CN103640021B - Intelligence drawing liquid and push away liquid manipulator - Google Patents
Intelligence drawing liquid and push away liquid manipulator Download PDFInfo
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- CN103640021B CN103640021B CN201310640087.4A CN201310640087A CN103640021B CN 103640021 B CN103640021 B CN 103640021B CN 201310640087 A CN201310640087 A CN 201310640087A CN 103640021 B CN103640021 B CN 103640021B
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- 239000007788 liquid Substances 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 239000003814 drug Substances 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 20
- 239000012634 fragment Substances 0.000 claims description 8
- 230000001012 protector Effects 0.000 claims description 7
- 238000011109 contamination Methods 0.000 abstract description 3
- 230000036541 health Effects 0.000 abstract description 3
- 239000012530 fluid Substances 0.000 abstract 2
- 230000000694 effects Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 206010028980 Neoplasm Diseases 0.000 description 3
- 239000000443 aerosol Substances 0.000 description 2
- 239000003708 ampul Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002512 chemotherapy Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
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- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The present invention relates to medical technical field of mechanical equipment, particularly relate to Venous fluids intelligence drawing liquid and push away liquid manipulator, comprising drawing liquid Tui Ye mechanism and clamp system, clamp system comprises clamping syringe push-rod handle portion mechanism and clamping needle cylinder mechanism; Described drawing liquid Tui Ye mechanism comprises servomotor, high-accuracy slide rail pair and leading screw; Described clamping syringe push-rod handle portion mechanism is fixed on slide unit, and described clamping needle cylinder mechanism is fixed on the end of slide unit base by keyset; Venous fluids of the present invention intelligence drawing liquid and push away liquid manipulator, can improve the efficiency of admixture, and effectively prevent misoperation from causing medicine to the harm of medical worker's health, reduce the risk to ambient contamination.
Description
Technical field
The present invention relates to medical technical field of mechanical equipment, particularly relate to intelligent drawing liquid and push away liquid manipulator.
Background technology
In clinical position, admixture is an extremely shirtsleeve operation, but wherein hides more potential safety hazard, particularly at basic hospital, working environment is relatively poor, and supply falls short of demand relatively for nursing staff, how to ensure this link of admixture to guarantee both quality and quantity be a very important problem.
In recent years, along with the raising of people's living standard, spectrum of disease also there occurs great change, and tumor incidence is raising year by year, and the physical and mental health of people in serious threat, and chemotherapy is in treatment at present or a kind of important means of late tumor, because chemotherapeutics all has inhibitory action to the tumor tissues of human body and normal structure, and have toxicity recent and at a specified future date, nurse is when contacting chemotherapeutics, if do not noted protection, also harm can be brought.Experiment is had to confirm, in dispensing of chemiotherapy drug process, when powder bottle ampoule bottle is opened and when pulling out pin after bottled medicinal liquor extraction, all there is the spilling be invisible to the naked eye, form the aerosol containing toxic particulate or aerosol, enter human body by skin or respiratory tract, endanger the personnel that make up a prescription and contaminated environment.
Summary of the invention
The object of the invention is to propose intelligent drawing liquid and push away liquid manipulator, improve the efficiency of admixture, and effectively prevent misoperation from causing the harm of medicine to medical worker's health and the risk to ambient contamination.
For reaching this object, the present invention by the following technical solutions:
Intelligence drawing liquid and push away liquid manipulator, comprises drawing liquid Tui Ye mechanism, clamping syringe push-rod handle portion mechanism, clamping needle cylinder mechanism and syringe;
Described drawing liquid Tui Ye mechanism comprises servomotor, high-accuracy slide rail pair and leading screw; Described clamping syringe push-rod handle portion mechanism is fixed on the slide unit connecting plate of high-accuracy slide rail pair; Described clamping needle cylinder mechanism to be fixed on keyset and to be fixed on the other end of described drawing liquid Tui Ye mechanism;
Clamping syringe push-rod handle portion mechanism comprises: mounting base, stepper motor one, motor mount one, return spring one, push rod upper clip arm, push rod lower clip arm, pressure sensing axle, driven gear one, upper clip arm power transmission shaft, lower clip arm power transmission shaft, driven gear two, driving gear, sensor one, sensor fastening device; Described motor mount one is fixed on described mounting base, described stepper motor one is laterally fixed on described motor mount one, described driving gear is connected with described stepper motor one main shaft, described driven gear one is connected with described upper clip arm power transmission shaft, described upper clip arm power transmission shaft is connected with described push rod upper clip arm, described driven gear two is connected with described lower clip arm power transmission shaft, described lower clip arm power transmission shaft is connected with described push rod lower clip arm, and described sensor one is connected with described sensor fastening device and is fixed on jig arm fixed head; Described return spring one is sheathed on described pressure sensing axle; Time bottom needle contact to medicine bottle, contact force passes in sensor one by syringe and pressure sensing axle;
Clamping needle cylinder mechanism comprises: stepper motor two, fixed cavity, upper right folder cylinder arm, upper left folder cylinder arm, shell fragment, return spring two, dynamic pressure block, spacing slide bar, Right side support block, sensor two, sensor tunable arrangement, right-hand member support auxiliary, scroll bar, turbine, turbine wheel shaft, left supported plate, double-action plate; Described stepper motor two is connected and fixed with described fixed cavity, described scroll bar is connected with described stepper motor two main shaft, described turbine is connected with described turbine wheel shaft, described upper left folder cylinder arm and described upper right are pressed from both sides cylinder arm and are separately fixed at described turbine wheel shaft two ends, described shell fragment is connected with described dynamic pressure block, described spacing slide bar is connected with described dynamic pressure block, and described sensor two is connected with described Right side support block, and described double-action plate is connected with described left supported plate; Described return spring two is sheathed on described spacing slide bar.
Preferably, described servomotor is the servomotor with encoder.
Preferably, described stepper motor one is the stepper motor of band speed reducing ratio.
Preferably, described sensor one is pressure sensor.
Preferably, described stepper motor two is stepper motor.
Choosing, described sensor two is pressure sensor.
Preferably, described clamping syringe push-rod handle portion mechanism also comprises limiting photoelectric switch one, and described limiting photoelectric switch is fixed on jig arm fixed head.
Preferably, described clamping syringe push-rod handle portion mechanism also comprises protector for sensor, and described protector for sensor is connected with described jig arm fixed head.
Preferably, described clamping needle cylinder mechanism also comprises postive stop baffle, and described postive stop baffle is connected with described left supported plate.
Preferably, described clamping needle cylinder mechanism also comprises fixed base plate, and described fixed base plate is connected with described fixed cavity.
The present invention, by above structure, improves the efficiency of admixture, and effectively prevents misoperation from causing medicine to the harm of medical worker's health, reduce the risk to ambient contamination.
Accompanying drawing explanation
Fig. 1 is the structure schematic front view of the present invention's wherein example.
Fig. 2 is the structure schematic top plan view of the present invention's wherein example.
Fig. 3 is the structure clamping syringe push-rod handle portion mechanism schematic front view of the present invention's wherein example.
Fig. 4 is the cross-sectional schematic in Fig. 3 A-A direction.
Fig. 5 is the structure clamping needle cylinder mechanism top view of the present invention's wherein example.
Fig. 6 is the structure clamping needle cylinder mechanism left view of the present invention's wherein example.
Fig. 7 is the cross-sectional schematic in Fig. 5 C-C direction.
Fig. 8 is the structure clamping needle cylinder mechanism upward view of the present invention's wherein example.
Wherein: 11000, drawing liquid Tui Ye mechanism; 11100, servomotor; 11200, slide unit connecting plate; 11300, keyset; 12000, syringe push-rod handle portion mechanism is clamped; 13000, needle cylinder mechanism is clamped; 14000, syringe; 12101, mounting base; 12102, stepper motor one; 12103, motor mount one; 12104, return spring one; 12105, push rod upper clip arm; 12106, push rod lower clip arm; 12107 pressure sensing axles; 12108, driven gear one; 12109, upper clip arm power transmission shaft; 12110, lower clip arm power transmission shaft; 12111, driven gear two; 12112, driving gear; 12113, protector for sensor; 12114, sensor one; 12115, sensor fastening device; 12116, jig arm fixed head; 13101, stepper motor two; 13102 fixed cavities; 13103, upper right folder cylinder arm; 13104, fixed base plate; 13105, upper left folder cylinder arm; 13106, shell fragment; 13107, return spring two; 13108, dynamic pressure block; 13109, postive stop baffle; 13110, spacing slide bar; 13111, Right side support block; 13112, sensor two; 13113, sensor tunable arrangement; 13114, right-hand member supports auxiliary; 13115, scroll bar; 13116, turbine; 13117, turbine wheel shaft; 13118, left supported plate; 13119, double-action plate.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 1 to Figure 2, intelligent drawing liquid and push away liquid manipulator, comprises drawing liquid Tui Ye mechanism 11000, clamping syringe push-rod handle portion mechanism 12000, clamping needle cylinder mechanism 13000 and syringe 14000.
Described drawing liquid Tui Ye mechanism 11000 comprises servomotor 11100, high-accuracy slide rail pair and leading screw; Described clamping syringe push-rod handle portion mechanism 12000 is fixed on the slide unit connecting plate 11200 of high-accuracy slide rail pair; Described clamping needle cylinder mechanism 13000 to be fixed on keyset 11300 and to be fixed on the other end of described drawing liquid Tui Ye mechanism 11000; Accurate quantitative analysis the effect of drawing liquid mechanism 11000 can extract corresponding liquid to carry out automatic preparation.
As shown in Figure 3 to Figure 4, clamp syringe push-rod handle portion mechanism 12000 to comprise: mounting base 12101, stepper motor 1, motor mount 1, return spring 1, push rod upper clip arm 12105, push rod lower clip arm 12106, pressure sensing axle 12107, driven gear 1, upper clip arm power transmission shaft 12109, lower clip arm power transmission shaft 12110, driven gear 2 12111, driving gear 12112, sensor 1, sensor fastening device 12115, described motor mount 1 is fixed on described mounting base 12101, described stepper motor 1 is laterally fixed on described motor mount 1, described driving gear 12112 is connected with described stepper motor 1 main shaft, described driven gear 1 is connected with described upper clip arm power transmission shaft 12109, described upper clip arm power transmission shaft 12109 is connected with described push rod upper clip arm 12105, described driven gear 2 12111 is connected with described lower clip arm power transmission shaft 12110, described lower clip arm power transmission shaft 12110 is connected with described push rod lower clip arm 12106, described sensor 1 is connected with described sensor fastening device 12115 and is fixed on jig arm fixed head 12116, described return spring 1 is sheathed on described pressure sensing axle 12107, time bottom needle contact to medicine bottle, contact force is passed in sensor 1 by syringe 14000 and pressure sensing axle 12107.
As shown in Fig. 5 to Fig. 8, clamping needle cylinder mechanism 13000 comprises: stepper motor 2 13101, fixed cavity 13102, upper right folder cylinder arm 13103, upper left folder cylinder arm 13105, shell fragment 13106, return spring 2 13107, dynamic pressure block 13108, spacing slide bar 13110, Right side support block 13111, sensor 2 13112, sensor tunable arrangement 13113, right-hand member support auxiliary 13114, scroll bar 13115, turbine 13116, turbine wheel shaft 13117, left supported plate 13118, double-action plate 13119.Described stepper motor 2 13101 is connected and fixed with described fixed cavity 13102, described scroll bar 13115 is connected with described stepper motor 2 13101 main shaft, described turbine 13116 is connected with described turbine wheel shaft 13117, described upper left folder cylinder arm 13105 presss from both sides cylinder arm 13103 with described upper right and is separately fixed at described turbine wheel shaft 13117 two ends, described shell fragment 13106 is connected with described dynamic pressure block 13108, described spacing slide bar 13110 is connected with described dynamic pressure block 13108, described sensor 2 13112 is connected with described Right side support block 13111, described double-action plate 13119 is connected with described left supported plate 13118.
Preferably, described stepper motor 1 is the stepper motor of band speed reducing ratio;
Preferably, described motor 2 13101 is stepper motor;
Preferably, described sensor 1 is pressure sensor, and whether effect detects syringe needle to be inserted into bottom medicine bottle;
Preferably, described sensor 2 13112 is pressure sensor, and effect is the clamping dynamics detecting clamping syringe.
Preferably, described clamping syringe push-rod handle portion mechanism 12000 also comprises protector for sensor 12113, and described protector for sensor 12113 is connected with described jig arm fixed head 12116.
Preferably, described clamping needle cylinder mechanism 13000 also comprises postive stop baffle 13109, and described postive stop baffle 13109 is connected with described left supported plate, and effect prevents from pulling syringe when drawing liquid.
Preferably, described clamping needle cylinder mechanism 13000 also comprises fixed base plate 13104, and described fixed base plate 13104 is connected with described fixed cavity 13102.
The course of work: syringe 14000 to be flat in clamping needle cylinder mechanism 13000 on left supported plate 13118 and Right side support block 13111, stepper motor 2 13101 drives scroll bar 13115 and turbine 13116 to drive upper left to press from both sides cylinder arm 13105 and upper right folder cylinder arm 13103, pre-clamping syringe 14000, it is zero spacing that stepper motor 1 driven wheel makes push rod upper clip arm 12105 and push rod lower clip arm 12106 open up into, servomotor 11100 drives slide unit 11000 to drive clamping syringe push-rod handle portion mechanism 12000 to move right, make piston lower clip arm 12106 promote shell fragment 13106 and compress dynamic pressure block 13108, spacing slide bar 13110 blocks " extremely " by postive stop baffle 13109 under the effect of elastic force simultaneously, thus syringe 14000 is stuck between dynamic pressure block 13108 and left supported plate 13118 (have certain gap), effect prevents from pulling syringe when drawing liquid, push rod upper clip arm 12105 and push rod lower clip arm 12106 is driven to clamp syringe push-rod handle portion with stepper motor 1 driven wheel, stepper motor 2 13101 drives scroll bar 13115 and turbine 13116 to drive upper left to press from both sides cylinder arm 13105 and upper right folder cylinder arm 13103, clamping syringe 14000, in clamping process, syringe 14000 presses down Right side support block 13111, make it to be depressed on sensor 2 13112, there is deformation in sensor 2 13112, and with the pressure pressed from both sides under program computation, just folder under stopping after reaching preset pressure, effect prevents from the process of clamping syringe, occur not clamping syringe or folder distortion syringe.Before drawing liquid, cylinder arm 13105 is micro-unclamps syringe first to drive turbine 13116 and scroll bar 13115 to drive upper right folder cylinder arm 13103 and upper left to press from both sides with stepper motor 2 13101, just syringe needle is made to stretch in medicine bottle, time bottom needle contact to medicine bottle, contact force just passes in sensor 1 by syringe 14000 and pressure sensing axle 12107, whether effect detects syringe needle with sensor to be inserted into bottom medicine bottle, and object prevents from syringe needle not to be inserted into bottom medicine bottle to cause not take out not complete liquid; Turbine 13116 and scroll bar 13115 is driven to drive upper right folder cylinder arm 13103 and upper left folder cylinder arm 13105 to clamp syringe to preserved grip dynamics with stepper motor 2 13101; Drive leading screw and high-accuracy slide rail subband to move clamping syringe push-rod handle portion mechanism 12000 on slide unit with servomotor 11100, thus make it automatic ration drawing liquid and push away liquid process and go on smoothly.After preparating liquid completes, push rod upper clip arm 12105 and push rod lower clip arm 12106 is driven to unclamp syringe push rod shank with stepper motor 1 driven wheel; Drive turbine 13116 and scroll bar 13115 to drive upper right to press from both sides cylinder arm 13103 and upper left folder cylinder arm 13105 with stepper motor 2 13101 and unclamp syringe 14000 to maximum spacing, in the process of unclamping, upper left folder cylinder arm 13105 drives double-action plate 13119, make double-action plate 13119 push spacing catch 13109 aside to be totally released with spacing slide bar 13110, thus make the complete horizontal of syringe 14000 wait to take thing hand to take away on clamping needle cylinder mechanism 13000.
The present invention, by above mechanism, realizes the function that the quantitative drawing liquid of automation pushes away liquid, effectively improves the operating efficiency of medicine adding and dispensing, and effectively prevents medicine from jeopardizing the personnel of making up a prescription and polluting environment around.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (8)
1. intelligent drawing liquid and push away liquid manipulator, is characterized in that: comprise drawing liquid Tui Ye mechanism (11000), clamping syringe push-rod handle portion mechanism (12000), clamping needle cylinder mechanism (13000) and syringe (14000);
Described drawing liquid Tui Ye mechanism (11000) comprises servomotor (11100), high-accuracy slide rail pair and leading screw; Described clamping syringe push-rod handle portion mechanism (12000) is fixed on the slide unit connecting plate (11200) of high-accuracy slide rail pair; Described clamping needle cylinder mechanism (13000) is fixed on keyset (11300) and goes up and the other end being fixed on described drawing liquid Tui Ye mechanism (11000);
Clamping syringe push-rod handle portion mechanism (12000) comprising: mounting base (12101), stepper motor one (12102), motor mount one (12103), return spring one (12104), push rod upper clip arm (12105), push rod lower clip arm (12106), pressure sensing axle (12107), driven gear one (12108), upper clip arm power transmission shaft (12109), lower clip arm power transmission shaft (12110), driven gear two (12111), driving gear (12112), sensor one (12114), sensor fastening device (12115), described motor mount one (12103) is fixed on described mounting base (12101), described stepper motor one (12102) is laterally fixed on described motor mount one (12103), described driving gear (12112) is connected with described stepper motor one (12102) main shaft, described driven gear one (12108) is connected with described upper clip arm power transmission shaft (12109), described upper clip arm power transmission shaft (12109) is connected with described push rod upper clip arm (12105), described driven gear two (12111) is connected with described lower clip arm power transmission shaft (12110), described lower clip arm power transmission shaft (12110) is connected with described push rod lower clip arm (12106), described sensor one (12114) is connected with described sensor fastening device (12115) and is fixed on jig arm fixed head (12116), described return spring one (12104) is sheathed on described pressure sensing axle (12107), time bottom needle contact to medicine bottle, contact force passes in sensor one (12114) by syringe (14000) and pressure sensing axle (12107),
Clamping needle cylinder mechanism (13000) comprising: stepper motor two (13101), fixed cavity (13102), upper right folder cylinder arm (13103), upper left folder cylinder arm (13105), shell fragment (13106), return spring two (13107), dynamic pressure block (13108), spacing slide bar (13110), Right side support block (13111), sensor two (13112), sensor tunable arrangement (13113), right-hand member supports auxiliary (13114), scroll bar (13115), turbine (13116), turbine wheel shaft (13117), left supported plate (13118), double-action plate (13119), described stepper motor two (13101) is connected and fixed with described fixed cavity (13102), described scroll bar (13115) is connected with described stepper motor two (13101) main shaft, described turbine (13116) is connected with described turbine wheel shaft (13117), described upper left folder cylinder arm (13105) is pressed from both sides cylinder arm (13103) with described upper right and is separately fixed at described turbine wheel shaft (13117) two ends, described shell fragment (13106) is connected with described dynamic pressure block (13108), described spacing slide bar (13110) is connected with described dynamic pressure block (13108), described sensor two (13112) is connected with described Right side support block (13111), described double-action plate (13119) is connected with described left supported plate (13118), described return spring two (13107) is sheathed on described spacing slide bar (13110).
2. intelligent drawing liquid according to claim 1 and push away liquid manipulator, is characterized in that: described servomotor is the servomotor with encoder.
3. intelligent drawing liquid according to claim 1 and push away liquid manipulator, is characterized in that: described stepper motor one is the stepper motor of band speed reducing ratio.
4. intelligent drawing liquid according to claim 1 and push away liquid manipulator, is characterized in that: described sensor one is pressure sensor.
5. intelligent drawing liquid according to claim 1 and push away liquid manipulator, is characterized in that: described sensor two is pressure sensor.
6. intelligent drawing liquid according to claim 1 and push away liquid manipulator, is characterized in that: described clamping syringe push-rod handle portion mechanism also comprises protector for sensor, and described protector for sensor is connected with described jig arm fixed head.
7. intelligent drawing liquid according to claim 1 and push away liquid manipulator, is characterized in that: described clamping needle cylinder mechanism also comprises postive stop baffle, and described postive stop baffle is connected with described left supported plate.
8. intelligent drawing liquid according to claim 1 and push away liquid manipulator, is characterized in that: described clamping needle cylinder mechanism also comprises fixed base plate, and described fixed base plate is connected with described fixed cavity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310640087.4A CN103640021B (en) | 2013-12-04 | 2013-12-04 | Intelligence drawing liquid and push away liquid manipulator |
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| CN201310640087.4A CN103640021B (en) | 2013-12-04 | 2013-12-04 | Intelligence drawing liquid and push away liquid manipulator |
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| CN103640021B true CN103640021B (en) | 2016-04-13 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127997B (en) * | 2015-08-10 | 2017-04-05 | 深圳百思拓威机器人技术有限公司 | Pharmacists' intelligent robot system and its control method |
| CN105328703B (en) * | 2015-10-13 | 2017-12-12 | 深圳市桑谷医疗机器人有限公司 | Medicine extracts and injection manipulator |
| CN113043291B (en) * | 2021-03-11 | 2022-01-14 | 中国科学院自动化研究所 | Clamping jaw device and automatic liquid preparation system |
| CN115153781A (en) * | 2022-08-12 | 2022-10-11 | 复旦大学 | End effector and puncture robot using the same |
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| CA2525549A1 (en) * | 2003-06-12 | 2004-12-23 | Disetronic Licensing Ag | Insertion device for infusion sets |
| KR100687657B1 (en) * | 2005-07-27 | 2007-03-02 | (주)엠큐어 | Drug injection |
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| CN200987801Y (en) * | 2006-09-04 | 2007-12-12 | 上海博创医疗设备有限公司 | Micro-transfusion pump |
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Effective date of registration: 20171023 Address after: 421000 Hunan city of Hengyang province Yanfeng District Heng Mountain Science City building A1 Innovation Zone mangrove Patentee after: HENGYANG SANGGU MEDICAL ROBOTS CO.,LTD. Address before: 518103, 4 building, A, Guangdong science and Technology Industrial Park, intersection of Yongfu Road, Qiaotou community, Fuyong Town, Shenzhen, Hebei Province Patentee before: SHENZHEN SANGGU MEDICAL ROBOT Co.,Ltd. |
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Effective date of registration: 20240114 Address after: 528222 Factory Building 2, No. 54 Industrial Avenue, Danzao Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Patentee after: Guangdong Sanggu Medical Robot Co.,Ltd. Address before: 421000 building A1, mangrove R & D Innovation Zone, Hengshan Science City, Yanfeng District, Hengyang City, Hunan Province Patentee before: HENGYANG SANGGU MEDICAL ROBOTS CO.,LTD. |