CN106943662B - Miniature driving device for interventional operation - Google Patents
Miniature driving device for interventional operation Download PDFInfo
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- CN106943662B CN106943662B CN201710296189.7A CN201710296189A CN106943662B CN 106943662 B CN106943662 B CN 106943662B CN 201710296189 A CN201710296189 A CN 201710296189A CN 106943662 B CN106943662 B CN 106943662B
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- gear
- pressing wheel
- shaft
- frame
- pinch roller
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Anesthesiology (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Robotics (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a micro driving device for interventional operation, wherein a power input part is internally and fixedly connected with a feeding shaft, the feeding shaft is connected to a supporting frame through a bearing part, a driving bevel gear is connected with the feeding shaft, a reversing gear frame is connected with the supporting frame, two symmetrically arranged reversing gear sets are arranged on the reversing gear frame, and the driving bevel gear is respectively meshed with the two reversing gear sets; the both ends of compressing tightly the wheel subassembly rotate respectively to be connected at the head end that compresses tightly the wheel carrier, the both ends of transmission shaft rotate respectively to be connected at the end that compresses tightly the wheel carrier, the power input end and the transmission shaft linkage of driving medium, the power output end and the compressing tightly wheel subassembly linkage of driving medium, the last transmission shaft connection of compressing tightly the wheelset is corresponding reversing gear group output. Realizing the functions of rotation and feeding. Can effectively eliminate or reduce the catheter rotation and slippage phenomenon in the manual catheter interventional therapy process.
Description
Technical Field
The invention relates to a driving piece for driving a catheter in a medical instrument, in particular to a micro driving device for interventional operation.
Background
The catheter intervention treatment is suitable for the treatment process of some diseases such as heart or cancer. In the catheter intervention treatment, a catheter needs to be delivered into a patient, and the reliability and accuracy of catheter delivery are very important. The catheter delivery methods currently in common use are manually entered by the physician, which places high demands on the operator's skill and dexterity.
If use conventional pinch roller, do not have drive function, generally only play the supporting role, lean on action wheel and pinch roller to compress tightly, carry the pipe through frictional force, perhaps one side drive, one side compresses tightly, and the phenomenon of skidding is difficult to avoid in the whole use, and the stationarity is poor.
The catheter and the like may need to be rotated due to different use conditions in the conveying process, the feeding is stopped when common manual operation is performed, the rotating operation is performed firstly, then the feeding action is realized, the requirement on the operation technology of people is high, and meanwhile, the risk of the operation is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a miniature driving device for interventional operation, which can ensure stable and effective transmission.
The invention is realized by the following technical scheme that the invention comprises a feeding wheel assembly and a conveying piece;
the feeding wheel assembly comprises a feeding shaft, a power input part, a supporting frame, a driving bevel gear and a reversing gear frame; the power input part is internally and fixedly connected with a feed shaft, the feed shaft is connected to the supporting frame through a bearing piece, the driving bevel gear is connected with the feed shaft, the reversing gear frame is connected with the supporting frame, two symmetrically arranged reversing gear sets are arranged on the reversing gear frame, and the driving bevel gear is respectively meshed with the two reversing gear sets;
the conveying part comprises two groups of pressing wheel sets, objects to be conveyed are clamped between the two groups of pressing wheel sets, each group of pressing wheel sets comprises a transmission part, a transmission shaft part and at least one pressing wheel mechanism, each pressing wheel mechanism comprises a pressing wheel assembly and a pressing wheel frame, the two ends of each pressing wheel assembly are respectively rotatably connected to the head ends of the pressing wheel frames, the two ends of each transmission shaft part are respectively rotatably connected to the tail ends of the pressing wheel frames, the power input end of the transmission part is linked with the transmission shaft part, the power output end of the transmission part is linked with the pressing wheel assemblies, the objects to be conveyed are clamped between the pressing wheel mechanisms in the two groups of pressing wheel sets, the head ends of the pressing wheel frames are pressed to the objects to be conveyed, and the transmission shaft parts on the pressing wheel sets are connected with corresponding reversing gear set output ends.
The driving device further comprises a rotating wheel assembly, the rotating wheel assembly comprises a supporting sleeve, a rotating power end and a rotating shaft, the rotating power end is fixed on the supporting sleeve, and the supporting sleeve is connected to a conveying outlet of the conveying piece. The requirement of rotation can be satisfied while the transmission is carried out.
The rotating wheel assembly further comprises an outlet sheath, the outlet sheath sequentially penetrates through the rotating shaft, the rotating power end and the supporting sleeve, and a channel used for outputting pipeline objects to be transmitted is arranged in the outlet sheath.
The pinch roller mechanism has two, and two pinch roller mechanisms symmetry sets up, the driving medium has a power input end and two power take off ends, and two power take off ends's transmission direction is the same, the power take off end of driving medium links with the pinch roller subassembly that corresponds respectively, the end-to-end connection of the last pinch roller frame of two pinch roller mechanisms is in the same place, be equipped with the elastic component between two pinch roller frames.
The pressing wheel frame is of a frame structure, a clamping opening used for clamping the elastic piece is formed in the top of the frame structure, an opening is formed in the bottom of the frame structure, the pressing wheel assembly is located in the frame structure and protrudes out of the opening in the bottom of the frame structure, the head end of the frame structure is rotatably connected with the pressing wheel assembly, and the tail end of the frame structure is rotatably connected with the end of the transmission shaft.
The transmission part is a gear transmission part which comprises a driving gear and two driven gears, the driving gear is meshed with the two driven gears respectively, the driving gear is linked with the transmission shaft part, and the two driven gears are linked with the pinch roller assembly respectively.
The pressing wheel assembly comprises a pressing wheel core, a wheel shaft and a pressing wheel rim, the pressing wheel rim is sleeved on the pressing wheel core, the end part of the pressing wheel core is connected with the power output end of the transmission part, and the pressing wheel core is sleeved at the head end of the pressing wheel frame through a wheel shaft.
The conveying piece further comprises a transition gear set, the transition gear set comprises a first gear and a second gear, the first gear is meshed with the output end of the reversing gear set and the second gear respectively, and the second gear is fixed on the transmission shaft piece.
Each reversing gear set comprises a driven bevel gear and an output gear, the driven bevel gear and the output gear are concentrically fixed, and the driven bevel gears on the two reversing gear sets are respectively meshed with the driving bevel gear.
The feeding wheel assembly further comprises an inlet sheath, the inlet sheath sequentially penetrates through the feeding shaft, the driving bevel gear and the reversing gear carrier, and a channel for the pipeline object to be transmitted to enter is formed in the inlet sheath.
Compared with the prior art, the invention has the following advantages: the invention adopts the driving device with the functions of rotation and feeding, can effectively eliminate or reduce the catheter rotation and slipping phenomenon in the process of catheter interventional therapy only manually, reduces the difficulty of doctor operation and the time of medical operation, and all transmission parts adopt gears, can strictly control the transmission precision, ensures that the whole transmission process can strictly match with the operation requirement, and has high precision and stable transmission.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded schematic view;
FIG. 3 is an exploded schematic view of the feed wheel assembly;
FIG. 4 is a schematic structural view of the reversing gear set;
FIG. 5 is an exploded schematic view of the transport member;
FIG. 6 is a schematic view of the pressing wheel set;
FIG. 7 is a schematic diagram of a pinch roller mechanism of the pinch roller assembly of the present invention;
FIG. 8 is a schematic view of another pinch roller mechanism of the pinch roller assembly of the present invention;
FIG. 9 is a schematic structural view of a pinch roller assembly;
fig. 10 is an exploded schematic view of the rotary wheel assembly.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1 and 2, the present embodiment includes a feed wheel assembly 1, a conveying member 2, and a rotating wheel assembly 3, which are arranged in this order.
As shown in FIGS. 3 and 4, the feed wheel assembly 1 of the present embodiment includes a feed shaft 11, a spur gear 12, a support bracket 13, a drive bevel gear 14, and a reversing gear bracket 15; fixedly connected feed shaft 11 in the spur gear 12, feed shaft 11 passes through feed bearing spare 16 and connects on supporting rack 13, drive bevel gear 14 connects feed shaft 11, reversing gear carrier 15 is connected with supporting rack 13, be equipped with the reversing gear set 151 that two symmetries set up on the reversing gear carrier 15, drive bevel gear 14 meshes with two reversing gear set 151 respectively.
The power input part of the embodiment adopts the spur gear 12, and can drive the feed shaft 11 to synchronously rotate by the spur gear 12 under the action of single external driving force.
The spur gear 12 of the present embodiment is connected to the feed shaft 11 by a flat groove structure. Other embodiments may use a flat key or spline configuration for the connection.
Each reversing gear set 151 comprises a driven bevel gear 152, an output gear 153 and an inlet sheath 19, wherein the driven bevel gear 152 and the output gear 153 are concentrically fixed, and the driven bevel gears 152 on the two reversing gear sets 151 are respectively meshed with the driving bevel gear 14.
The driven bevel gear 152 is driven by the driving bevel gear 14, and then drives the output gear 153 to rotate, thereby outputting a driving force parallel to the feed shaft 11.
The driving bevel gear 14 of the present embodiment is fixed to the feed shaft 11 by a countersunk screw 17. The reversing gear carrier 15 of this embodiment is connected to the support carrier 13 by socket head cap screws 18.
The reversing gear carrier 15 of the present embodiment is provided with a positioning through groove for holding two reversing gear sets 151, and the reversing gear sets 151 are connected to the positioning through groove by a pin 54. One input of the driving bevel gear 14 enables the driven bevel gear 152 to output two forces of opposite directions but of the same rotational speed and torque.
The inlet sheath 19 penetrates through the feed shaft 11, the driving bevel gear 14 and the reversing gear rack 15 in sequence, and objects to be conveyed are loaded in the inlet sheath 19. The inlet sheath 19 is connected to the feed shaft 11 via a feed bearing member 16. A limiting clamp spring 191 is arranged between the inlet sheath 19 and the feeding bearing piece 16. Can realize spacing fixed. The feed bearing member 16 of the present embodiment includes a connecting bearing 161 and a bearing pad 162.
When the working of the embodiment, the spur gear 12 rotates to drive the driving bevel gear 14 to rotate through the feed shaft 11, the driving bevel gear 14 and the two driven bevel gears 152 rotate in a matching manner, because the two driven bevel gears 152 are symmetrically arranged, the rotating speeds are consistent and the rotating directions are opposite, then the driven bevel gears 152 drive the corresponding output gears 153 to rotate, and the rotating speeds and the rotating directions of the two output gears 153 are consistent and opposite, thereby facilitating the transmission of a conveying element.
As shown in fig. 5 to 9, the conveying element of this embodiment includes two sets of pressing wheel sets, a housing 29 and a cover plate assembly 291, the housing 29 covers the pressing wheel sets, a channel for conveying the pipeline object 4 is formed on the housing 29, the cover plate assembly 291 is fixed outside the housing 29, and the housing 29 and the cover plate assembly 291 play a role of sealing and supporting; the two sets of pinch roller sets up from top to bottom, centre gripping pipeline object 4 between two sets of pinch roller sets, every pinch roller set of group includes driving medium 23, transmission shaft spare 24 and two pinch roller mechanisms, and two pinch roller mechanism symmetries set up, every pinch roller mechanism includes pinch roller subassembly 21 and pinch roller frame 22, the head end of connection at pinch roller frame 22 is rotated respectively at pinch roller subassembly 21's both ends, driving medium 23 has a power input end and two power output end, and two power output end's direction of transmission is the same, the power output end of driving medium 23 links with corresponding pinch roller subassembly 21 respectively, the end-to-end connection of pinch roller frame 22 on two pinch roller mechanisms is in the same place, be equipped with elastic component 25 between two pinch roller frames 22, the elastic component 25 of this embodiment is compression state's spring.
The transport element of the present exemplary embodiment also has a transition gear set 26, which includes a first gear 261 and a second gear 262, the first gear 261 being in mesh with the output gear 153 and the second gear 262, respectively, and the second gear 262 being fixed to the drive shaft 24 by means of a transition bearing 293.
In this embodiment, the cover plate assembly 291 is attached to the housing 29 by screws 292.
In other embodiments, two sets of pressing wheel sets can be arranged on the left and the right.
In the embodiment, two pinch roller mechanisms are adopted, the elastic member 25 is compressed between the two pinch roller frames 22, and the elastic member 25 causes the pinch roller frames 22 to rotate downwards around the transmission shaft member 24 due to the restoring force generated by the compression, so that the whole pinch roller assembly 21 is pressed on the object to be conveyed. The self-expansion function can be realized.
The pressing wheel frame 22 of this embodiment is a frame structure, a clamping opening for clamping the elastic part 25 is formed in the top of the frame structure, an opening is formed in the bottom of the frame structure, the pressing wheel assembly 21 is located in the frame structure and protrudes from the opening in the bottom of the frame structure, the head end of the frame structure is rotatably connected with the pressing wheel assembly 21, and the tail end of the frame structure is rotatably connected with the end of the transmission shaft.
The transmission member 23 of the present embodiment is a gear transmission member, and the gear transmission member includes a driving gear 231 and two driven gears 232, the driving gear 231 is respectively engaged with the two driven gears 232, the driving gear 231 is linked with the transmission shaft member 24, and the two driven gears 232 are respectively linked with the compacting wheel assembly 21. The gear transmission is stable and consistent, the power input of one driving gear 231 can be realized, and the two driven gears 232 are driven in the same direction, so that the object to be transmitted is output in a moving mode.
The pressing wheel assembly 21 of this embodiment includes a pressing wheel core 211, a wheel shaft 212 and a pressing wheel rim 213, the pressing wheel rim 213 is sleeved on the pressing wheel core 211, an end of the pressing wheel core 211 is connected with a driven gear 232, and the pressing wheel core 211 is sleeved on a head end of the pressing wheel frame 22 through the wheel shaft 212.
The pressing rim 213 of this embodiment is interference-fitted on the pressing hub 211. An adhesive may be applied between the pressing rim 213 and the pressing core 211 to increase the coupling force.
The pressing wheel core 211 of this embodiment is a hollow structure, the wheel shaft 212 penetrates into the hollow structure of the pressing wheel core 211, and the end of the wheel shaft 212 is limited at the head end of the pressing wheel frame 22 through the pad 27 and the limiting clamp spring 28. The limit adjustment is performed by the cushion 27 and the limit circlip 28.
The transmission shaft member 24 comprises a pressing rotating shaft and a bearing shaft sleeve; the compressing rotating shaft is axially matched with the driving gear 231, the compressing rotating shaft penetrates into a bearing shaft sleeve, and the bearing shaft sleeve is connected to the tail end of the compressing wheel frame 22.
The transmission shaft member 24 of the present embodiment includes a pressing rotation shaft 241 and a bearing shaft set; the pressing rotating shaft 241 is sleeved in a bearing shaft sleeve, and the bearing shaft sleeve is connected to the tail ends of the two pressing wheel frames 22. The bearing shaft set comprises a pressing bearing 242, a pressing shaft sleeve 243 and a sliding bearing 244, wherein the pressing rotating shaft 241 is axially combined on the driving gear 231 through the pressing bearing 242, one end of the pressing shaft sleeve 243 is matched with the pressing bearing 242, and the other end of the pressing shaft sleeve 243 is connected to the pressing wheel frame 22 through the sliding bearing 244.
The two groups of pressing wheel sets generate pressing force by respective internal springs and are pressed mutually, the driving gear 231 rotates to drive the two driven gears 232 so as to drive the pressing wheel sets 21 on the corresponding pressing wheel sets to rotate, the four pressing wheel rims 213 are ensured to drive the pipeline object 4 to feed back and forth according to the operation requirement by controlling the rotating speed and the rotating direction of the driving gears 231 on the two groups of pressing wheel sets, the purpose of inputting fine tubular and linear objects is also achieved, and the two groups of pressing wheel sets are matched to ensure the input stability and the anti-slip effect.
As shown in fig. 10, the rotary wheel assembly 3 of the present embodiment includes a support sleeve 31, a rotary power end fixed to the support sleeve 31, a rotary shaft 33, and an outlet sheath 34, the support sleeve 31 being connected to a delivery outlet of the delivery member 2. The requirement of rotation can be satisfied while the transmission is carried out.
The rotating power end of the embodiment is a rotating gear 32, an outlet sheath 34 sequentially penetrates through the rotating shaft 33, the rotating gear 32 and the supporting sleeve 31, and a channel for outputting the pipeline object 4 is arranged in the outlet sheath 34.
The support sleeve 31 and the rotary gear 32 of the embodiment are connected together through an outlet screw 35, an outlet sheath 34 is screwed on the rotary shaft 33, a rotary bearing 36 and a rotary bearing sleeve 37 are arranged between the rotary shaft 33 and the outlet sheath 34, and the position is limited through a rotary snap spring 38.
The whole device is supported by the rotary bearing 36 and the connecting bearing 161, can rotate around the center, is driven by a motor and the like to rotate the straight gear 12, and drives the conveying part 2 to drive the pipeline object 4 to move back and forth by the feeding wheel component 1 to achieve the purpose of conveying the pipeline object 4; when the pipeline object 4 needs to rotate in use, the motor and the like drive the rotating gear 32 to drive the whole device to rotate through the rotating wheel assembly 3, and the rotating operation can finally drive the pipeline object 4 to rotate, so that the aim of rotating the pipeline object 4 is fulfilled.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. A micro-drive device for interventional procedures, comprising a feed wheel assembly and a delivery member;
the feeding wheel assembly comprises a feeding shaft, a power input part, a supporting frame, a driving bevel gear and a reversing gear frame; the power input part is internally and fixedly connected with a feed shaft, the feed shaft is connected to the supporting frame through a bearing piece, the driving bevel gear is connected with the feed shaft, the reversing gear frame is connected with the supporting frame, two symmetrically arranged reversing gear sets are arranged on the reversing gear frame, and the driving bevel gear is respectively meshed with the two reversing gear sets;
the conveying part comprises two groups of pressing wheel sets, objects to be conveyed are clamped between the two groups of pressing wheel sets, each group of pressing wheel sets comprise a transmission part, a transmission shaft part and at least one pressing wheel mechanism, each pressing wheel mechanism comprises a pressing wheel assembly and a pressing wheel frame, the two ends of each pressing wheel assembly are respectively rotatably connected to the head ends of the pressing wheel frames, the two ends of each transmission shaft part are respectively rotatably connected to the tail ends of the pressing wheel frames, the power input end of the transmission part is linked with the transmission shaft part, the power output end of the transmission part is linked with the pressing wheel assemblies, the objects to be conveyed are clamped between the pressing wheel mechanisms in the two groups of pressing wheel sets, the head ends of the pressing wheel frames are pressed to the objects to be conveyed, and the transmission shaft parts on the pressing wheel sets are connected with corresponding reversing gear set output ends.
2. The micro-drive device of claim 1, further comprising a rotating wheel assembly, wherein the rotating wheel assembly comprises a support sleeve, a rotating power end, and a rotating shaft, the rotating power end is fixed on the support sleeve, and the support sleeve is connected to the delivery outlet of the delivery member.
3. The micro-driving device for interventional procedures as defined in claim 2, wherein the rotating wheel assembly further comprises an outlet sheath, the outlet sheath sequentially penetrates through the rotating shaft, the rotating power end and the supporting sleeve, and a channel for outputting the pipeline object to be transmitted is arranged in the outlet sheath.
4. The micro-driving device for interventional operation as defined in claim 1, wherein the number of the pinch roller mechanisms is two, the two pinch roller mechanisms are symmetrically arranged, the transmission member has a power input end and two power output ends, the transmission directions of the two power output ends are the same, the power output ends of the transmission member are respectively linked with the corresponding pinch roller assemblies, the ends of the pinch roller frames on the two pinch roller mechanisms are connected together, and an elastic member is arranged between the two pinch roller frames.
5. The micro-driving device for interventional procedures as defined in claim 4, wherein the pinch roller frame is a frame structure, the top of the frame structure is provided with a clamping opening for clamping the elastic member, the bottom of the frame structure is provided with an opening, the pinch roller assembly is located in the frame structure and protrudes from the opening at the bottom of the frame structure, the head end of the frame structure is rotatably connected with the pinch roller assembly, and the tail end of the frame structure is rotatably connected with the end of the transmission shaft.
6. A micro-drive device for interventional procedures as in claim 4, wherein the transmission is a gear transmission comprising a driving gear and two driven gears, the driving gear is engaged with the two driven gears respectively, the driving gear is linked with the transmission shaft, and the two driven gears are linked with the pinch roller assembly respectively.
7. The micro-driving device for interventional procedures as defined in claim 4, wherein the pressing wheel assembly includes a pressing wheel core, a wheel shaft and a pressing wheel rim, the pressing wheel rim is sleeved on the pressing wheel core, the end of the pressing wheel core is connected with the power output end of the driving member, and the pressing wheel core is sleeved at the head end of the pressing wheel frame through a wheel shaft.
8. The micro-drive device of claim 4, wherein the delivery member further comprises a transition gear set, the transition gear set comprising a first gear and a second gear, the first gear being engaged with the output end of the reversing gear set and the second gear, respectively, the second gear being fixed to the transmission shaft.
9. A micro-actuator for interventional procedures as defined in claim 1, wherein each of the reversing gear sets includes a driven bevel gear and an output gear, the driven bevel gear and the output gear are concentrically fixed, and the driven bevel gears of the two reversing gear sets are respectively engaged with the driving bevel gear.
10. The micro-drive device for interventional procedures as defined in claim 1, wherein the feeding wheel assembly further includes an inlet sheath, the inlet sheath sequentially penetrates through the feeding shaft, the driving bevel gear and the reversing gear frame, and a passage for the pipeline object to be transported is provided in the inlet sheath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710296189.7A CN106943662B (en) | 2017-04-28 | 2017-04-28 | Miniature driving device for interventional operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710296189.7A CN106943662B (en) | 2017-04-28 | 2017-04-28 | Miniature driving device for interventional operation |
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| CN106943662A CN106943662A (en) | 2017-07-14 |
| CN106943662B true CN106943662B (en) | 2023-04-07 |
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| CN201710296189.7A Active CN106943662B (en) | 2017-04-28 | 2017-04-28 | Miniature driving device for interventional operation |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107376096B (en) * | 2017-09-04 | 2023-05-19 | 合肥美亚光电技术股份有限公司 | Pipeline conveying device |
| CN108096684B (en) * | 2017-11-28 | 2020-11-03 | 合肥美亚光电技术股份有限公司 | Drive device |
| CN108555927B (en) * | 2018-04-18 | 2020-06-02 | 张楠 | Continuously operating separating module and transmission device for columnar wires, pipes or lines |
| CN108853757A (en) * | 2018-08-01 | 2018-11-23 | 合肥中科离子医学技术装备有限公司 | A kind of structure for rotary frame inner rotation backboard |
| CN113926055B (en) * | 2021-10-27 | 2023-09-08 | 黄达 | Coronary heart disease interventional therapy guide wire traction device |
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| CN106943662A (en) | 2017-07-14 |
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