CN107913072A - Automatic identification blood vessel extracts the device of blood - Google Patents
Automatic identification blood vessel extracts the device of blood Download PDFInfo
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- CN107913072A CN107913072A CN201711300852.2A CN201711300852A CN107913072A CN 107913072 A CN107913072 A CN 107913072A CN 201711300852 A CN201711300852 A CN 201711300852A CN 107913072 A CN107913072 A CN 107913072A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150206—Construction or design features not otherwise provided for; manufacturing or production; packages; sterilisation of piercing element, piercing device or sampling device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150954—Means for the detection of operative contact with patient, e.g. by temperature sensitive sensor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
- A61B2017/12004—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for haemostasis, for prevention of bleeding
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- Heart & Thoracic Surgery (AREA)
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- Reproductive Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Vascular Medicine (AREA)
- Manufacturing & Machinery (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The device that automatic identification blood vessel extracts blood is provided, it includes：Fixed cell, for fixed human body to be drawn blood；Image acquisition units, collection patient skin image, described image collecting unit sends the skin image collected to described control unit；Described control unit obtains the positional information of corresponding flesh body vessel and the blood vessel diameter R according to the skin image；Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；Control unit, for controlling the mechanical arm at the uniform velocity mobile so that the syringe needle punctures intravasation and extracts blood according to predetermined speed V；The present invention provides a kind of precise positioning vessel position, the blood sample collecting device of automatic puncturing blood sampling.
Description
Technical field
The present invention relates to the field of medical instrument technology, is exactly specifically the dress that a kind of automatic identification blood vessel extracts blood
Put.
Background technology
Blood routine examination is one of inspection item most extensive, most basic in clinical examination, by routine examination specimen blood
The analysis of cell, it can be realized that the change of the quantity and form of patient's haemocyte, contributes to clinical made to disease preferably
Early diagnosis.Mainly there are three kinds of tip blood sampling, venous blood collection and tip diluted blood in the source of routine examination specimen at present, and by not
The result that same Blood collection measures has different, wherein, venous blood collection can avoid more influence factor, and measure is accurate
Really and stabilization time is grown, and can directly reflect the physical condition of patient.
It is well known that inside the located subcutaneously tissue of vein blood vessel or bodily tissue, at present mainly by manually from vein
Obtain blood tissues sample and carry out the indexs such as various assays, various biochemical, the immune, pathology to obtain patient,
Doctor is instructed to make diagnostic result based on result of laboratory test again.For example, experience and feel by nurse for many years, are manually worn
Thorn, but often occur pricking inaccurate situation, particularly it is on the increase in obese patient crowd, in addition infant and ICU (severes
Intensive care) unit patients to medical staff have an acupuncture treatment puncture technique require it is higher and higher in the case of, caused to patient very big
Pain, while also increase the probability of doctor-patient dispute.
Therefore, people start to research and develop various blood sampling ancillary equipments, such as infrared angiograph and Color Doppler ultrasound
Blood vessel identification equipment.Wherein, infrared angiograph mainly make use of hemoglobin in blood vessel to the absorptivity of near infrared light with
The different principle of its hetero-organization, by a series of processing to digitized video, veins beneath the skin in-situ projection is included in skin table
Face, enables a physician to clearly identify the trickle blood vessel of the subcutaneous 8mm-10mm of patient.Infrared angiograph is that a kind of blood sampling is auxiliary
Equipment is helped, one intuitively refers to mainly to nurse, can actually also improve the accuracy rate of puncture.But actual blood sampling behaviour
Make, still by being accomplished manually, to there is also and prick inaccurate situation, can still cause doctor-patient dispute.
Color Doppler ultrasound blood vessel identification equipment borrows Colored doppler ultrasound and carries out blood vessel identification, colored how general
It is usually to carry out LDA signal processor with autocorrelation technique to strangle ultrasound, and the blood flow signal that autocorrelation technique obtains is compiled through colour
It is superimposed in real time on 2d after code, that is, forms Color Doppler Ultrasonic picture.But the color Doppler of formation
Supersonic blood image is all analog image, is exported without digitalized data.The main purpose of color Doppler echocardiography angiography
It is in order to which the blood flow signal information of lesion region, rather than blood vessel positioning, Color Doppler ultrasound can be provided noninvasive, in real time
Blood vessel identification equipment can only be used as blood sampling ancillary equipment, can not realize the automation of blood vessel blood sampling.
Therefore, there is an urgent need for research and develop a kind of precise positioning vessel position, the blood sample of automatic puncturing blood sampling by those skilled in the art
Collecting device, reduces or avoids doctor-patient dispute.
The content of the invention
In order to solve at least part above-mentioned technical problem, the present invention it is mobile by control unit control machinery arm so that
Syringe needle is inserted into human body, and the saltus step for detecting the pin stalk internal pressure value of syringe needle judges whether syringe needle is inserted into the blood vessel of human body, from
And realize automatic puncturing human body blood vessel, gather the purpose of blood sample.Specifically, the present invention includes：
Fixed cell, for fixed human body to be drawn blood；
Image acquisition units, collection patient skin image, described image collecting unit sends out the skin image collected
Send to described control unit；Described control unit according to the skin image obtain corresponding flesh body vessel positional information and
The blood vessel diameter R；
Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；
Control unit, for controlling the mechanical arm at the uniform velocity mobile so that the syringe needle punctures entrance according to predetermined speed V
Blood vessel extracts blood；
Wherein, the pressure sensor detects the saltus step of pressure value in the pin stalk of the syringe needle in real time, when the pressure value
When occurring saltus step for the second time, described control unit control the mechanical arm control the syringe needle according to 0.2R/V~0.8R/V when
Between continue to puncture.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, is further included and is suffered from for gathering
The image acquisition units of person's skin image, described image collecting unit send the skin image collected single to the control
Member；
Described control unit obtains the positional information of corresponding flesh body vessel and the blood vessel according to the skin image
Diameter R；
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, described control unit control
The mechanical arm is moved so that the syringe needle is to the surface of the blood vessel, and the syringe needle is vertical with the blood vessel.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, when the pressure value first
Secondary when there is saltus step, described control unit controls the mechanical arm to move so that the syringe needle is with puncturing human body in 30 °~80 ° folders
Angle.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, when the pressure value second
Secondary when there is saltus step, described control unit controls the mechanical arm to move so that the syringe needle is with puncturing human body in 5 °~20 ° folders
Angle.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, is further included and the syringe needle
The blood storage pipe of connection.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, in the blood storage pipe
For vacuum, so that blood is exported into the blood storage pipe from the syringe needle.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, further includes the detection blood
The blood level value is sent to the control by the liquid level sensor of blood level value in liquid storage tube, the liquid level sensor
In unit；
Height threshold is prestored in described control unit, when the blood level value is more than or equal to the height threshold,
Work as leading angle with what puncture human body was according to the syringe needle, the controller controls the mechanical arm to move so that the syringe needle
Removed from the puncture human body.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, and the syringe needle is worn from described
The speed pierced when being removed in human body is 1.5~2V.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, is further included：Stop blooding unit,
It is connected with described control unit, prevents blood from being pricked by pin out of human body after being removed for the syringe needle from the puncture human body
Outflow.
Brief description of the drawings
Fig. 1 is the work flow diagram for the device that automatic identification blood vessel of the present invention extracts blood.
Embodiment
The existing various exemplary embodiment that the present invention will be described in detail, the detailed description are not considered as the limit to the present invention
System, and it is understood as the more detailed description to certain aspects of the invention, characteristic and embodiment.
It should be understood that heretofore described term is only to describe special embodiment, being not intended to limit this hair
It is bright.In addition, for the number range in the present invention, it is thus understood that specifically disclose the scope upper and lower bound value and they
Between each median.Median and any other statement value in any statement value or stated ranges or in the model
The each less scope enclosed between interior median is also included in the present invention.These small range of upper and lower bounds can be only
On the spot include or exclude in the range of.
Unless otherwise stated, all technical and scientific terms used herein has the routine in field of the present invention
The normally understood identical meanings of technical staff.Although the present invention only describes preferable method and material, the present invention's
Implement or can also be used and similar or equivalent any method described herein and material in testing.The institute mentioned in this specification
There is document to be incorporated by reference into, to disclosure and description and the relevant method of the document and/or material.It is incorporated to any
When document conflicts, the content of this specification is subject to.
In the present invention, vocabulary of terms both includes singulative, also including plural form, unless context separately clearly refers to
Go out.Heretofore described " at least one " refers not only to the situation comprising "one" or " one kind ", prior also comprising " more
It is a " or " a variety of " situation.
A kind of automatic identification blood vessel that the specific embodiment of the invention provides extracts the device of blood, as shown in Figure 1, it is wrapped
Include：
Fixed cell, for fixed human body to be drawn blood；
Image acquisition units, collection patient skin image, described image collecting unit sends out the skin image collected
Send to described control unit；Described control unit according to the skin image obtain corresponding flesh body vessel positional information and
The blood vessel diameter R；
Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；
Control unit, for controlling the mechanical arm at the uniform velocity mobile so that the syringe needle punctures entrance according to predetermined speed V
Blood vessel extracts blood；
Wherein, the pressure sensor detects the saltus step of pressure value in the pin stalk of the syringe needle in real time, when the pressure value
When occurring saltus step for the second time, described control unit control the mechanical arm control the syringe needle according to 0.2R/V~0.8R/V when
Between continue to puncture.
For syringe needle during puncturing into human body lower floor blood vessel, the pressure change in pin stalk includes following process：First
In the stage, syringe needle is not in contact with human body, its uniform motion in atmosphere, and the pressure value stabilization in pin stalk is in first pressure value；Second-order
Section, needle contact human body skin simultaneously start to puncture skin, and the pressure value in pin stalk that pressure sensor monitors in real time is one and holds
The process of continuous change, second pressure value is gradually varied to from first pressure value, pressure sensor detect from first pressure value to
The change procedure of second pressure value is the first time saltus step of pin stalk internal pressure value；Phase III, syringe needle enter human body after be
Uniform motion in soft tissue in puncture vessel, i.e. syringe needle human body, then the pressure value stabilization in pin stalk is in second pressure value；Fourth order
Section, needle contact blood vessel and the gradually process inside the tube wall intravasation of puncture vessel side, pressure sensor real time monitoring
Pressure value in pin stalk is a process persistently changed, and the 3rd pressure value, pressure sensing are gradually varied to from second pressure value
Device detects that from second pressure value be second of saltus step of pin stalk internal pressure value to the change procedure of the 3rd pressure value；4th
In the stage, syringe needle intravasation, i.e. syringe needle uniform motion in the blood vessel, then the pressure value stabilization in pin stalk is in the 3rd pressure value；The
The process of four stages, the tube wall of needle contact blood vessel opposite side and gradual puncture vessel opposite side tube wall, pressure sensor are real-time
Pressure value in the pin stalk of monitoring is a process persistently changed, is gradually varied to the 4th pressure value from the 3rd pressure value, presses
Force snesor detects that the change procedure from the 3rd pressure value to the 4th pressure value is the third time jump of pin stalk internal pressure value
Become.Therefore, when second of saltus step occurs for pressure value, show that syringe needle has been penetrated into opposite side from the side tube wall of blood vessel
Tube wall, then control unit control machinery arm stop so that syringe needle stops, and in order to enable syringe needle is retained in blood vessel pipe, institute
Stating control unit controls the mechanical arm to control the syringe needle to continue to puncture according to the time of 0.2R/V~0.8R/V, so that
Syringe needle retains in the blood vessels, to utilize the endovascular blood of negative pressure extracting.Preferably, the preset distance for 0.5mm~
2mm.It is highly preferred that the preset distance is 0.5~1mm, for example, the preset distance is 0.5mm, 0.6mm, 0.7mm,
0.8mm, 0.9mm or 1mm.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, is further included and is treated for fixation
The fixed cell of blood human body is extracted, the fixed cell includes fixed platform subelement and binding subelement, by blood to be extracted
It is observed that the skin of blood vessel is fixed on the fixed platform subelement upwards on liquid human body, and cause the corresponding office of blood vessel
Portion's skin is located in the zone of action of mechanical arm, then with binding unit in the region of non-above-mentioned local skin by blood to be extracted
Human body fix, to fix human body, it is ensured that for mechanical arm during blood drawing, human body is not mobile or rotates, and can accurately look for
To blood vessel, blood drawing process is smoothly completed.Wherein, which is preferably arranged on to the underface of mechanical arm movable end, so as to
Shorten the traveling time of mechanical arm, there is provided blood drawing efficiency.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, further includes collection patient's skin
The image acquisition units of skin image.After human body is placed on described image collecting unit image acquisition region, especially by human body
Surface can substantially observe blood vessel region be placed on the image acquisition region of described image collecting unit after, described image
Collecting unit collects the skin image containing blood vessel image and is uploaded to control unit, and control unit obtains blood from skin image
Information of the pipe on human body, the information include the angle of the corresponding positional information of blood vessel, blood vessel and horizontal line and vertical curve and every
A positional information is to width value of corresponding blood vessel etc..Then, described control unit is controlling the mechanical arm movement so that is
The syringe needle of mechanical arm movable end is located at the surface of blood vessel, and by rotating the movable end of mechanical arm so that syringe needle is perpendicular to blood
Pipe is set.In this way, between blood is extracted, it has been determined that vessel position in human body, and adjust the relative position of syringe needle and blood vessel
Relation, improves the accuracy rate for extracting vessel inner blood, and blood drawing efficiency.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, in the first stage when, syringe needle
It is perpendicular to body surface and is moved towards body surface；When needle contact human body skin and start to puncture the second-order of skin
Section, when the pressure value saltus step occurs for the first time, and when the first saltus step starts, just starts to adjust the angle of syringe needle and body surface
Degree, described control unit control the mechanical arm movement causes the syringe needle and puncture human body to be in 30 °~80 ° angles.Due to blood
Pipe is normally at the superficial layer of human body skin, i.e. the distance of blood vessel and skin surface is very short, and according to above-mentioned angle, syringe needle punctures flesh
Body skin enters inside human body, can extend syringe needle inside human body not in contact with the path distance before blood vessel, so can be accurate
The pressure change in pin stalk is detected, meanwhile, the feeling of pain that syringe needle punctures human body can be mitigated.
In some embodiments, the automatic identification blood vessel extracts the device of blood, when second of the pressure value
When there is saltus step, described control unit controls the mechanical arm movement causes the syringe needle and puncture human body to be in 5 °~20 ° angles.
Syringe needle is that second of saltus step occurs in pressure value, when second of saltus step starts to another side wall is punctured in the one side wall of contact blood vessel
When generation, the angle between syringe needle and blood vessel is adjusted so that be also in 5 °~20 ° of angle between syringe needle and blood vessel, reduce pin
The feeling of pain of head puncture vessel, lengthen syringe needle the distance between from the one side wall of blood vessel to another side wall value, increase syringe needle is in blood
Movement locus in pipe, so both easy to the situation of change of pressure in detection pin stalk, and causes syringe needle to be put down as much as possible with blood vessel
OK, so not only easy to blood drawing, but also the accuracy rate of blood drawing can be improved.
In some embodiments, the automatic identification blood vessel extracts the device of blood, the blood connected with the syringe needle
Liquid storage tube, it is vacuum to state in blood storage pipe, so that blood is exported into the blood storage pipe from the syringe needle.Pin
It is stored between the blood released of head in blood storage tank, easy to seal or subsequent detection uses.
In some embodiments, the automatic identification blood vessel extracts the device of blood, further includes the detection blood
The liquid level sensor of blood level value in storage tube, the blood storage that syringe needle is released is after blood storage tank, liquid level sensor
Detect the blood level value in the blood storage tank, wherein, blood storage tank be generally cylinder, square, cuboid or
Other regular cubes, after liquid level sensor detects blood level value, can further determine blood in blood sensor
Bulking value.The difference of the bulking value of the blood needed according to different tests or detection, prestore difference in described control unit
Have height threshold, when the blood level value is more than or equal to the height threshold, then illustrate what is stored in blood storage tank
The bulking value of blood has reached experiment or detection needs, works as leading angle with what puncture human body was according to the syringe needle, described
Controller controls the mechanical arm movement that the syringe needle is removed from the puncture human body, and syringe needle is extracted from human body,
Complete blood drawing process.It can so meet blood demand and to avoid the generation of blood drawing phenomenon cannot be automatically stopped, realize accurate
Then control blood drawing amount.
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, and the syringe needle is worn from described
Pierce speed when speed when being removed in human body is more than syringe needle puncture., can with relatively low speed when syringe needle punctures
To improve the sensitivity of pressure sensor detection pressure value, so that syringe needle can accurately determine blood vessel, and endovascular blood is extracted,
Improve the accuracy rate of blood drawing
In some embodiments, the automatic identification blood vessel is extracted in the device of blood, is further included：Stop blooding unit,
It is connected with described control unit, prevents blood from being pricked by pin out of human body after being removed for the syringe needle from the puncture human body
Outflow.Hemostatic cotton is stored with the hemostasis unit, after completing blood drawing, pins pin hole using hemostatic cotton, anti-Hemostatic Oral Liquid passes through pin
Flowed out out of human body in hole.Alternatively, the hemostasis unit is the structure for having the function of pressing, the unit that stops blooding is towards on the end face of human body
Disposable, interchangeable hemostatic cotton is provided with, is often completed after once drawing blood, hemostasis unit moves to fixed cell and with fixing list
Pin hole on first collective effect pressing human body, after pressing 2-10 minutes, hemostasis cell orientation is moved in fixed cell, completes hemostasis
Process.
In the case of without departing substantially from the scope or spirit of the invention, the embodiment of description of the invention can be done more
Kind is improved and change, this will be apparent to those skilled in the art.Other realities obtained by the specification of the present invention
It is apparent obtain for technical personnel to apply mode.Present specification and embodiment are only exemplary.
Claims (9)
1. a kind of automatic identification blood vessel extracts the device of blood, it is characterised in that including：
Fixed cell, for fixed human body to be drawn blood；
Image acquisition units, collection patient skin image, described image collecting unit by the skin image that collects send to
Control unit；Described control unit obtains the positional information of corresponding flesh body vessel and the blood vessel according to the skin image
Diameter R；
Piercing assembly, it is set on the robotic arm, and the piercing assembly includes syringe needle and pressure sensor；
Described control unit, for controlling the mechanical arm at the uniform velocity mobile so that the syringe needle punctures entrance according to predetermined speed V
Blood vessel extracts blood；
Wherein, the pressure sensor detects the saltus step of pressure value in the pin stalk of the syringe needle in real time, when the pressure value second
It is secondary when there is saltus step, described control unit control the mechanical arm control the syringe needle according to 0.2R/V~0.8R/V time after
It is continuous to puncture.
2. automatic identification blood vessel according to claim 1 extracts the device of blood, it is characterised in that wherein, the control
Unit controls the mechanical arm to move so that the syringe needle is to the surface of the blood vessel, and the syringe needle hangs down with the blood vessel
Directly.
3. automatic identification blood vessel according to claim 1 extracts the device of blood, it is characterised in that when the pressure value the
When once there is saltus step, described control unit controls the mechanical arm to move so that the syringe needle and puncture human body are in 30 °~80 °
Angle.
4. automatic identification blood vessel according to claim 1 extracts the device of blood, it is characterised in that when the pressure value the
Secondary when there is saltus step, described control unit controls the mechanical arm to move so that the syringe needle with puncturing human body is in 5 °~20 °
Angle.
5. automatic identification blood vessel according to claim 1 extracts the device of blood, it is characterised in that further includes and the pin
The blood storage pipe of head connection.
6. automatic identification blood vessel according to claim 5 extracts the device of blood, it is characterised in that the blood storage pipe
Interior is vacuum, so that blood is exported into the blood storage pipe from the syringe needle.
7. automatic identification blood vessel according to claim 5 extracts the device of blood, it is characterised in that further includes described in detection
The blood level value is sent to the control by the liquid level sensor of blood level value in blood storage pipe, the liquid level sensor
In unit processed；
Height threshold is prestored in described control unit, when the blood level value is more than or equal to the height threshold, according to
The syringe needle works as leading angle with what puncture human body was in, and the controller controls the mechanical arm movement to cause the syringe needle from institute
State to puncture and removed in human body.
8. automatic identification blood vessel according to claim 7 extracts the device of blood, it is characterised in that the syringe needle is from described
The speed punctured when being removed in human body is 1.5~2V.
9. automatic identification blood vessel according to claim 8 extracts the device of blood, it is characterised in that further includes：Hemostasis is single
Member, is connected with described control unit, prevents blood from being pricked by pin from flesh after being removed for the syringe needle from the puncture human body
Outflow in vivo.
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| CN201711300852.2A CN107913072A (en) | 2017-12-10 | 2017-12-10 | Automatic identification blood vessel extracts the device of blood |
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| CN113080955A (en) * | 2021-04-08 | 2021-07-09 | 广东医科大学附属第二医院 | Arterial blood extraction device |
| CN113080955B (en) * | 2021-04-08 | 2023-11-24 | 广东医科大学附属第二医院 | Arterial blood extracting device |
| CN118902617A (en) * | 2024-07-15 | 2024-11-08 | 北京纳通医用机器人科技有限公司 | Mechanical arm control system and equipment |
| CN118902617B (en) * | 2024-07-15 | 2025-01-14 | 北京纳通医用机器人科技有限公司 | Robotic arm control system and equipment |
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Application publication date: 20180417 |