
| US4994079A (en) * | 1989-07-28 | 1991-02-19 | C. R. Bard, Inc. | Grasping forceps |
| CN2080888U (en) * | 1990-06-04 | 1991-07-17 | 庄斗南 | Miniature mechanical fingers |
| US5609608A (en) * | 1995-10-27 | 1997-03-11 | Regents Of The University Of California | Miniature plastic gripper and fabrication method |
| DE29705871U1 (en) * | 1997-04-04 | 1997-06-26 | Bartels Mikrotechnik GmbH, 44227 Dortmund | Micro gripping device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101416893B (en) * | 2008-11-27 | 2010-06-23 | 清华大学 | Operation needle gripping quick-changing device for micro-wound operation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1618579A (en) | 2005-05-25 |
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