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Número de publicaciónCN104921809 A
Tipo de publicaciónSolicitud
Número de solicitudCN 201510316521
Fecha de publicación23 Sep 2015
Fecha de presentación10 Jun 2015
Fecha de prioridad10 Jun 2015
También publicado comoCN104921809B
Número de publicación201510316521.2, CN 104921809 A, CN 104921809A, CN 201510316521, CN-A-104921809, CN104921809 A, CN104921809A, CN201510316521, CN201510316521.2
Inventores丁雪飞, 林春平, 侯晓飞, 卢圣铭, 钟诚
Solicitante北京智博高科生物技术有限公司, 林春平
Exportar citaBiBTeX, EndNote, RefMan
Enlaces externos:  SIPO, Espacenet
Adjusting type medical template system
CN 104921809 A
Resumen
The invention relates to an adjusting type medical template system. The adjusting type medical template system comprises a base, wherein a first lead rail and a first template component are arranged on the base; a first gliding platform moved along the first lead rail is arranged on the base, and a second lead rail is arranged on the first gliding platform; a second gliding platform moved along the second lead rail is arranged on the first gliding platform, and a vertical bracket perpendicular to the second gliding platform is arranged on the second gliding platform; a third lead rail and a third gliding platform vertically moved along the third lead rail are arranged on the vertical bracket, and one side of the third gliding platform is provided with a second template component which is moved in relative to the first template component. The adjusting type medical template system has the following advantageous effects: the second template component is moved in relative to the first template component, so as to change a needle inserting trace of a puncture needle, avoid obstacles in an operation, and exactly and effectively perform the aspiration biopsy operation or implantation operation; and thereby, the best aspiration biopsy and the treatment effect can be realized; the adjusting type medical template system is simple in operation, convenient to operate, and high in adjusting precision.
Reclamaciones(9)  traducido del chino
1.一种调节式医用模板系统,其特征在于,包括底座,底座上设有第一导轨及第一模板组件,所述底座上设有沿第一导轨移动的第一滑动平台,第一滑动平台上设有第二导轨,所述第一滑动平台上设有沿第二导轨移动的第二滑动平台,第二滑动平台上设有垂直于第二滑动平台的竖向支架,所述竖向支架上设有第三导轨及沿第三导轨上下移动的第三滑动平台,所述第三滑动平台一侧设有相对于第一模板组件移动的第二模板组件。 An adjustable medical template system comprising a base, with the base of the first rail and the first template assembly, the first rail is provided along a first slide movable on the base platform, the first slide features on the platform of the second rail, along with a second sliding movement of the second rail platform on the first slide platform with a sliding platform perpendicular to the second vertical bracket on the second slide platform, the vertical with a third rail and move up and down along the third rail of the third slide platform bracket, the third slide platform with a side of the template assembly moves relative to the first component of the second template.
2.根据权利要求1所述的一种调节式医用模板系统,其特征在于,所述第一模板组件和第二模板组件的结构相同,所述第一模板组件包括模板本体及设置于模板本体上的若干穿针孔。 2. An adjustable medical template system according to claim 1, characterized in that the same configuration as the first template and the second template component assembly, said assembly comprising a first template template body and disposed in the body template Some wear on pinholes.
3.根据权利要求1所述的一种调节式医用模板系统,其特征在于,所述第一导轨、第二导轨、第三导轨采用燕尾槽导轨或T型导轨。 3. An adjustable medical template system according to claim 1, characterized in that said first rail, a second rail, the third rail using dovetail or T-shaped guide rail.
4.根据权利要求1或3所述的一种调节式医用模板系统,其特征在于,所述第一导轨与第二导轨垂直设置。 4. An adjustable medical template system according to claim 1 or claim 3, characterized in that said first rail and the second rail vertically.
5.根据权利要求1所述的一种调节式医用模板系统,其特征在于,所述第一滑动平台上设有第一调节杆,第一调节杆为一圆柱杆,其表面设为外螺纹,所述底座上设置第一调节支架,所述第一调节杆穿过设置于第一调节支架上的螺纹孔;所述第二滑动平台上设有第二调节杆,第二调节杆为一圆柱杆,其表面设有外螺纹,所述第一滑动平台上设有第二调节支架,所述第二调节杆穿过设置于第二调节支架上的螺纹孔;所述第三滑动平台上设有第三调节杆,所述第三调节杆为一圆柱杆,其外表设有外螺纹,所述竖向支架上设有第三调节支架,所述第三调节杆穿过设置于第三调节支架上的螺纹孔。 5. An adjustable medical template system according to claim 1, characterized in that the slide is provided on the first stage of the first regulating lever, the first adjusting rod is a cylindrical rod, which is set externally threaded surface provided on the base of the first control console, the first adjustment lever through the hole provided on the first adjusting screw on the bracket; the second adjustment lever is provided on the second slide platform, is a second adjustment lever cylindrical rod, its surface has an external thread, with a second adjustable stand on the first slide platform, the second adjustment lever through a threaded hole provided in the second adjustment bracket; the third slide platform with a third lever to adjust the third bar is a cylindrical rod, whose appearance has external threads, the upper bracket with a third vertical adjustable stand, adjust the bar through the third set in the third adjustment screw holes on the bracket.
6.根据权利要求5所述的一种调节式医用模板系统,其特征在于,所述第一调节支架、第二调节支架、第三调节支架均呈L状。 6. An adjustable medical template system according to claim 5, characterized in that the first control console, the second control console, the third showed a L-shaped adjusting bracket.
7.根据权利要求1所述的一种调节式医用模板系统,其特征在于,所述底座和第一模板组件之间设有用于固定第一模板组件的支撑架。 7. An adjustable medical template system according to claim 1, characterized in that the support frame is provided for fixing the first template assembly between the base and the first template components.
8.根据权利要求1所述的一种调节式医用模板系统,其特征在于,所述底座和第一模板组件之间设有第四导轨。 8. An adjustable according to claim 1, wherein the medical template system, characterized in that a fourth rail between the base and the first template components.
9.根据权利要求8所述的一种调节式医用模板系统,其特征在于,所述第四导轨垂直设置于底座的上表面。 A regulator according to claim 8 of formula medical system according to the template, wherein said fourth guide rail disposed perpendicular to the upper surface of the base.
Descripción  traducido del chino
一种调节式医用模板系统 A method of adjusting the formula for medical template system

技术领域 TECHNICAL FIELD

[0001] 本发明涉及医疗器械技术领域,具体涉及一种调节式医用模板系统。 [0001] The present invention relates to the field of medical equipment, in particular to a medical adjustable template system.

背景技术 Background technique

[0002] 现有通用型模板属于定点式模板,无法改变模板通道的角度和朝向,也就是无法改变入针时的轨迹,当入针轨迹上遇到阻挡物如耻骨等,无法改变其角度,不能准确的到达病灶,使用效果差。 [0002] The existing universal template belong fixed formula template, you can not change the angle and orientation of the template channel, which is unable to change the trajectory of the needle, and the needle on the track when encountered barriers such as pubic etc., can not change its angle, You can not accurately reach the lesion, using poor results. 以前列腺部位的植入手术为例,手术前将患者体态摆成截石位,根据亚洲人体结构特征,绝大多数男性在该体位下通过设备由会阴区垂直观察体内,但如果前列腺体积过大,其边缘部分会被耻骨遮挡,受现有器械无法调整入针角度所限,不能到达遮挡前列腺部分,通常医生会脱离器械辅助凭借经验徒手入针或依靠器械紧贴住耻骨入针,尽量靠近耻骨后前列腺部分,但实际效果均不理想。 In parts of the prostate implant surgery, for example, a patient before surgery body placed into lithotomy position, according to the structural characteristics of the Asian body, the vast majority of men in this position by the vertical through the device in vivo observation of the perineal region, but if the prostate volume is too large its edge portion will be blocked pubic by existing instruments can not adjust the angle of the needle limitations, can not reach the prostate partially blocked, usually doctors will hand out instrumental experience with the needle or rely on instruments to live close to the pubic bone into the needle, as close as possible retropubic prostate section, but the actual effect is not ideal.

[0003] 公开号为CN101773411A的中国专利公开了穿刺定位装置,包括床板和位于该床板上的穿刺模板支架,其特征在于,该穿刺定位装置还包括安装在所述穿刺模板支架上的穿刺模板,所述穿刺模板支架包括上部的上支架和下部的底座,所述上支架能够相对于所述底座上下运动并锁紧,调节所述穿刺模板的高度,所述穿刺模板支架的底座能够沿所述床板的长度方向滑动并锁紧,所述穿刺模板能够沿所述上支架在所述床板的宽度方向滑动并转动。 [0003] Publication No. CN101773411A of Chinese patent discloses a puncture positioning device, including deck and located on the headboard of puncture template holder, characterized in that the puncture positioning device also includes a mounting bracket on the puncture puncture template template, The piercing template bracket includes an upper portion and a lower base of the bracket, the bracket can be moved up and down relative to the base and lock, adjusting the height of the puncture template, the template bracket capable of puncturing the base along the the longitudinal direction of the slide deck and locking the puncture template can slide and turn the bracket in the width direction of the deck along the upper. 该定位穿刺结构复杂,在具体实施时占用空间大,实用性差。 The positioning puncture complex structure in the specific implementation of large space, practicality is poor.

发明内容 SUMMARY OF THE INVENTION

[0004] 为了克服现有技术中的缺陷,本发明提供一种调节式医用模板系统。 [0004] In order to overcome the deficiencies in the prior art, the present invention provides an adjustable medical template system. 本发明提出一种通过调节改变穿刺针的入针轨迹,根据手术实际需求用于躲避植入轨迹中的障碍物,直达病灶的辅助器械。 The present invention proposes a change into the needle track by adjusting the needle, according to the actual demand for surgical implantation trajectory of obstacle avoidance, direct lesions of auxiliary equipment.

[0005] 本发明是通过如下技术方案实现的: [0005] The present invention is achieved by the following technical solutions:

[0006] 一种调节式医用模板系统,包括底座,底座上设有第一导轨及第一模板组件,所述底座上设有沿第一导轨移动的第一滑动平台,第一滑动平台上设有第二导轨,所述第一滑动平台上设有沿第二导轨移动的第二滑动平台,第二滑动平台上设有垂直于第二滑动平台的竖向支架,所述竖向支架上设有第三导轨及沿第三导轨上下移动的第三滑动平台,所述第三滑动平台一侧设有相对于第一模板组件移动的第二模板组件。 [0006] An adjustable medical template system, including a base with the first rail and the first template on the base assembly, the first rail is provided along the movement of the first slide on the base platform, the platform is located on the first slide a second rail, along with a second sliding movement of the second rail platform on the first slide platform is perpendicular to the vertical bracket has a second sliding platform on the second slide platform, which is provided on the vertical bracket a third rail and move up and down along the third rail of the third slide platform, the third slide platform with a side of the template assembly moves relative to the first component of the second template.

[0007] 所述的技术方案优选为,所述第一模板组件和第二模板组件的结构相同,所述第一模板组件包括模板本体及设置于模板本体上的若干穿针孔。 Preferred technical solution [0007] is the same as the structure of the first template and the second template component assembly, said assembly comprising a plurality of first template through the pinhole provided in the template and the template body on the body.

[0008] 所述的技术方案优选为,所述第一导轨与第二导轨垂直设置。 Preferred technical solution [0008] according to the first rail and the second rail vertically.

[0009] 所述的技术方案优选为,所述第一导轨、第二导轨、第三导轨采用燕尾槽导轨或T型导轨。 Preferred technical solution [0009] wherein, for the first rail, a second rail, the third rail using dovetail or T-shaped guide rail.

[0010] 所述的技术方案优选为,所述第一滑动平台上设有第一调节杆,第一调节杆为一圆柱杆,其表面设为外螺纹,所述底座上设置第一调节支架,所述第一调节杆穿过设置于第一调节支架上的螺纹孔;所述第二滑动平台上设有第二调节杆,第二调节杆为一圆柱杆,其表面设有外螺纹,所述第一滑动平台上设有第二调节支架,所述第二调节杆穿过设置于第二调节支架上的螺纹孔;所述第三滑动平台上设有第三调节杆,所述第三调节杆为一圆柱杆,其外表设有外螺纹,所述竖向支架上设有第三调节支架,所述第三调节杆穿过设置于第三调节支架上的螺纹孔。 Technical Schemes [0010], wherein, for the first adjusting lever is provided on the first slide platform, first adjusting lever is a cylindrical rod, its surface is set to external threads on the base of the first regulator bracket , the first adjustment lever through the hole provided on the first adjusting screw on the bracket; provided second adjustment lever on the platform of the second slide, the second adjustment lever is a cylindrical rod having a surface provided with an external thread, The second platform is provided on the first slide adjustable stand, the second adjustment lever through a threaded hole provided in the second adjustment bracket; the third adjusting lever is provided on the third slide platform, said first Three adjusting lever is a cylindrical rod, its appearance has an external thread, with a third on the vertically adjustable stand holder, the third adjusting lever through a threaded hole provided in the third adjustment bracket. 所述第一调节杆、第二调节杆、第三调节杆上均设有刻度值,所述第一滑动平台、第二滑动平台、第三滑动平台均通过相应的调节杆控制其移动方向及移动距离。 The first regulating lever, the second lever rod has a third adjustment scale value, said first slide platform, a second slide platform, third slide platform are controlled by respective adjusting lever and the moving direction thereof moving distance.

[0011] 所述的技术方案优选为,所述第一调节支架、第二调节支架、第三调节支架均呈L状。 Preferred technical solution [0011] wherein, for adjusting the first holder, the second adjustment holder, the third showed a L-shaped adjusting bracket.

[0012] 所述的技术方案优选为,所述底座和第一模板组件之间设有用于固定第一模板组件的支撑架。 Technical Schemes [0012], wherein, for the first template is provided for fixing the support bracket assembly between the base and the first template components.

[0013] 所述的技术方案优选为,所述底座和第一模板组件之间设有第四导轨,所述第四导轨使得第一模板组件沿第四导轨移动。 Technical Schemes [0013], wherein, for the fourth rail is provided between the base and the first template assembly, said fourth guide rail so that the first template component along the fourth guide rail.

[0014] 所述的技术方案优选为,所述第四导轨垂直设置于底座的上表面。 Technical Schemes [0014] according to the fourth rail vertically arranged on the surface of the base.

[0015] 所述的技术方案优选为,所述第一模板组件、第二模板组件采用不锈钢材料制成,防腐防锈。 Technical Schemes [0015], wherein, for the first template component, the second template components made of stainless steel, corrosion and rust.

[0016] 本发明所述一种调节式医用模板系统的工作原理是:所述第一模板组件固定不动,所述第一模板组件的位置根据患者B超图像扫描后的基准面确定,通过调节所述第二模板组件的位置相对于第一模板组件移动,改变穿刺针的入针轨迹进而躲避障碍物。 [0016] The present invention is an adjustable medical template system works: the first template assembly is fixed, the position of the first template component is determined based on the patient plane B-mode images scanned by adjusting the position of said second template component assembly moves relative to the first template, change the puncture needle into the needle track and thus avoid obstacles.

[0017]与现有技术相比,本发明的优越效果在于:所述第二模板组件相对于第一模板组件移动,进而改变穿刺针的入针轨迹,躲避手术中的障碍物,准确有效地进行穿刺活检手术或植入类手术,以达到最佳的穿刺活检及治疗效果,结构简单,操作简便,调节精度高。 [0017] Compared with the prior art, the advantageous effect of the present invention is that: the second template component assembly moves relative to the first template, and then change the trajectory of the needle puncture needle, avoid obstacles surgery, accurately and efficiently surgery or implantation biopsy performed types of surgery, in order to achieve the best biopsy and treatment effect, simple structure, easy operation, high regulation accuracy.

附图说明 Brief Description

[0018]图1为本发明所述调节式医用模板系统的结构示意图; [0018] FIG. 1 is a schematic view of the invention of the regulating structure template type of medical systems;

[0019] 图2为图1所述第一模板组件的结构示意图; [0019] Figure 2 is a first template of the schematic view of the components of the structure;

[0020] 图3为采用穿刺针进行穿刺的使用状态图; [0020] FIG. 3 is using needle puncture using a state diagram;

[0021] 图4为图3中I部放大示意图。 [0021] FIG. 4 is an enlarged schematic section 3 I.

[0022] 附图标记如下: [0022] Reference numeral as follows:

[0023] 1-底座、11-第一导轨、12-第一模板组件、121-模板本体、122-穿针孔、13-第一滑动平台、131-第一调节杆、132-第一调节支架、14-第二导轨、15-第二滑动平台、151-第二调节杆、152-第二调节支架、16-竖向支架、17-第三导轨、18-第三滑动平台、19-第二模板组件、2-穿刺针、3-支撑架。 [0023] 1- base, 11 of the first rail, 12 first template component, 121- template body, 122- through the pinhole, 13 of the first slide platform, 131- first lever 132- first regulator bracket, 14 second rail, 15-second sliding platform, 151- second lever 152- second adjustable stand, 16 vertical bracket, 17 third rail, 18 third slide platform, 19- The second template components, the puncture needle 2-, 3- carriage.

具体实施方式 detailed description

[0024] 下面结合附图对本发明具体实施方式作进一步详细说明。 [0024] Next, with reference specific embodiments of the present invention is described in further detail.

[0025] 实施例1 [0025] Example 1

[0026] 如图1-4所示,本发明所述一种调节式医用模板系统,包括底座1,底座I上设有第一导轨11及第一模板组件12,所述底座I上设有沿第一导轨11移动的第一滑动平台13,第一滑动平台13上设有第二导轨14,所述第一滑动平台13上设有沿第二导轨14移动的第二滑动平台15,第二滑动平台15上设有垂直于第二滑动平台15的竖向支架16,所述竖向支架16上设有第三导轨17及沿第三导轨17上下移动的第三滑动平台18,所述第三滑动平台18 —侧设有相对于第一模板组件12移动的第二模板组件19。 [0026] As shown in Figure 1-4, the present invention is an adjustable medical template system, including a base 1, provided with a first guide rail 11 and the first template assembly 12 on the base I, the features on the base I a first guide rail 11 along a first slide movable platform 13, a first slide table 13 is provided on the second guide rail 14, the platform has a first slide 14 moves along the second guide rail 15 on the second slide table 13, the first Two sliding platform 15 is provided perpendicular to the second vertical frame 15 of the slide platform 16, which has a third rail 17 and 17 to move up and down along the third rail of the third slide platform 18 vertically holder 16, the The third slide table 18 - with respect to the first side of the template assembly 12 moves the second mold plate assembly 19. 所述第一模板组件12和第二模板组件19的结构相同,所述第一模板组件12包括模板本体121及设置于模板本体121上的若干穿针孔122。 The same configuration as the first template assembly 12 and the second component 19 of the template, the first template assembly 12 includes a template provided in the main body 121 and a plurality of templates on the main body 121 through the pinhole 122. 在本实施例中,所述穿针孔122设置为13排13列共169个穿针孔122。 In this embodiment, the wear pinhole 122 is set to a total of 13 rows of 13 122 169 through a pinhole. 所述穿针孔122的直径根据穿刺针2的外径确定,保证所述穿刺针2能够顺利穿过穿针孔122。 The diameter of the pinhole 122 of the wear according to the outer diameter of the needle 2 is determined to ensure that the puncture needle 2 can smoothly pass through the pinhole 122 wear.

[0027] 所述第一导轨11与第二导轨12垂直设置。 [0027] The first rail 11 and second rail 12 disposed vertically. 所述第一导轨11、第二导轨14、第三导轨17均采用燕尾槽导轨。 The first rail 11, second rail 14, the third rail 17 are made of dovetail guides. 所述第一滑动平台13上设有第一调节杆131,第一调节杆131为一圆柱杆,其表面设为外螺纹,所述底座I上设置第一调节支架132,所述第一调节杆131穿过设置于第一调节支架132上的螺纹孔;所述第二滑动平台15上设有第二调节杆151,第二调节杆151为一圆柱杆,其表面设有外螺纹,所述第一滑动平台13上设有第二调节支架152,所述第二调节杆151穿过设置于第二调节支架152上的螺纹孔;所述第三滑动平台18上设有第三调节杆181,所述第三调节杆181为一圆柱杆,其外表设有外螺纹,所述竖向支架16上设有第三调节支架182,所述第三调节杆181穿过设置于第三调节支架182上的螺纹孔。 The first adjustment lever 131 is provided, the first adjustment lever 131 is a cylindrical rod, its surface is set to external threads provided on the base I first adjustable stand 132, the first regulating slide 13 of the first platform rod 131 through threaded holes provided in the first adjustment bracket 132; the second control lever 151 is provided on the second slide platform 15, the second control lever 151 is a cylindrical rod having a surface provided with an external thread, the said first slide platform 152 with a second adjustable bracket 13, the second control lever 151 through screw holes provided in the second adjustment holder 152; with a third adjustment lever on the third slide platform 18 181, the third adjusting lever 181 is a cylindrical rod, whose appearance has an external thread, with a third adjustment bracket 182 on the vertical frame 16, the third adjusting lever 181 through the third set to adjust threaded holes on the bracket 182. 所述第一滑动平台13、第二滑动平台15、第三滑动平台18均分别通过第一调节杆 Said first slide platform 13, the second slide platform 15, the platform 18 are respectively third slide by a first adjusting lever

131、第二调节杆151、第三调节杆181控制各自的移动方向及移动距离。 131, the second control lever 151, the third adjusting lever 181 controls the respective moving direction and moving distance. 所述第一调节支架 Said first control console

132、第二调节支架152、第三调节支架182均呈L状。 132, second adjustment bracket 152, the third 182 showed a L-shaped adjustable stand. 所述底座I和第一模板组件12之间设有用于固定第一模板组件12的支撑架3。 It provided support frame for fixing the first template assembly 12 between 3 and 12 of the base I first template components.

[0028] 所述第一模板组件12、第二模板组件19采用不锈钢材料制成,防腐防锈;所述第一模板组件12、第二模板组件19的厚度为0.3mm-0.5mm。 [0028] assembly 12 of the first template, the second template assembly 19 made of stainless steel, corrosion and rust; the first template assembly 12, the thickness of the second template assembly 19 is 0.3mm-0.5mm. 当所述第一模板组件12与第二模板组件19正对时,所述第一模板组件12上的穿针孔122与第二模板组件19上的穿针孔122 —一对应,形成笔直的入针轨迹,所述穿刺针2顺着笔直的入针轨迹进入直达病灶;但是在实际手术时常遇到障碍物,需要改变入针轨迹,如附图3所示,通过调节第二模板组件19的位置,所述第二模板组件19上的穿针孔相对于第一模板组件12的穿针孔122形成角度,即改变了入针轨迹,成功避开障碍物,按照图3中箭头方向通过插入穿刺针2直达病灶。 When the first template assembly 12 and the second template assembly 19 is on, wearing a hole 12 on the first template assembly 122 and 122 through the pinhole 19 on the second template components - one correspondence to form straight the needle trajectory, the puncture needle 2 along a straight track into a needle directly into the lesion; but in the actual surgery is often an obstacle, the need to change the needle trajectory, as shown in the drawings, by adjusting the second template components 3 19 position, wearing a pinhole 19 on the second template assembly relative to the first template assembly through the hole 12 forms an angle of 122, which changed the trajectory of the needle, the successful avoiding obstacles, in the direction of the arrow in Figure 3 by insert needle 2 directly to the lesion.

[0029] 实施例2 [0029] Example 2

[0030] 本发明所述调节式医用模板系统提供第二实施例,与实施例1的区别特征是,所述底座I和第一模板组件12之间设有第四导轨,即将实施例中的支撑架3替换为第四导轨,所述第四导轨使得第一模板组件12沿第四导轨移动。 [0030] The present invention is adjustable medical template system provides the second embodiment, the distinguishing characteristics of Example 1 is provided between the fourth guide rail 12 and the base I first template components, coming embodiment Replace the fourth guide rail support bracket 3, the fourth guide rail such that the first template assembly 12 to move along the fourth guide rail. 所述第四导轨垂直设置于底座I的上表面。 The fourth rail vertically arranged on the surface of the base I. 通过调节第一模板组件12的高度,提高所述医用模板系统的使用范围。 By adjusting the height of the component 12 of the first template, to improve the medical use of template system.

[0031] 本发明并不限于上述实施方式,在不背离本发明的实质内容的情况下,本领域技术人员可以想到的任何变形、改进、替换均落入本发明的保护范围。 Any deformation [0031] The present invention is not limited to the above embodiments without departing from the substance of the present invention, the skilled in the art can think of, modifications, substitutions are within the scope of the present invention.

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Citada por
Patente citante Fecha de presentación Fecha de publicación Solicitante Título
CN105125289A *25 Sep 20159 Dic 2015拜耳斯特医疗机器人技术(天津)有限公司Minimally-invasive medical robot system
CN105125289B *25 Sep 20152 Ene 2018拜耳斯特医疗机器人技术(天津)有限公司微创医疗机器人系统
Clasificaciones
Clasificación internacionalA61B10/02, A61B17/34
Eventos legales
FechaCódigoEventoDescripción
23 Sep 2015C06Publication
21 Oct 2015C10Entry into substantive examination
23 Jun 2017GR01