CN218589118U - Intervention operation robot capable of eliminating vibration - Google Patents
Intervention operation robot capable of eliminating vibration Download PDFInfo
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- CN218589118U CN218589118U CN202220244240.6U CN202220244240U CN218589118U CN 218589118 U CN218589118 U CN 218589118U CN 202220244240 U CN202220244240 U CN 202220244240U CN 218589118 U CN218589118 U CN 218589118U
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- 230000007246 mechanism Effects 0.000 claims abstract description 147
- 230000005540 biological transmission Effects 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 238000013016 damping Methods 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 8
- 230000005389 magnetism Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 4
- 210000004204 blood vessel Anatomy 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000002059 diagnostic imaging 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
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Pulmonology (AREA)
- Hematology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Anesthesiology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Manipulator (AREA)
Abstract
An anti-vibration interventional surgical robot for holding and delivering elongated medical devices; the device comprises a power mechanism, a driving device, a force transmission connecting mechanism and a damping mechanism; one end of the force transmission connecting mechanism is connected with the power mechanism, the other end of the force transmission connecting mechanism is connected with the driving device, and the damping mechanism is arranged between the power mechanism and the force transmission connecting mechanism and used for eliminating vibration of the power mechanism. The utility model discloses an intervene surgical robot, reasonable in design improves the detection precision of device, can satisfy doctor's user demand.
Description
Technical Field
The utility model relates to a medical robot field device especially relates to an intervention operation robot of elimination vibration.
Background
Interventional therapy is a minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special catheters, guide wires and other precise instruments are introduced into a human body to diagnose and locally treat internal diseases.
To better protect the doctor, a master-slave vascular interventional surgical robot has been developed that can work in an intense radiation environment, so that the doctor can control the slave at the master side outside the radiation environment.
However, research and development personnel find that the slave end of the existing interventional operation robot is unreasonable in design and cannot meet the actual use requirements of doctors, for example, a force detection mechanism at the slave end of the interventional operation robot has a large error in force measurement.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a novel vibration-eliminating interventional surgical robot for overcoming the disadvantages of the prior art.
An interventional surgical robot that eliminates vibration for grasping and delivering elongated medical devices; the device comprises a power mechanism, a driving device, a force transmission connecting mechanism and a damping mechanism; one end of the force transmission connecting mechanism is connected with the power mechanism, the other end of the force transmission connecting mechanism is connected with the driving device, and the damping mechanism is arranged between the power mechanism and the force transmission connecting mechanism.
Preferably, the shock absorbing mechanism comprises a first patch, a second patch and a shock absorbing elastic member installed between the first patch and the second patch; the first patch is arranged on the power mechanism, and the second patch is arranged on the force transmission connecting mechanism.
Preferably, the force transfer connection mechanism comprises a force transfer member and a sinking connection assembly; the force transmission piece is connected with the second patch and the sinking connecting assembly.
Preferably, the sinking connecting assembly comprises a sinking body, a first connecting piece connected with one end of the sinking body and a first connecting piece connected with the other end of the sinking body; the first connecting piece and the second connecting piece extend along two opposite directions respectively.
Preferably, the sinking body extends in a direction away from the power mechanism, and the force transmission member is fixed to the first connecting member and extends in a direction opposite to the extending direction of the sinking body.
Preferably, the force transmission piece is fixed to the first connecting piece, the power mechanism is located above the first connecting piece, and a shockproof gap exists between the first connecting piece and the power mechanism.
Preferably, the vibration canceling interventional surgical robot further comprises a force detection mechanism for detecting resistance to delivery of the elongated medical device.
Preferably, an installation groove for installing the force detection mechanism is formed in one end, close to the second connecting piece, of the driving device.
Preferably, the force detection mechanism comprises a resistance detection sensor, a first limiting member, a second limiting member and an elastic reset member;
the resistance detection sensor is arranged on the inner side wall of the mounting groove and is abutted against the first limiting piece;
the first limiting part is installed on the sinking connecting component, the second limiting part is installed on the driving device, the first limiting part and the second limiting part form a reset space used for containing the elastic reset part, and the elastic reset part is contained in the reset space.
Preferably, the first limiting member is provided with a first limiting groove used for being matched with the elastic resetting member, the second limiting member is provided with a second limiting groove used for being matched with the elastic resetting member, and the first limiting groove and the second limiting groove are arranged oppositely.
Preferably, the vibration canceling interventional surgical robot further comprises an auxiliary mechanism cooperating with the force detection mechanism; the auxiliary mechanism comprises a slide rail and a slide block, wherein the installation direction of the slide rail is parallel to the axial direction of the slender medical instrument; the sliding rail is arranged on the second connecting piece; the sliding block is connected to the lower portion of the mounting groove.
Preferably, the interventional operation robot for eliminating vibration further comprises an inner frame, a twisting mechanism arranged on the inner frame, and a sterile box for sleeving the inner frame and the twisting mechanism; the mounting groove below installation magnetism inhale the structure to it is fixed firmly to be aseptic box.
To sum up, the interventional operation robot for eliminating vibration of the utility model comprises a power mechanism, a driving device, a force transmission connecting mechanism and a damping mechanism; one end of the force transmission connecting mechanism is connected with the power mechanism, the other end of the force transmission connecting mechanism is connected with the driving device, the damping mechanism is arranged between the power mechanism and the force transmission connecting mechanism and used for eliminating vibration of the power mechanism during working, the structural design is reasonable, the influence of the power mechanism on each device is reduced, the detection precision of the device is improved, and the use requirements of doctors can be met.
Drawings
FIG. 1 is a schematic mechanical diagram of a vibration-canceling interventional surgical robot according to the present invention;
FIG. 2 is an exploded view of FIG. 1;
FIG. 3 is another exploded view of FIG. 1;
FIG. 4 is a cross-sectional view of FIG. 1;
fig. 5 is an enlarged view of a in fig. 4.
In the figure, the position of the upper end of the main shaft,
10. a sterile box;
20. an inner frame; 21. mounting grooves;
30. a twisting mechanism;
41. a slide rail; 42. a slider;
43. a resistance detection sensor; 44. a first limit piece; 45. a second limiting member; 46. an elastic restoring member;
50. a power mechanism;
60. a damping mechanism; 61. a first patch; 62. a second patch; 63. a shock-absorbing elastic member;
70. a force transfer connection mechanism; 71. a force transfer member; 72. sinking the connecting assembly; 73. sinking the body; 74. a first connecting member; 75. a second connecting member; 76. a shock-absorbing gap;
80. a magnet;
100. an elongated medical device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 3, the present invention provides an interventional surgical robot for eliminating vibration, which comprises a driving device, a force detection mechanism, an auxiliary mechanism for detecting the delivery resistance of a slender medical device 100 in cooperation with the force detection mechanism, a power mechanism 50, a damping mechanism 60, and a force transmission connecting mechanism 70 having one end connected to the damping mechanism 60 and the other end connected to the driving device; the auxiliary mechanism is located between the force transmission connection 70 and the drive device; the power mechanism 50 is connected with the force transmission connecting mechanism 70 through the damping mechanism 60, that is, the damping mechanism 60 is arranged between the power mechanism 50 and the force transmission connecting mechanism 70 and is used for driving the inner frame 20 to move along the axial direction of the screw rod, and the patent names can be specifically referred to as follows: a split-drive interventional surgical robot, application No.: 202111532156.0, the entire contents of which are incorporated herein by reference.
The driving device comprises a sterile box 10, an inner frame 20 and a twisting mechanism 30 arranged on the inner frame 20. The rubbing mechanism 30 is installed on the inner frame 20, and the aseptic box 10 is sleeved outside the inner frame 20 and the rubbing mechanism 30 to isolate the outside from the rubbing mechanism 30. The twisting mechanism 30 is used to grip and drive an elongated medical device 100 (i.e., a catheter or guidewire, etc.), as specifically referred to by the patent names: an interventional surgical robot slave end guide wire catheter driving device with force detection function, application No.: CN202111010059.5, the entire content of which is incorporated herein by reference.
As shown in fig. 1 to 4, in this embodiment, when the twisting mechanism 30 clamps the elongated medical device 100, the power mechanism 50 drives the inner frame 20 to move in the same axial direction, so as to deliver the elongated medical device 100 to a blood vessel, or withdraw the elongated medical device 100 from the blood vessel, and the force detection mechanism is used to detect the delivery resistance of the elongated medical device 100 when the inner frame moves forward, because the damping mechanism 60 is disposed between the power mechanism 50 and the force transmission connection mechanism 70, the influence of the vibration generated by the power mechanism 50 when starting on the force transmission connection mechanism 70 and the force detection mechanism is effectively reduced, so that the precision of the force detection mechanism in detecting the delivery resistance is effectively improved, various devices of the interventional surgical robot can be protected, the design is more reasonable, and the delivery resistance transmitted to a doctor is more precise.
Specifically, as shown in fig. 1 and 2, the damper mechanism 60 includes a first patch 61, a second patch 62, and a damper elastic member 63 installed between the first patch 61 and the second patch 62; the first patch 61 is attached to the power mechanism 50 and the second patch 62 is attached to the force transfer attachment mechanism 70.
The force transmission connecting mechanism 70 comprises a force transmission piece 71 and a sinking connecting component 72; the force transmission piece 71 is connected to the second patch 62 and the sinking connection assembly 72 at the same time, the sinking connection assembly 72 is located below the power mechanism 50, and specifically, the sinking connection assembly 72 includes a sinking body 73, a first connection piece 74 connected to one end of the sinking body 73, and a second connection piece 75 connected to the other end of the sinking body 73; the sinking body 73 extends in a direction away from the power mechanism 50, and the force transmission piece 71 is fixed on the second connecting piece 75 and extends in a direction opposite to the extending direction of the sinking body 73; the first connecting piece 74 and the second connecting piece 75 are respectively arranged at two opposite ends of the sinking body 73 and respectively extend along two opposite directions; the sinking connecting assembly 72 is connected to the inner frame 20 through the force detecting mechanism, so that the rubbing mechanism 30 and the inner frame 20 sink downward relative to the power mechanism 50 to make the elongated medical device 100 closer to the patient, the length required for the elongated medical device 100 to be clamped by the rubbing mechanism 30 is smaller, the length available for the elongated medical device 100 to enter the blood vessel is longer, and the utilization rate of the elongated medical device 100 can be improved.
As shown in fig. 1, a shock-proof gap 76 is formed between the sinking connection component 72 and the power mechanism 50, specifically, the force-transmitting member 71 is fixed to the first connection member 74, so that the power mechanism 50 is located above the first connection member 74, and a shock-proof gap is formed between the first connection member 74 and the power mechanism 50, the force-transmitting member 71 can transmit power, so that the twisting mechanism 30, the inner frame 20, and the like can move, and meanwhile, the shock-proof gap 76 is formed between the sinking connection component 72 and the power mechanism, which can further reduce the influence of the power mechanism 50 on the force detection mechanism.
As shown in fig. 2 and 4, the auxiliary mechanism includes a slide rail 41 having an installation direction parallel to the axial direction of the elongated medical device 100 (i.e. the advancing direction of the elongated medical device 100) and a slider 42 slidably disposed on the slide rail 41, wherein the slide rail 41 is installed on the second connecting member 75 of the force transmission connecting mechanism 70; the inner frame 20 is connected to the slider 42. The inner frame 20 forms an installation groove 21 for accommodating a force detection mechanism at one end of the fixed sliding block 42, and the force detection mechanism comprises a resistance detection sensor 43, a first limiting piece 44, a second limiting piece 45 and an elastic reset piece 46; the resistance detection sensor 43 is mounted on the inner side wall of the mounting groove 21 and is abutted against the first limiting piece 44, the first limiting piece 44 is mounted on the sinking body 73 of the force transmission connecting mechanism 70, and a first limiting groove for matching with the elastic resetting piece 46 is formed; the second limiting member 45 is mounted on the inner frame 20 of the driving device, faces the resistance detection sensor 43, and is provided with a second limiting groove used for being matched with the elastic resetting member 46; the first limiting groove and the second limiting groove are oppositely arranged; the first limiting member 44 and the second limiting member 45 form a reset space for accommodating the elastic reset member 46, and the elastic reset member 46 is accommodated in the reset space.
Specifically, under the pre-pressure action of the elastic restoring member 46, the first limiting member 44 abuts against the resistance detection sensor 43, and generates a predetermined pressure; when the power mechanism 50 is started, the force transmission connecting mechanism 70, the auxiliary mechanism, the inner frame 20 and the twisting mechanism 30 are driven to advance along the axial direction of the slender medical device 100, the slender medical device 100 is driven by the twisting mechanism 30 to advance in a blood vessel and is subjected to delivery resistance, the resistance is transmitted to the resistance detection sensor 43 through the twisting mechanism 30 and the inner frame 20, the resistance detection sensor 43 presses the first limiting piece 44 to be slightly deformed, the positions of the resistance detection sensor 43 and the first limiting piece 44 are slightly changed, the preset pressure is changed, the delivery resistance is measured according to the front and back pressure changes, and the delivery resistance is sent to the system controller to be fed back to the main end operated by a doctor. In this process, the elastic restoring member 46 ensures that the resistance detection sensor 43 is always abutted against the first limiting member 44, and ensures that the delivery resistance detection has reliability. In the detection process, although the power mechanism 50 is started to generate vibration, the damping mechanism 60 is arranged between the power mechanism 50 and the force transmission connecting mechanism 70, under the action of the damping mechanism 60, the influence of the vibration of the power mechanism 50 on the force transmission connecting mechanism 70 and the inner frame 20 is effectively reduced, the rubbing mechanism 30 and the inner frame 20 are effectively prevented from generating slight displacement along with the vibration, and the rubbing mechanism 30 and the inner frame 20 are ensured to generate displacement only along with the delivery resistance, so that the force detection mechanism detects pressure information caused by the delivery resistance, and the detection result is ensured to have higher precision. Meanwhile, a slide rail-slide block auxiliary mechanism is provided between the internal frame 20 and the second connecting member 75, mainly to ensure that the delivery resistance force causes the slide block 42 to slightly displace with respect to the slide rail 41 along the advancing direction of the elongated medical device 100, so that the positions of the resistance detection sensor 43 and the first limiting member 44 are slightly changed, and the predetermined pressure is changed.
The magnet 80 is installed at the bottom of the inner frame 20 and below the installation groove 21, so that the aseptic box 10 can be quickly installed at the outer sides of the inner frame 20 and the rubbing mechanism 30 through the magnet 80, and the assembly and disassembly are convenient.
In this embodiment, the force transmission connecting mechanism 70 is designed to be sunk, a slide rail-slider auxiliary mechanism is arranged between the inner frame 20 and the second connecting member 75 of the force transmission connecting mechanism 70, and the magnet 80 is located below the mounting groove 21, so that the height of the twisting mechanism 30 can be further reduced, and the length required by the elongated medical device 100 to be clamped by the interventional surgical robot is reduced, and therefore, the more the available length can be entered into the blood vessel, and the utilization rate of the elongated medical device 100 can be improved.
The above-described embodiments only represent one embodiment of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the spirit of the invention, and these are within the scope of the invention. Therefore, the protection scope of the utility model should be subject to the appended claims.
Claims (12)
1. An interventional surgical robot that eliminates vibration for grasping and delivering elongated medical devices; the device is characterized by comprising a power mechanism, a driving device, a force transmission connecting mechanism and a damping mechanism; one end of the force transmission connecting mechanism is connected with the power mechanism, the other end of the force transmission connecting mechanism is connected with the driving device, and the damping mechanism is arranged between the power mechanism and the force transmission connecting mechanism.
2. A vibration canceling interventional surgical robot as recited in claim 1, wherein: the damping mechanism comprises a first patch, a second patch and a damping elastic piece arranged between the first patch and the second patch; the first patch is arranged on the power mechanism, and the second patch is arranged on the force transmission connecting mechanism.
3. A vibration canceling interventional surgical robot as recited in claim 2, wherein: the force transmission connecting mechanism comprises a force transmission piece and a sinking connecting component; the force transmission piece is connected with the second patch and the sinking connecting assembly.
4. A vibration canceling interventional surgical robot as recited in claim 3, wherein: the sinking connecting assembly comprises a sinking body, a first connecting piece connected with one end of the sinking body and a first connecting piece connected with the other end of the sinking body; the first connecting piece and the second connecting piece extend along two opposite directions respectively.
5. A vibration canceling interventional surgical robot as set forth in claim 4, wherein: the sinking body extends along the direction departing from the power mechanism, and the force transmission piece is fixed on the first connecting piece and extends along the direction opposite to the extending direction of the sinking body.
6. A vibration canceling interventional surgical robot as recited in claim 4, wherein: the power transmission piece is fixed on the first connecting piece, the power mechanism is located above the first connecting piece, and a shockproof gap is formed between the first connecting piece and the power mechanism.
7. A vibration canceling interventional surgical robot as recited in claim 4, wherein: the vibration canceling interventional surgical robot further includes a force detection mechanism for detecting resistance to delivery of the elongated medical device.
8. A vibration canceling interventional surgical robot as recited in claim 7, wherein: and one end of the driving device close to the second connecting piece is provided with a mounting groove for mounting the force detection mechanism.
9. A vibration canceling interventional surgical robot as set forth in claim 8, wherein: the force detection mechanism comprises a resistance detection sensor, a first limiting piece, a second limiting piece and an elastic reset piece;
the resistance detection sensor is arranged on the inner side wall of the mounting groove and is abutted against the first limiting piece;
the first limiting part is installed on the sinking connecting assembly, the second limiting part is installed on the driving device, the first limiting part and the second limiting part form a reset space for containing the elastic reset part, and the elastic reset part is contained in the reset space.
10. A vibration canceling interventional surgical robot as set forth in claim 9, wherein: the first limiting part is provided with a first limiting groove used for being matched with the elastic resetting part, the second limiting part is provided with a second limiting groove used for being matched with the elastic resetting part, and the first limiting groove and the second limiting groove are arranged oppositely.
11. A vibration canceling interventional surgical robot as set forth in claim 8, wherein: the interventional surgical robot for eliminating vibration further comprises an auxiliary mechanism matched with the force detection mechanism; the auxiliary mechanism comprises a slide rail and a slide block, wherein the installation direction of the slide rail is parallel to the axial direction of the slender medical instrument; the sliding rail is arranged on the second connecting piece; the slider is connected below the mounting groove.
12. A vibration canceling interventional surgical robot as set forth in claim 8, wherein: the interventional operation robot for eliminating vibration further comprises an inner frame, a twisting mechanism arranged on the inner frame, and a sterile box for sleeving the inner frame and the twisting mechanism; the mounting groove below installation magnetism inhale the structure to it is fixed firmly to be aseptic box.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220244240.6U CN218589118U (en) | 2022-01-29 | 2022-01-29 | Intervention operation robot capable of eliminating vibration |
| PCT/CN2022/090306 WO2023142289A1 (en) | 2022-01-29 | 2022-04-29 | Interventional surgical robot with vibration elimination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220244240.6U CN218589118U (en) | 2022-01-29 | 2022-01-29 | Intervention operation robot capable of eliminating vibration |
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| Publication Number | Publication Date |
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| CN218589118U true CN218589118U (en) | 2023-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220244240.6U Active CN218589118U (en) | 2022-01-29 | 2022-01-29 | Intervention operation robot capable of eliminating vibration |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN218589118U (en) |
| WO (1) | WO2023142289A1 (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2774895B1 (en) * | 1998-02-16 | 2000-06-30 | Braun Celsa Sa | MEDICAL DEVICE COMPRISING A ROD PROVIDED WITH A MEANS FOR ABSORBING AXIAL CONSTRAINTS |
| FR3048888A1 (en) * | 2016-03-18 | 2017-09-22 | Robocath | INSULATED MEDICAL INSTRUMENT ROBOT WITH LONG-SIDED MEDICAL INSTRUMENT AND ASSOCIATED ACCESSORIES |
| CN109939332B (en) * | 2019-03-11 | 2021-06-29 | 南京航空航天大学 | A twisting device for vascular interventional surgery with three-dimensional force perception capability |
| CN110840566B (en) * | 2019-11-07 | 2021-06-29 | 北京唯迈医疗设备有限公司 | Guide wire clamping and twisting device of interventional operation robot |
| CN113749781B (en) * | 2021-08-10 | 2023-05-16 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot slave end guide wire catheter driving device with force detection function |
| CN113965005A (en) * | 2021-09-15 | 2022-01-21 | 王显正 | Motor for medical instrument |
| CN113693735B (en) * | 2021-09-28 | 2025-07-18 | 深圳爱博合创医疗机器人有限公司 | Y valve quick detach formula is from end intervention operation robot drive arrangement |
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2022
- 2022-01-29 CN CN202220244240.6U patent/CN218589118U/en active Active
- 2022-04-29 WO PCT/CN2022/090306 patent/WO2023142289A1/en active Application Filing
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| WO2023142289A1 (en) | 2023-08-03 |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth 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: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth 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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