CN105167818A - Depth-limited bone drill with function of depth measurement - Google Patents
Depth-limited bone drill with function of depth measurement Download PDFInfo
- Publication number
- CN105167818A CN105167818A CN201510515000.XA CN201510515000A CN105167818A CN 105167818 A CN105167818 A CN 105167818A CN 201510515000 A CN201510515000 A CN 201510515000A CN 105167818 A CN105167818 A CN 105167818A
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- China
- Prior art keywords
- protective sleeve
- depth
- sheath
- brake
- segment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 32
- 238000005259 measurement Methods 0.000 title claims abstract description 23
- 230000001681 protective effect Effects 0.000 claims abstract description 78
- 238000005553 drilling Methods 0.000 claims abstract description 41
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 229920001971 elastomer Polymers 0.000 claims description 5
- 239000000806 elastomer Substances 0.000 claims description 5
- 230000006378 damage Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 210000004872 soft tissue Anatomy 0.000 abstract description 4
- 210000005036 nerve Anatomy 0.000 abstract description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 5
- 108010048734 sclerotin Proteins 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 208000037816 tissue injury Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/1655—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans for tapping
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention belongs to the technical field of surgical instruments and equipment, particularly relates to a depth-limited bone drill with a function of depth measurement and solves the problems that existing bone drills possibly cause damages to soft tissues, vessels and nerves and drilling and depth measurement are carried out separately due to functional singleness. The depth-limited bone drill with the function of depth measurement comprises a drill rod, a protective bushing and a display mechanism, the protective bushing is capable of sliding relative to the drill rod and capable of braking at any time and shrinking limitedly, and the display mechanism is used for displaying a slide distance of the protective bushing relative to the drill rod. The movable drill bushing capable of braking at any time is abutted against the bone surface and capable of retracting by a certain distance after braking, so that limited precision drilling depth is realized, and the soft tissues, vessels and nerves in human bodies can be protected from being accidentally injured by the drill rod in a bone drilling process.
Description
Technical field
The invention belongs to surgical instruments equipment technical field, specifically a kind of depth stop depth measurement bone drill.
Background technology
Bone drill is instrument boring on skeleton in surgical operation.When holing on bone, surgical doctor electric hand drill, pressurization pierces.After bone drill breaks through sclerotin completely, electric drill falls through, and surgical doctor can not stop pressurization simultaneously, thus causes electric drill to continue forward deeply.Go deep into may causing tissue injury in process, if when electric drill direction of advance exists blood vessel, nerve, once damage, will lead to grave consequences.And also need the degree of depth measuring boring to determine appropriate screw after having bored hole.And existing bone drill only has the function of boring, surgical doctor needs to insert boring with depth finder after piercing and measures.
Summary of the invention
The present invention may cause damage to soft tissue and nervus vasculairs to solve existing bone drill, and function singleness, boring and depth measurement need the problem of separately carrying out, and provide a kind of depth stop depth measurement bone drill.
The present invention takes following technical scheme: a kind of depth stop depth measurement bone drill, comprises drilling rod, also comprise relative drilling steel slip, can to brake at any time and can the protective sleeve of limited cripetura, and the indication mechanism of the relative drilling steel slip distance of protective sleeve can be shown.
Described protective sleeve comprises leading portion and back segment, arranges limited cripetura structure between leading portion and back segment, described limited cripetura structure, comprises the position-limit mechanism of elastic structure and the restriction elastomer structure deflection connected between leading portion tail end and back segment front end.
Linking springs between leading portion tail end and back segment front end; described position-limit mechanism comprises the stop collar that periphery anterior with protective sleeve back segment is threaded; before spring and protective sleeve, segment trailer is arranged within stop collar; before protective sleeve, segment trailer has annular outer platform; there is annular inner convex platform stop collar front end, and the inside and outside boss of annular is formed and coordinates.
Be provided with sheath outside segment trailer after described protective sleeve, arrange brake unit between sheath and protective sleeve back segment, the sheath at brake unit rear is provided with the position-limit mechanism of protective sleeve.
Described brake unit comprises the brake hoop of sheath and protective sleeve back segment; between brake hoop inwall and protective sleeve back segment outer wall, between brake hoop outer wall and jacket inner wall, leave gap; the wall thickness central of brake hoop and between sheath and protective sleeve back segment the center in gap coincide, brake hoop is connected with the brake handle radially arranged.
Described brake unit comprises the latch segment rotated to it that sheath is arranged, and latch segment is provided with the steel sheet spring that latch segment can be made to reset, and latch segment top can contact on the periphery of protective sleeve back segment, and the latch segment other end connects brake handle.
The resetting-mechanism of protective sleeve is provided with between protective sleeve and sheath.
Described resetting-mechanism comprises the guide nut being fixed on guard leading end, is connected with back-moving spring between guide nut and stop collar.
After described protective sleeve, segment trailer is provided with guide pad; guide pad can slide along jacket inner wall; the sheath at guide pad front, brake unit rear arranging the position-limit mechanism that spacing pin is guide pad, sheath tail end branch sleeve, is the driving mechanism be connected with drilling rod in sleeve.
Described driving mechanism is provided with the trigger for starting, and brake handle is arranged on the trigger front of driving mechanism, and the dead-centre position of brake handle motion can cocking.Brake handle can be braked sleeve when pulling, and continues to pull, and can start electric drill.Realize the singlehanded flexible manipulation referred to electric drill.
Work process: drilling rod and protective sleeve are butted on bony surface, now protective sleeve scale is 0 scale.Motor starts, and drilling rod pierces skeleton ground floor, and protective sleeve entirety retreats.Rod boring ground floor sclerotin, is butted on second layer sclerotin, and motor stops, brake handle braking (protective sleeve back segment stops retreating).Again start motor, drilling rod continues to creep into, and the stroke crept into is the length of the limited shortening of protective sleeve, and rig stops.If the drill-through second layer sclerotin of drilling rod, then surgical doctor is held brill hands and is had the sense that significantly falls through, and boring stops.Direct fetch protection cover and drill body relative sliding distance, can know that brill gos deep into length, and can select the screw of appropriate length accordingly.If drilling rod is not drill-through, brake off, drilling rod leading portion resets, and motor starts, and drilling rod creeps into the length of drilling rod leading portion cripetura again, and motor cuts out.So repeatedly, until the drill-through second layer sclerotin of drilling rod, surgical doctor holds brill hands the sense that obviously falls through, and boring stops.Direct fetch protection cover and drill body relative sliding distance, can know that brill gos deep into length, and can select the screw of appropriate length accordingly.
Compared with prior art, the present invention is provided with the movable drill bushing that can brake at any time and peaks at bone surface, and can elastical retraction certain distance after braking, thus it is dark to realize spacing accurate brill.Ensure that soft tissue in human body and nervus vasculairs can not be subject to drilling rod and damage unexpectedly in the process of boring bone.
And the degree of depth piercing bone directly can be read from the scale on outer cover by the relative displacement between overcoat and drilling rod, eliminate the step of independent measurement drilling depth, simplify workflow.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment 1;
Fig. 2 is the structural representation of embodiment 2;
Fig. 3 is the structural representation of position-limit mechanism;
Fig. 4 is the structural representation of brake unit in embodiment 1;
Fig. 5 is the structural representation of brake unit in embodiment 2;
Fig. 6 is the structural representation of brake unit in embodiment 3;
1-drilling rod in figure, 2-position-limit mechanism, 3-protective sleeve; 4-sheath, 5-sleeve, 6-driving mechanism; 7-brake handle, 8-guide pad, 9-latch segment; 10-back-moving spring, 11-brake hoop, the spacing pin of 12-; 13-guide nut, 14-brake clip, 2.1-spring; 2.2-stop collar, 2.3-annular inner convex platform, 2.4-annular outer platform.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
Embodiment 1:
As shown in Figure 1, a kind of depth stop depth measurement bone drill, comprises drilling rod 1, also comprise relative drilling steel slip, can to brake at any time and can the protective sleeve 3 of limited cripetura, and the indication mechanism of the relative drilling steel slip distance of protective sleeve can be shown.
Described protective sleeve 3 comprises leading portion and back segment, arranges limited cripetura structure between leading portion and back segment, described limited cripetura structure, comprises the position-limit mechanism 2 of elastic structure and the restriction elastomer structure deflection connected between leading portion tail end and back segment front end.
Linking springs 2.1 between leading portion tail end and back segment front end; described position-limit mechanism 2 comprises the stop collar 2.2 that periphery anterior with protective sleeve 3 back segment is threaded; before spring 2.1 and protective sleeve 3, segment trailer is arranged within stop collar 2.2; before protective sleeve 3, segment trailer has annular outer platform 2.4; there is annular inner convex platform 2.3 stop collar front end, and the inside and outside boss of annular is formed and coordinates.
Be provided with sheath 4 outside segment trailer after described protective sleeve, arrange brake unit between sheath 4 and protective sleeve 3 back segment, the sheath at brake unit rear is provided with the position-limit mechanism of protective sleeve.
As shown in Figure 4; described brake unit comprises the brake hoop 11 of sheath 4 and protective sleeve 3 back segment; between brake hoop 11 inwall and protective sleeve back segment outer wall, between brake hoop outer wall and jacket inner wall, leave gap; the wall thickness central of brake hoop and between sheath and protective sleeve back segment the center in gap coincide, brake hoop is connected with the brake handle 7 radially arranged.
The resetting-mechanism of protective sleeve is provided with between protective sleeve and sheath.
Described resetting-mechanism comprises the guide nut 13 being fixed on guard leading end, is connected with back-moving spring 10 between guide nut 13 and stop collar 2.2.
After described protective sleeve 3, segment trailer is provided with guide pad 8; guide pad 8 can slide along sheath 4 inwall; the sheath 4 at guide pad 8 front, brake unit rear being arranged the position-limit mechanism that spacing pin 12 is guide pad 8, sheath 4 tail end branch sleeve 5, is the driving mechanism 6 be connected with drilling rod in sleeve 5.
Described driving mechanism 6 is provided with the trigger for starting, and brake handle 7 is arranged on the trigger front of driving mechanism 6, and the dead-centre position that brake handle 7 moves can cocking.
The indication mechanism of the relative drilling steel slip distance of described shown protective sleeve comprises the outer scale put, the null value of scale be arranged at bone drill start working before movable drill bushing end concordant with drill rod end time, the position of the corresponding case nose of overcoat.
Embodiment 2:
As shown in Figure 2, a kind of depth stop depth measurement bone drill, comprises drilling rod 1, also comprise relative drilling steel slip, can to brake at any time and can the protective sleeve 3 of limited cripetura, and the indication mechanism of the relative drilling steel slip distance of protective sleeve can be shown.
Described protective sleeve 3 comprises leading portion and back segment, arranges limited cripetura structure between leading portion and back segment, described limited cripetura structure, comprises the position-limit mechanism 2 of elastic structure and the restriction elastomer structure deflection connected between leading portion tail end and back segment front end.
Described limited cripetura structure adopts conventional double-action hydraulic cylinder structure, and its terminal, with buffering, can steadily reduce hydraulic cylinder terminal velocity, prevents stroke terminal from producing hard impact.Now, replace the linking springs in embodiment 1 by hydraulic cylinder, the deflection of its structure is the impulse stroke of hydraulic cylinder.
Be provided with sheath 4 outside segment trailer after described protective sleeve, arrange brake unit between sheath 4 and protective sleeve 3 back segment, the sheath at brake unit rear is provided with the position-limit mechanism of protective sleeve.
As shown in Figure 5; described brake unit comprises the latch segment 9 rotated to it that sheath is arranged; fixing steel pole is straight down provided with bottom sheath; latch segment 9 is fixed on fixing steel pole end; and can rotate around its end; latch segment 9 is provided with the steel sheet spring that latch segment 9 can be made to reset, and latch segment 9 top can contact on the periphery of protective sleeve back segment, and latch segment 9 other end connects brake handle 7.
The resetting-mechanism of protective sleeve is provided with between protective sleeve and sheath.
Described resetting-mechanism comprises the guide nut 13 being fixed on guard leading end, is connected with back-moving spring 10 between guide nut 13 and stop collar 2.2.
After described protective sleeve 3, segment trailer is provided with guide pad 8; guide pad 8 can slide along sheath 4 inwall; the sheath 4 at guide pad 8 front, brake unit rear being arranged the position-limit mechanism that spacing pin 12 is guide pad 8, sheath 4 tail end branch sleeve 5, is the driving mechanism 6 be connected with drilling rod in sleeve 5.
Described driving mechanism 6 is provided with the trigger for starting, and brake handle 7 is arranged on the trigger front of driving mechanism 6, and the dead-centre position that brake handle 7 moves can cocking.
The indication mechanism of the relative drilling steel slip distance of described shown protective sleeve is arranged on the sensor on drilling rod 1.
Embodiment 3:
As shown in Figure 2, a kind of depth stop depth measurement bone drill, comprises drilling rod 1, also comprise relative drilling steel slip, can to brake at any time and can the protective sleeve 3 of limited cripetura, and the indication mechanism of the relative drilling steel slip distance of protective sleeve can be shown.
Described protective sleeve 3 comprises leading portion and back segment, arranges limited cripetura structure between leading portion and back segment, described limited cripetura structure, comprises the position-limit mechanism 2 of elastic structure and the restriction elastomer structure deflection connected between leading portion tail end and back segment front end.
Described limited cripetura structure adopts conventional double acting Pneumatic cylinder structure, and its terminal, with buffering, can steadily reduce pneumatic cylinder terminal velocity, prevents stroke terminal from producing hard impact.Now, replace the linking springs in embodiment 1 by pneumatic cylinder, the deflection of its structure is the impulse stroke of pneumatic cylinder.
Be provided with sheath 4 outside segment trailer after described protective sleeve, arrange brake unit between sheath 4 and protective sleeve 3 back segment, the sheath at brake unit rear is provided with the position-limit mechanism of protective sleeve.
As shown in Figure 6, described brake unit comprises the brake clip 14 of protective sleeve 3 arranged outside, and the pin joint of brake clip is arranged at shell.
The resetting-mechanism of protective sleeve is provided with between protective sleeve and sheath.
Described resetting-mechanism comprises the guide nut 13 being fixed on guard leading end, is connected with back-moving spring 10 between guide nut 13 and stop collar 2.2.
After described protective sleeve 3, segment trailer is provided with guide pad 8; guide pad 8 can slide along sheath 4 inwall; the sheath 4 at guide pad 8 front, brake unit rear being arranged the position-limit mechanism that spacing pin 12 is guide pad 8, sheath 4 tail end branch sleeve 5, is the driving mechanism 6 be connected with drilling rod in sleeve 5.
Described driving mechanism 6 is provided with the trigger for starting, and brake handle 7 is arranged on the trigger front of driving mechanism 6, and the dead-centre position that brake handle 7 moves can cocking.
The indication mechanism of the relative drilling steel slip distance of described shown protective sleeve is arranged on the sensor on drilling rod 1.
Claims (10)
1. a depth stop depth measurement bone drill, comprises drilling rod (1), it is characterized in that: also comprise relative drilling steel slip, can to brake at any time and can the protective sleeve (3) of limited cripetura, and the indication mechanism of the relative drilling steel slip distance of protective sleeve can be shown.
2. depth stop depth measurement bone drill according to claim 1; it is characterized in that: described protective sleeve (3) comprises leading portion and back segment; limited cripetura structure is set between leading portion and back segment; described limited cripetura structure, comprises the position-limit mechanism (2) of elastic structure and the restriction elastomer structure deflection connected between leading portion tail end and back segment front end.
3. depth stop depth measurement bone drill according to claim 2; it is characterized in that: linking springs (2.1) between leading portion tail end and back segment front end; described position-limit mechanism (2) comprises the stop collar (2.2) that periphery anterior with protective sleeve (3) back segment is threaded; spring (2.1) and protective sleeve (3) front segment trailer are arranged within stop collar (2.2); protective sleeve (3) front segment trailer has annular outer platform (2.4); there is annular inner convex platform (2.3) stop collar front end, and the inside and outside boss of annular is formed and coordinates.
4. depth stop depth measurement bone drill according to claim 2; it is characterized in that: after described protective sleeve, outside segment trailer, be provided with sheath (4); arrange brake unit between sheath (4) and protective sleeve (3) back segment, the sheath at brake unit rear is provided with the position-limit mechanism of protective sleeve.
5. depth stop depth measurement bone drill according to claim 4; it is characterized in that: described brake unit comprises the brake hoop (11) of sheath (4) and protective sleeve (3) back segment; between brake hoop (11) inwall and protective sleeve back segment outer wall, between brake hoop outer wall and jacket inner wall, leave gap; the wall thickness central of brake hoop and between sheath and protective sleeve back segment the center in gap coincide, brake hoop is connected with the brake handle (7) radially arranged.
6. depth stop depth measurement bone drill according to claim 4; it is characterized in that: described brake unit comprises the latch segment (9) rotated to it that sheath is arranged; latch segment (9) is provided with the steel sheet spring that latch segment (9) can be made to reset; latch segment (9) top can contact on the periphery of protective sleeve back segment, and latch segment (9) other end connects brake handle (7).
7. the depth stop depth measurement bone drill according to claim 4 or 5 or 6, is characterized in that: the resetting-mechanism being provided with protective sleeve between protective sleeve and sheath.
8. depth stop depth measurement bone drill according to claim 7, is characterized in that: described resetting-mechanism comprises the guide nut (13) being fixed on guard leading end, is connected with back-moving spring (10) between guide nut (13) and stop collar (2.2).
9. depth stop depth measurement bone drill according to claim 8; it is characterized in that: described protective sleeve (3) afterwards segment trailer is provided with guide pad (8); guide pad (8) can slide along sheath (4) inwall; the sheath (4) at guide pad (8) front, brake unit rear is arranged the position-limit mechanism that spacing pin (12) is guide pad (8); sheath (4) tail end branch sleeve (5) is the driving mechanism (6) be connected with drilling rod in sleeve (5).
10. depth stop depth measurement bone drill according to claim 9, it is characterized in that: described driving mechanism (6) is provided with the trigger for starting, brake handle (7) is arranged on the trigger front of driving mechanism (6), and the dead-centre position that brake handle (7) moves can cocking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510515000.XA CN105167818B (en) | 2015-08-21 | 2015-08-21 | The deep depth measurement bone drill of limit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510515000.XA CN105167818B (en) | 2015-08-21 | 2015-08-21 | The deep depth measurement bone drill of limit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105167818A true CN105167818A (en) | 2015-12-23 |
| CN105167818B CN105167818B (en) | 2018-05-01 |
Family
ID=54890620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510515000.XA Active CN105167818B (en) | 2015-08-21 | 2015-08-21 | The deep depth measurement bone drill of limit |
Country Status (1)
| Country | Link |
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| CN (1) | CN105167818B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214189A (en) * | 2016-08-16 | 2016-12-14 | 中国人民解放军第三军医大学第附属医院 | Bone cartilage holostrome specimen Wicresoft sampler |
| CN108542468A (en) * | 2018-05-17 | 2018-09-18 | 华侨大学 | A kind of medical drilling tool with depth measurement function |
| CN109350175A (en) * | 2018-11-09 | 2019-02-19 | 创辉医疗器械江苏有限公司 | An integrated bone drill |
| CN110151251A (en) * | 2019-05-30 | 2019-08-23 | 中国人民解放军总医院 | A kind of intercondylar osteotomy drill |
| CN112494097A (en) * | 2020-11-09 | 2021-03-16 | 中国科学院深圳先进技术研究院 | Spine vertebral plate grinding depth adjusting device and surgical robot |
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| US20030049082A1 (en) * | 2001-09-10 | 2003-03-13 | Morrison James L. | Power feed aline-a-drill attachment |
| US6665948B1 (en) * | 2002-09-05 | 2003-12-23 | Scott Hal Kozin | Drill bit penetration measurement system and method |
| CN101579250A (en) * | 2009-06-18 | 2009-11-18 | 北京科技大学 | Intelligent control device of surgical electric drill |
| WO2009158115A1 (en) * | 2008-06-26 | 2009-12-30 | Wayne Anderson | Depth controllable and measurable medical driver devices and methods of use |
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2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030049082A1 (en) * | 2001-09-10 | 2003-03-13 | Morrison James L. | Power feed aline-a-drill attachment |
| US6665948B1 (en) * | 2002-09-05 | 2003-12-23 | Scott Hal Kozin | Drill bit penetration measurement system and method |
| WO2009158115A1 (en) * | 2008-06-26 | 2009-12-30 | Wayne Anderson | Depth controllable and measurable medical driver devices and methods of use |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214189A (en) * | 2016-08-16 | 2016-12-14 | 中国人民解放军第三军医大学第附属医院 | Bone cartilage holostrome specimen Wicresoft sampler |
| CN108542468A (en) * | 2018-05-17 | 2018-09-18 | 华侨大学 | A kind of medical drilling tool with depth measurement function |
| CN108542468B (en) * | 2018-05-17 | 2023-05-30 | 华侨大学 | A medical drilling tool with sounding function |
| CN109350175A (en) * | 2018-11-09 | 2019-02-19 | 创辉医疗器械江苏有限公司 | An integrated bone drill |
| CN110151251A (en) * | 2019-05-30 | 2019-08-23 | 中国人民解放军总医院 | A kind of intercondylar osteotomy drill |
| CN110151251B (en) * | 2019-05-30 | 2024-05-17 | 中国人民解放军总医院 | Intercondylar osteotomy drill |
| CN112494097A (en) * | 2020-11-09 | 2021-03-16 | 中国科学院深圳先进技术研究院 | Spine vertebral plate grinding depth adjusting device and surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105167818B (en) | 2018-05-01 |
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