WO2019090704A1 - Robotic distal platform - Google Patents
Robotic distal platform Download PDFInfo
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- WO2019090704A1 WO2019090704A1 PCT/CN2017/110487 CN2017110487W WO2019090704A1 WO 2019090704 A1 WO2019090704 A1 WO 2019090704A1 CN 2017110487 W CN2017110487 W CN 2017110487W WO 2019090704 A1 WO2019090704 A1 WO 2019090704A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
Definitions
- the present invention relates to a distal platform for a robot, and more particularly to a distal platform for a resetting robot used in orthopedic surgery.
- FIGS. 1 and 2 are drawings of CN2566828Y, side and top views, respectively, of the disclosed traction frame are shown.
- the traction frame includes a hip plate assembly, a leg rest assembly, and a tractor assembly.
- the front end of the hip plate 4 is provided with a soft column 7, and two directional wheels 15 are disposed under the base 1, and two ends thereof are respectively connected to the small horizontal column 9 and the large horizontal column 10.
- the small horizontal column 9 is provided with leg studs 11 and leg supports 12.
- the large transverse column 10 is connected to the traction column 14, the upper end of the traction column 14 is connected to the traction pipe 16, and the tractor 17 is placed above the traction pipe 16.
- the traction frame In use, the traction frame is pushed into the operating table, and the hook 6 on the side of the small round column 3 of the base 1 is hung on the rail supporting column of the operating table, and the brake of the universal braking wheel 8 is depressed to fix the traction frame.
- the handles 22, 23, 24, 25, 26, the height of the hip plate 4 and the distance from the operating table By loosening the handles 22, 23, 24, 25, 26, the height of the hip plate 4 and the distance from the operating table, the distance between the leg rest 19 and the hip plate 4, and the height of the leg rest 19 can be adjusted.
- the handle 21 and the handles 28, 29 are used to adjust the distance of the tractor 17 from the leg rest 19, as well as the height of the tractor 17.
- the prior art traction frame provides the ability to adjust the position of the patient's buttocks and legs.
- the above-described traction frame cannot provide a distal platform for the orthopaedic robot in a simple and efficient manner, so that the patient's hip angle can be adjusted on the distal platform.
- the present invention provides a distal platform of a robot that is coupled to a proximal end platform of a robot on a proximal end side and to a surgical bed on a distal end side by a docking member, the distal platform comprising: a main body panel a docking member mounting portion on both sides of the main body panel, the docking member is mounted on the docking member mounting portion; A rotating rail assembly on the underside of the body panel through which the body panel is rotatable relative to the proximal platform in a horizontal plane.
- the distal platform of the robot of the present invention provides the ability to adjust the hip-leg angle of the patient in a robotic system capable of docking with the operating bed as compared to prior art traction frames.
- 1 and 2 are side and top views of a prior art traction frame
- Figure 3 is a perspective view of the top of the distal platform of the robot as seen in accordance with one embodiment of the present invention
- FIG. 4 is a perspective view of a lower end of a robot's distal platform in accordance with an embodiment of the present invention
- Figure 5 is a perspective view, seen below, of the distal platform of the robot in accordance with one embodiment of the present invention, with the rail mount removed to expose the rail seat and the rail;
- FIG. 6 is a perspective view of a rail seat and a rail of a distal platform of a robot in accordance with an embodiment of the present invention
- FIG. 7 is a side elevational view of a rail mount and rail of a distal platform of a robot in accordance with one embodiment of the present invention.
- the distal platform is coupled to the proximal platform of the robot on the proximal side (on the right side of Figure 3) and to the surgical bed on the distal side (left side of Figure 3) through the docking member.
- the robot is a resetting robot used for the reduction of long bones, particularly femur fractures.
- the distal platform includes: a main body panel 100; a docking member mounting portion on both sides of the main body panel 100, the docking member is mounted on the docking member mounting portion; and the rotating slide on the lower side of the main body panel 100 A rail assembly through which the body panel 100 is rotatable relative to the proximal platform in a horizontal plane.
- the distal platform can be coupled to the proximal platform of the robot by having a docking station mounting portion.
- a rotating slide assembly By having a rotating slide assembly, when the patient's torso is placed on the operating bed, the patient's buttocks can be placed on the main body and the legs placed on the leg rest of the proximal platform.
- the proximal platform can be rotated in a horizontal plane relative to the distal platform, the patient's legs can be rotated a certain angle in the horizontal direction.
- the distal platform of the robot of the present invention can meet the hip and leg angle adjustment requirements that are often required during orthopedic surgery, which is particularly desirable for femoral fracture reduction.
- the rotating slide assembly comprises an arcuate rail 132 and a rail seat 134 having an arcuate track.
- the curved guide rail 132 has a plurality of mounting holes corresponding to the plurality of mounting holes of the main body panel 100 such that the guide rails 132 are mounted to the lower side of the main body panel 100.
- the rail seat 134 is located on the underside of the rail 132 and provides an arcuate track for the body panel 100 to rotate.
- the rail seat 134 includes a rail seat plate 136 and a pair of rail members 138 mounted on the rail seat plate 136 on either side of the rail 132.
- the rail seat plate 136 is a rectangular plate
- the pair of track members 138 are a total of two pairs
- reference numeral 138 in Fig. 6 indicates the pair of track members on the left side.
- the cross section of the guide rail 132 is convex
- the formed inner cross section (track cross section) of the pair of rail members 138 is substantially Type
- the convex guide rail 132 is caught from both sides of the convex guide rail.
- the engagement of the guide rail 132 and the track member 138 of a preferred embodiment in the upper portion is a dovetail slot type sliding fit; then the lower portion is a sliding fit of a rectangular cross section.
- the rotary slide assembly further includes a rail mount 137 that is rigidly coupled to the rail mount 134.
- the rail mount 137 includes side sections on the left and right sides (upper and lower sides of FIG. 4), and a middle section connecting the two side sections.
- the middle section is rigidly connected to the rail seat 134 (covered by the rail mount 137 in Figure 4, shown in Figure 5).
- the rotary slide assembly further includes a first fastener 135 that securely couples the rail mount 137 and the rail mount 134 together.
- the first fastener 135 is a bolt having a shank that is tightened by rotating the shank to the rail mount 137.
- the rotating slide assembly further includes two second fasteners 139 respectively located on the left and right sides of the main body panel 100 (upper and lower sides of FIGS. 4 and 5)
- the rail mount 137 is securely coupled to the proximal platform of the robot (not shown, to the right of Figures 3-5).
- the proximal end of the robot is rigidly coupled to the rail seat 134 by means of the first fastener 135 and the second fastener 139.
- the rotation of the slide rail 132 in the rail seat 134 corresponds to the rotation of the proximal platform of the robot relative to the main body panel 100 in the horizontal plane.
- a femoral reduction procedure often requires adjustment of the patient's hip and leg horizontal angles.
- the patient's buttocks are placed on the body panel 100 of the distal platform and the legs are placed on the leg rests on the proximal platform of the robot, at which point the proximal platform can be opposed to Rotation of the body panel 100 provides the ability to adjust the horizontal orientation of the patient's legs.
- the docking member mounting portion includes four docking member mounts 122, and the four mounts 122 are located on the left and right sides of the main body panel 100 (upper and lower sides of FIG. 4) and Symmetrical arrangement.
- two mounts 122 on each side correspond to two side rail mounting posts 80 (shown in Figure 4) on respective sides of the robotic docking member to rigidly connect the body panel 100 with the docking member.
- the distal end platform of the robot further includes a perineal column mounting hole 110 on the left and right sides of the proximal side of the main body panel 100, and a perineal column having a perineal tray 114 112 is mounted on the perineal column mounting hole 110.
- a perineal column mounting hole 110 is provided on both the left and right sides, and the patient's left or right leg can be selected to be placed above by attaching the female column 112 to either side mounting hole 110.
- the height of the perineal column 112 can be adjusted, and the orientation in the horizontal plane of the perineal tray 114 can also be adjusted.
- the rails can be ultimately rigidly coupled to the proximal platform, while the rail seats are rigidly coupled to the body panels of the distal platform of the present invention.
- the track may be more than just two sections of rails formed by two pairs of track members, but a larger continuous arc (eg, an integral 120 degree arc segment) or even a full circular track.
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Abstract
Description
本发明涉及机器人的远端平台，尤其是一种在骨科手术中使用的复位机器人的远端平台。The present invention relates to a distal platform for a robot, and more particularly to a distal platform for a resetting robot used in orthopedic surgery.
随着机器人技术的发展，在修复骨折的手术特别是长骨骨科手术中，出现了将机器人应用于其中的趋势。With the development of robotics, there has been a trend in the application of robots in the repair of fractures, especially in long bone orthopedic surgery.
参考图1和图2，其为CN2566828Y的附图，分别示出其公开的牵引架的侧视图和俯视图。该现有技术公开一种用于骨科手术的牵引架。所述牵引架包括臀板组件、搁腿架组件、牵引器组件。臀板4的前端设置有软柱7，底座1下方置有两个定向轮15，其两端分别连接于小横柱9和大横柱10。小横柱9上设有腿托柱11和腿托管12。大横柱10与牵引柱14相连，牵引柱14的上端与牵引管16连接，牵引管16的上方置有牵引器17。Referring to Figures 1 and 2, which are drawings of CN2566828Y, side and top views, respectively, of the disclosed traction frame are shown. This prior art discloses a traction frame for orthopedic surgery. The traction frame includes a hip plate assembly, a leg rest assembly, and a tractor assembly. The front end of the
使用时，该牵引架被推进手术台，将底座1的小圆管柱3的侧面的拉钩6挂在手术台的导轨支撑柱上，踩下万向刹车轮8的刹车将牵引架固定。通过旋松手柄22、23、24、25、26，可以调节臀板4的高度以及与手术台的距离、腿托19与臀板4的距离以及腿托19的高度。手柄21和手柄28、29则用于调节牵引器17与腿托19的距离，以及牵引器17的高度。In use, the traction frame is pushed into the operating table, and the
作为与手术台配合使用的器械，上述现有技术的牵引架可提供对患者的臀部及腿部位置的调节能力。但在将机器人应用到骨科手术中时，上述牵引架不能以简单高效的方式为骨科机器人提供一个远端平台，让患者的臀部角度在这个远端平台上可以调节。As an instrument for use with an operating table, the prior art traction frame provides the ability to adjust the position of the patient's buttocks and legs. However, when applying the robot to orthopedic surgery, the above-described traction frame cannot provide a distal platform for the orthopaedic robot in a simple and efficient manner, so that the patient's hip angle can be adjusted on the distal platform.
因此，存在这样的需要，即，为骨科手术中能够使用的机器人提供一个远端平台，在这个远端平台上患者的臀腿角度可以调节。Therefore, there is a need to provide a distal platform for a robot that can be used in orthopedic surgery, on which the patient's hip-leg angle can be adjusted.
发明内容Summary of the invention
有鉴于此，本发明的目的是提出一种机器人的远端平台，通过这个远端平台上患者的臀腿角度可以调节。In view of this, it is an object of the present invention to provide a distal platform for a robot through which the angle of the hips of the patient can be adjusted.
为实现上述目的，本发明提供一种机器人的远端平台，其在近端侧与机器人的近端平台连接并在远端侧通过对接件与手术床连接，所述远端平台包括：主体板；位于所述主体板两侧的对接件安装部，所述对接件安装在所述对接件安装部上；位于所述 主体板下侧的旋转滑轨组件，通过所述旋转滑轨组件所述主体板能够在水平面内相对于所述近端平台旋转。To achieve the above object, the present invention provides a distal platform of a robot that is coupled to a proximal end platform of a robot on a proximal end side and to a surgical bed on a distal end side by a docking member, the distal platform comprising: a main body panel a docking member mounting portion on both sides of the main body panel, the docking member is mounted on the docking member mounting portion; A rotating rail assembly on the underside of the body panel through which the body panel is rotatable relative to the proximal platform in a horizontal plane.
与现有技术的牵引架相比，本发明机器人的远端平台在能够与手术床对接的机器人系统中提供对患者的臀腿角度调节能力。The distal platform of the robot of the present invention provides the ability to adjust the hip-leg angle of the patient in a robotic system capable of docking with the operating bed as compared to prior art traction frames.
参考附图和说明书可以更好地理解本发明。附图中的部件不一定按比例绘制，其用意仅在于阐明本发明的原理。在附图中：The invention may be better understood by reference to the drawings and specification. The components in the figures are not necessarily drawn to scale, and are intended to illustrate the principles of the invention. In the drawing:
图1和图2为现有技术的牵引架的侧视图和俯视图；1 and 2 are side and top views of a prior art traction frame;
图3为根据本发明的一个实施例的机器人的远端平台的上方看到的立体图；Figure 3 is a perspective view of the top of the distal platform of the robot as seen in accordance with one embodiment of the present invention;
图4为根据本发明的一个实施例的机器人的远端平台的下方看到的立体图；4 is a perspective view of a lower end of a robot's distal platform in accordance with an embodiment of the present invention;
图5为根据本发明的一个实施例的机器人的远端平台的的下方看到的立体图，其中去除了轨座架以露出轨座和导轨；Figure 5 is a perspective view, seen below, of the distal platform of the robot in accordance with one embodiment of the present invention, with the rail mount removed to expose the rail seat and the rail;
图6为根据本发明的一个实施例的机器人的远端平台的轨座和导轨的立体图；6 is a perspective view of a rail seat and a rail of a distal platform of a robot in accordance with an embodiment of the present invention;
图7为根据本发明的一个实施例的机器人的远端平台的轨座和导轨的侧视图。7 is a side elevational view of a rail mount and rail of a distal platform of a robot in accordance with one embodiment of the present invention.
下面的说明涉及根据本发明的一个实施例的一种机器人的远端平台。参考图3和图4，其分别示出所述远端平台的从上方看到的立体图和从下方看到的立体图。如图所示，所述远端平台在近端侧(图3的右侧)与机器人的近端平台连接并在远端侧(图3的左侧)通过对接件与手术床连接。作为示例，所述机器人为长骨特别是股骨骨折复位使用的复位机器人。所述远端平台包括：主体板100；位于所述主体板100两侧的对接件安装部，所述对接件安装在所述对接件安装部上；位于所述主体板100下侧的旋转滑轨组件，通过所述旋转滑轨组件所述主体板100能够在水平面内相对于近端平台旋转。The following description relates to a remote platform of a robot in accordance with one embodiment of the present invention. Referring to Figures 3 and 4, there are shown perspective views of the distal platform as seen from above and perspective views from below, respectively. As shown, the distal platform is coupled to the proximal platform of the robot on the proximal side (on the right side of Figure 3) and to the surgical bed on the distal side (left side of Figure 3) through the docking member. As an example, the robot is a resetting robot used for the reduction of long bones, particularly femur fractures. The distal platform includes: a
通过装有对接件安装部，所述远端平台能够和机器人的近端平台连接。通过装有旋转滑轨组件，当患者的躯干部置于手术床时，患者的臀部可以放在主体板上，而腿部放在近端平台的腿托上。此时，由于近端平台可以相对于远端平台在水平面内旋转，患者的腿可以在水平方向旋转一定角度。因此，本发明的机器人的远端平台可以满足骨科手术时经常需要的臀腿角度调节要求，后者在股骨骨折复位时尤其需要。The distal platform can be coupled to the proximal platform of the robot by having a docking station mounting portion. By having a rotating slide assembly, when the patient's torso is placed on the operating bed, the patient's buttocks can be placed on the main body and the legs placed on the leg rest of the proximal platform. At this point, since the proximal platform can be rotated in a horizontal plane relative to the distal platform, the patient's legs can be rotated a certain angle in the horizontal direction. Thus, the distal platform of the robot of the present invention can meet the hip and leg angle adjustment requirements that are often required during orthopedic surgery, which is particularly desirable for femoral fracture reduction.
参考图5，示出根据本发明一个实施例的机器人的远端平台的仰视立体图。优选地，其中所述旋转滑轨组件包括弧形导轨132和具有弧形轨道的轨座134。作为示例，弧形导轨132上有多个安装柱对应主体板100的多个安装孔，从而导轨132被安装到主体板100的下侧。轨座134位于导轨132的下侧，提供弧形轨道让主体板100转动。
Referring to Figure 5, a bottom perspective view of a distal platform of a robot in accordance with one embodiment of the present invention is shown. Preferably, wherein the rotating slide assembly comprises an
参考图6，其示出根据本发明一个实施例的机器人的远端平台的旋转滑轨组件的立体图。如图所示，优选地，所述轨座134包括轨座板136和安装在所述轨座板136上的在所述导轨132两侧的成对轨道构件138。作为示例，轨座板136为矩形板，而成对的轨道构件138共计为两对，图6中的附图标记138指示出左侧的那一对轨道构件。Referring to Figure 6, a perspective view of a rotating slide assembly of a distal platform of a robot in accordance with one embodiment of the present invention is shown. As shown, preferably, the rail seat 134 includes a
参考图7，其示出根据本发明一个实施例的机器人的远端平台的旋转滑轨组件的导轨与轨道的配合。如图所示，优选地，所述导轨132的截面为凸型，所述成对轨道构件138的形成的内侧截面(轨道截面)为大体的
参考图4，优选地，所述旋转滑轨组件还包括轨座架137，所述轨座架137刚性连接到所述轨座134。作为示例，所述轨座架137包括位于左右两侧的侧段(图4的上下两侧)，以及连接所述两个侧段的中段。所述中段刚性连接到所述轨座134(在图4中被轨座架137遮盖，在图5中示出)。Referring to FIG. 4, preferably, the rotary slide assembly further includes a
参考图4至图6，优选地，所述旋转滑轨组件还包括第一紧固件135，其将所述轨座架137和所述轨座134紧固地连接在一起。作为示例，所述第一紧固件135为具有转柄的螺栓，通过转动转柄，将轨座架137与轨座134顶紧。Referring to FIGS. 4-6, preferably, the rotary slide assembly further includes a
参考图4和图5，优选地，所述旋转滑轨组件还包括两个第二紧固件139，其分别位于所述主体板100的左右两侧(图4和图5的上下两侧)，将所述轨座架137紧固地连接到所述机器人的所述近端平台(未示出，在图3-5的右侧)。Referring to FIGS. 4 and 5, preferably, the rotating slide assembly further includes two
由此，在主体板100与滑轨132刚性连接的同时，借助于第一紧固件135和第二紧固件139，机器人的所述近端平台与轨座134刚性连接。因此滑轨132在轨座134中的转动，对应为机器人的近端平台在水平面内相对于主体板100的转动。Thus, while the
作为示例，股骨复位手术时经常要求患者的臀部和腿部的水平角度可调节。当使用本发明上述实施例的远端平台时，患者的臀部放在远端平台的主体板100上而腿部放在机器人的近端平台上的腿托上，此时近端平台可相对于主体板100旋转，就提供了患者的腿部的水平方位调节能力。As an example, a femoral reduction procedure often requires adjustment of the patient's hip and leg horizontal angles. When using the distal platform of the above-described embodiments of the present invention, the patient's buttocks are placed on the
参考图4和图5，优选地，所述对接件安装部包括四个对接件安装座122，所述四个安装座122位于所述主体板100左右两侧(图4的上下两侧)且对称布置。作为示例，每侧的两个安装座122对应所述机器人对接件的相应侧的两个边轨安装柱80(图4中示出)，从而将主体板100与对接件刚性连接。Referring to FIG. 4 and FIG. 5, preferably, the docking member mounting portion includes four
参考图3-5，优选地，根据一个实施例的机器人的远端平台，还包括位于所述主体板100的近端侧的左右两侧的会阴柱安装孔110，具有会阴托114的会阴柱112安装在所述会阴柱安装孔110上。
Referring to FIGS. 3-5, preferably, the distal end platform of the robot according to one embodiment further includes a perineal
当用于股骨的骨折复位时，所述具有会阴托114的会阴柱112会卡住患者的胯部。在左右两侧均提供会阴柱安装孔110，可以通过将会阴柱112安装在任一侧安装孔110上而选择将患者的左腿或右腿置于上方。此外，会阴柱112的高度可以调整，会阴托114的水平面内方位也可以调整。When the fracture for the femur is reset, the
上面给出的各实施例，无疑可有各种变型和增减。例如，导轨可以最终和近端平台刚性连接，而轨座与本发明远端平台的主体板刚性连接。轨道可以不仅仅是两对轨道构件形成的两段轨道，而是一个较大的连续弧形(例如一体的120度弧形段)甚至完整圆形的轨道。There are undoubtedly various variations and additions and subtractions to the various embodiments given above. For example, the rails can be ultimately rigidly coupled to the proximal platform, while the rail seats are rigidly coupled to the body panels of the distal platform of the present invention. The track may be more than just two sections of rails formed by two pairs of track members, but a larger continuous arc (eg, an integral 120 degree arc segment) or even a full circular track.
尽管已经公开多个示例性实施例，但是本领域技术人员将理解，在不偏离本发明的精神和保护范围的情况下，可做出各种改变和改进，并可适当地替代执行相同功能的部件。应注意，参考一个附图说明的特征可以与其他附图的特征组合起来，即使未明确提及。 Although a plurality of exemplary embodiments have been disclosed, it will be understood by those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention component. It should be noted that features illustrated with reference to one figure may be combined with features of other figures, even if not explicitly mentioned.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/110487 WO2019090704A1 (en) | 2017-11-10 | 2017-11-10 | Robotic distal platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/110487 WO2019090704A1 (en) | 2017-11-10 | 2017-11-10 | Robotic distal platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2019090704A1 true WO2019090704A1 (en) | 2019-05-16 |
Family
ID=66437460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2017/110487 Ceased WO2019090704A1 (en) | 2017-11-10 | 2017-11-10 | Robotic distal platform |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2019090704A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB699611A (en) * | 1952-08-15 | 1953-11-11 | Robert Schranz | Improvements in hand drills particularly for surgeons' use |
| CN104274266A (en) * | 2013-09-28 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Full-automatic orthopaedic traction robot |
| CN104799922A (en) * | 2015-03-30 | 2015-07-29 | 北京航空航天大学 | Robot-aided pelvis restoration system |
| CN105853186A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Massage robot for treating cervical spondylosis of department of orthopaedics |
| CN105877960A (en) * | 2016-05-18 | 2016-08-24 | 浙江中医药大学附属第三医院 | Auxiliary device of combined lower limb orthopedic operation traction bed |
| CN107736928A (en) * | 2017-11-10 | 2018-02-27 | 威海威高骨科手术机器人有限公司 | The remote platform of robot |
-
2017
- 2017-11-10 WO PCT/CN2017/110487 patent/WO2019090704A1/en not_active Ceased
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB699611A (en) * | 1952-08-15 | 1953-11-11 | Robert Schranz | Improvements in hand drills particularly for surgeons' use |
| CN104274266A (en) * | 2013-09-28 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Full-automatic orthopaedic traction robot |
| CN104799922A (en) * | 2015-03-30 | 2015-07-29 | 北京航空航天大学 | Robot-aided pelvis restoration system |
| CN105853186A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Massage robot for treating cervical spondylosis of department of orthopaedics |
| CN105877960A (en) * | 2016-05-18 | 2016-08-24 | 浙江中医药大学附属第三医院 | Auxiliary device of combined lower limb orthopedic operation traction bed |
| CN107736928A (en) * | 2017-11-10 | 2018-02-27 | 威海威高骨科手术机器人有限公司 | The remote platform of robot |
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