CN110559091B - Dental handpiece with auxiliary distance measuring and depth fixing functions - Google Patents
Dental handpiece with auxiliary distance measuring and depth fixing functions Download PDFInfo
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- CN110559091B CN110559091B CN201910935578.9A CN201910935578A CN110559091B CN 110559091 B CN110559091 B CN 110559091B CN 201910935578 A CN201910935578 A CN 201910935578A CN 110559091 B CN110559091 B CN 110559091B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C3/00—Dental tools or instruments
- A61C3/02—Tooth drilling or cutting instruments; Instruments acting like a sandblast machine
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
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Abstract
The invention relates to the technical field of dental equipment, in particular to a dental handpiece with a function of assisting in distance measurement and depth setting, which comprises a handpiece body, a distance measurement module, a control module and a communication module, wherein the handpiece body comprises a handpiece, a needle is arranged on the handpiece, the distance measurement module is used for detecting the distance from the handpiece to a tooth surface, and the control module is in signal connection with the communication module and the distance measurement module; the control module is used for calculating the depth of the cutting or tooth entering of the needle according to the detection result of the distance measuring module and sending the calculation result to the upper computer through the communication module. The dental handpiece with the auxiliary ranging and depth-fixing functions provided by the invention can rapidly and accurately indicate and determine the depth of the tip of the lathe needle for cutting or entering the dental tissue in complex dental treatments such as cavity preparation, root canal treatment, abutment preparation for fixing a prosthesis and the like, and provides a data base for precise dental operation guided by a digital technology.
Description
Technical Field
The invention relates to the technical field of dental equipment, in particular to a dental handpiece with a function of assisting in distance measurement and depth setting.
Background
In the common dental treatment such as cavity preparation, root canal treatment, post preparation, abutment preparation for fixing a prosthesis and the like, the accurate positioning of the length of the root canal treatment instrument entering the root canal or the determination of the depth of the grinding tooth tissue surface by a machine needle is often needed. In clinic, although the length or depth can be measured by means of an apical X-ray film, a root canal length measuring instrument or a silicon rubber guide plate, the length or depth still needs to be measured manually for many times by a doctor in operation, and the measurement is estimated by combining the experience of the doctor, so that the accurate and quick operation is not facilitated. Improper control of the operation depth in dental treatment often causes damage to apical dead center or lateral penetration of the root canal wall in root canal treatment, and causes unexpected pulp exposure and decreased resistance of the abutment in preparation for tooth restoration. Therefore, the accurate positioning of the depth of the endodontic instrument or the dental needle in the tooth tissue in the clinical operation is of great significance for improving the accuracy and reliability of the dental treatment.
In recent years, technologies such as a dental cone beam projection computer reconstruction tomography (CBCT) technology, a 3D oral scanning technology and the like are rapidly developed, a foundation is laid for application of a digital technology in oral clinical diagnosis and treatment, and formation and development of an oral full-course digital diagnosis and treatment concept including diagnosis design, guide plate manufacturing, clinical operation, postoperative evaluation and the like are promoted. The digital technology-guided dental precision treatment can obviously reduce the technical threshold of clinical operation, changes the diagnosis and treatment mode which excessively depends on doctor experience and operation hand feeling in the traditional technology, and is beneficial to reducing the occurrence of diagnosis and treatment complications. If the position and the depth of the car needle of the location dental handpiece that can be accurate in the tooth tissue, will provide accurate digital operation guide for the operator to show the precision that improves clinical operation, greatly reduced oral cavity clinical diagnosis's the degree of difficulty simultaneously. Therefore, there is a need for a method of positioning a needle that can be applied in the root canal of a tooth to solve the above problems.
Disclosure of Invention
The invention aims to provide a dental handpiece with a function of assisting distance measurement and depth setting, which can quickly and accurately position the depth of a cutting needle or the depth of the cutting needle entering a tooth in real time in clinical operation and provide a data base for dental precise operation guided by a digital technology.
In order to solve the technical problem, the present application provides the following technical solutions:
the dental handpiece with the auxiliary distance measuring and depth fixing functions comprises a handpiece body, a distance measuring module, a control module and a communication module, wherein the handpiece body comprises a handpiece on which a needle is arranged, the distance measuring module is used for detecting the distance from the handpiece to the tooth surface, and the control module is in signal connection with the communication module and the distance measuring module; the control module is used for calculating the depth of the cutting or tooth entering of the needle according to the detection result of the distance measuring module and sending the calculation result to the upper computer through the communication module.
According to the technical scheme, the distance measuring module is arranged on the handpiece of the dental handpiece, so that the distance between the handpiece and the tooth surface can be detected in real time, the depth of a lathe needle for cutting or entering a tooth is calculated, the position of the end part of the lathe needle can be positioned, data are sent to an upper computer through a communication module, data support is provided for accurate operation under the guidance of a digitization technology for cavity preparation, root canal therapy, abutment preparation for fixing a prosthesis and the like, the situations of accidental marrow exposure, apical dead center damage, root canal lateral penetration, root canal therapy instrument fracture and the like caused by inaccurate working length are effectively avoided, the accuracy and effectiveness of therapy are improved, and the success rate of complex dental therapy is improved.
Further, the distance measuring module is a laser distance measuring module. The laser ranging accuracy is high.
Furthermore, the mobile phone body is internally provided with an optical fiber, the handpiece is provided with a light through hole communicated with the optical fiber, the ranging module, the control module and the communication module are all independently arranged with the mobile phone body, and the laser transceiving end of the ranging module is connected with the optical fiber.
Some existing dental handpieces are provided with optical fiber channels, so that the distance measuring module, the control module and the communication module can be independently arranged relative to the dental handpieces, if the distance measuring module, the control module and the communication module are integrated on a device independently arranged with a handpiece body, then the light of the laser distance measuring module is conducted through optical fibers, and then the distance measuring module becomes an independent module, the existing dental handpieces can be matched, excessive transformation on the handpiece body is not needed, the cost is reduced, and the equipment universality is improved.
Further, the range finding module has a plurality ofly, be equipped with a plurality of light holes that lead to on the aircraft nose, control module judges the inclination of car needle through calculating the difference between each range finding module testing result, control module calculates the depth of car needle cutting or entering tooth according to the testing result of range finding module and the inclination of car needle, control module still is used for the testing result of the inclination of car needle to send to the host computer. Through setting up a plurality of clear apertures, the range finding is carried out to different positions department, in less within range, regards the flank of a tooth as a fixed plane, and then utilizes the distance of many places range finding to look for the inclination that can reachd cell-phone body and car needle, also can be based on the accurate degree of depth of calculation car needle cutting or entering tooth of the inclination of automobile body in reverse.
Further, the clear aperture is for predetermineeing the figure, the range finding module still includes image acquisition module, image acquisition module is used for gathering the shape that laser shines behind the tooth face, control module detects dental handpiece's inclination and the aircraft nose to the distance of tooth face according to the distortion condition of laser on tooth body tissue surface. And judging the inclination angle and the tooth surface distance of the dental handpiece through the distortion of the graph.
Further, still be equipped with gesture detection module on the cell-phone body, gesture detection module and control module signal connection, control module is used for detecting the inclination of car needle through gesture detection module, control module calculates the depth that the car needle cut or got into the tooth according to the testing result of range finding module and the inclination of car needle, control module still is used for sending gesture detection module's testing result to the host computer.
The inclination angle of the needle is detected through the attitude sensor, so that the deviation caused by the distance between the laser ranging module and the needle is offset, and the measurement is more accurate. The detection result of the attitude detection module is sent to the upper computer, so that the upper computer can acquire more comprehensive data, and a data base is further provided for digital accurate operation.
And the controller is electrically connected with the zero setting correction key, and after receiving a signal of the zero setting correction key, the controller calculates the length of the needle which is not cut or enters the tooth according to the detection result of the distance measurement module and the inclination angle of the needle and takes the length as the total length of the needle. And the length of the needle is automatically detected and calculated through the zero setting correction key.
Further, after the control module receives the signal of the zero setting correction key, the control module acquires data of the distance measurement module and the gesture detection module for multiple times, calculates the total length of the vehicle needle, and takes the average value of multiple calculation results as the total length of the vehicle needle.
And the average value of multiple detections and calculations is taken, so that the measurement result is more accurate.
Further, the control module comprises a timing module, when the total length of the vehicle needle is calculated each time, the control module judges whether the mobile phone body is stable or not through data of the distance measuring module or/and the posture detection sensor, the control module is used for recording the duration time for keeping the mobile phone body stable through the timing module, and the control module is used for collecting the detection result of the distance measuring module and the inclination angle of the vehicle needle and calculating the total length of the vehicle needle after the duration time is greater than a preset value. Whether the mobile phone body is stable is judged through the gesture detection module, whether detection is carried out is judged according to the stable duration, and then the operator can be ensured to carry out detection and calculation of the total length of the sewing needle after the gesture of the mobile phone is adjusted, and further the measuring result is more accurate.
Further, still be equipped with torque sensor on the aircraft nose, torque sensor is used for detecting the moment parameter that the car needle received, control module still is used for sending torque sensor's testing result to the host computer.
The torque parameters borne by the tip of the needle are measured and calculated through the torque sensor, so that the hardness parameters of the root canal wall contacted with the tip of the needle are measured and calculated, and data support is further provided.
Drawings
FIG. 1 is an isometric view of a dental handpiece embodiment of the present invention with an auxiliary range-finding depth-setting feature;
FIG. 2 is a logic diagram of a dental handpiece with an auxiliary range-finding and depth-fixing function according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a dental handpiece with an auxiliary distance measuring and depth setting function according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of a dental handpiece with an auxiliary distance measuring and depth fixing function according to a sixth embodiment of the invention.
Detailed Description
The following is further detailed by way of specific embodiments:
the reference numbers in the drawings of the specification include: the device comprises a machine body 1, a machine head 2, a machine needle 3, a laser ranging module 4, an illuminating lamp 5 and teeth 6.
Example one
As shown in fig. 1 and fig. 2, the dental handpiece with supplementary range finding depthkeeping function of this embodiment, including the cell-phone body, the cell-phone body includes aircraft nose 2 and fuselage 1, be equipped with car needle 3, ranging module and light 5 on the aircraft nose 2, ranging module is used for detecting the distance of aircraft nose 2 to 6 tooth surfaces of tooth, and in this embodiment, ranging module adopts laser rangefinder module 4, and in other embodiments of this application, ranging module also can adopt other range finding modes such as ultrasonic ranging.
A control module, a communication module and a posture detection module are arranged in the machine body 1, and the control module is in signal connection with the communication module, the posture detection module and the distance measurement module; the control module is used for calculating the depth of the cutting or entering the tooth 6 of the needle 3 according to the detection result of the distance measuring module and sending the calculation result to the upper computer through the communication module. The control module is used for detecting the inclination angle of the needle 3 through the gesture detection module, the control module calculates the depth of the needle 3 for cutting or entering the teeth 6 according to the detection result of the distance measurement module and the inclination angle of the needle 3, and the control module is also used for sending the detection result of the gesture detection module to the upper computer.
The detection process is shown in fig. 3, specifically, s represents the length of the needle 3 which does not go deep into the tooth 6, d represents the length of the needle 3 which has been cut or entered into the tooth 6, ds represents the total length of the needle 3, θ represents the inclination angle of the needle 3, the measurement result of the laser ranging module 4 is dm, and dl represents the distance between the laser ranging module 4 and the needle 3, then:
s＝dl*arctan(θ)+dm
d＝ds-s
in this embodiment, the communication module is a wireless communication module, specifically a bluetooth wireless communication module, and in other embodiments of the present application, the communication module may be an RS232 serial port communication module, an RS585 serial port communication module, an ethernet communication module, an optical fiber communication module, or the like. In this embodiment, the total length of the needle 3 is sent to the control module through the upper computer, and the control module sets a data value of the total length of the needle 3 after receiving a setting instruction of the upper computer. In other embodiments of the present application, the length of the needle 3 may be manually set by a button on the body 1. The attitude detection module comprises a gyroscope, and the control module is preferably a single chip microcomputer through the detection of the time angle of the gyroscope, and a corresponding software system runs on the single chip microcomputer to realize the functions of detection and transmission.
According to the technical scheme, the distance between the handpiece head 2 and the tooth surface of the tooth 6 can be detected in real time by arranging the distance measuring module on the handpiece head 2 of the dental handpiece, so that the depth of the needle 3 for cutting or entering the tooth 6 is calculated, the position of the end part of the needle 3 can be positioned, and data is sent to an upper computer through the communication module, so that data support is provided for accurate operation under the guidance of digital technologies such as pit preparation, root canal therapy, abutment preparation for fixing a prosthesis and the like, the situations of accidental marrow exposure, apical dead center damage, lateral root canal penetration, breakage of root canal therapy instruments and the like caused by inaccurate working length are effectively avoided, the accuracy and effectiveness of therapy are improved, and the success rate of the root canal therapy is improved.
Example two
The difference between this embodiment and the first embodiment is that, in this embodiment, a zero adjustment correction key is arranged on the machine body 1, the controller is electrically connected with the zero adjustment correction key, and after the controller receives a signal of the zero adjustment correction key, the controller calculates the length of the needle 3 which is not cut or enters the tooth 6 according to the detection result of the distance measurement module and the inclination angle of the needle 3, and uses the length as the total length of the needle 3. The length of the needle 3 is automatically detected and calculated through the zero setting correction key.
After the control module receives the signal of the zero setting correction key, data of the distance measurement module and the attitude detection module are obtained for multiple times, and the total length of the needle 3 is calculated. In other embodiments of the present application, the number of times of detection calculation may be set according to actual needs, and data obtained by a mode or using another algorithm may also be used as the total length of the needle 3 when the total length of the needle 3 is calculated.
EXAMPLE III
The difference between this embodiment and the second embodiment lies in that, in this embodiment, the gesture detection module includes accelerometer and gyroscope, and control module includes timing module, and when calculating 3 total lengths of car needles at every turn, control module passes through gesture detection sensor's data and judges whether the cell-phone body is stable, and is concrete, whether data rate of change and the range of change according to accelerometer are in presetting the scope, if then the cell-phone body is steady, otherwise think that the current cell-phone body is in the mobile state. The control module is used for recording the duration of the stability of the mobile phone body through the timing module, the control module is used for collecting the detection result of the distance measuring module and the inclination angle of the needle 3 and calculating the total length of the needle 3 after the duration is greater than a preset value, and the control module is further used for storing the detection result and the calculation result of the distance measuring module and the gesture detection module at each time. Whether the mobile phone body is stable is judged through the gesture detection module, whether detection is carried out is judged according to the stable duration, and then the operator can be ensured to carry out detection and calculation of the total length of the needle 3 after the gesture of the mobile phone is adjusted, and further the measuring result is more accurate.
In this embodiment, the control module further includes an angle difference detection module, the angle difference detection module is used for obtaining data of the distance measurement module and the posture detection module each time and calculating the total length of the needle 3, and determining whether the angle of the needle 3 at the present time is changed greatly in comparison with the previous detection, that is, determining whether the angle difference between the angle of the needle 3 at the present time and the angle of the needle 3 at the previous time is greater than a preset value, if so, determining to be effective detection, if not, determining to be invalid detection, and through such setting, the user can detect the total length of the needle 3 from a plurality of angles, so as to realize detection and recording of a plurality of angles, and improve the accuracy.
Example four
The difference between the first embodiment and the second embodiment is that the machine head 2 is further provided with a torque sensor, the torque sensor is used for detecting torque parameters borne by the needle 3, the control module is further used for sending detection results of the torque sensor to the upper computer, the control module can also calculate hardness of the root canal wall according to the torque parameters, and hardness data are sent to the upper computer. The moment sensor adopts the current popular MEMS sensor technology, and the control module measures and calculates the current root canal wall hardness according to a comparison table of the moment and the root canal wall hardness; the comparison table can be imported from the outside or formed by sampling tests on a large number of isolated teeth. Be equipped with LED light 5 on the aircraft nose 2, make things convenient for operating personnel to operate.
EXAMPLE five
The difference between this embodiment and the first embodiment is that in this embodiment, an optical fiber is disposed in the mobile phone body, the handpiece 2 is provided with a light through hole communicated with the optical fiber, the laser ranging module 4, the control module and the communication module are integrated on a device, the device is disposed independently of the mobile phone body, and the laser transceiving end of the laser ranging module 4 is connected with the optical fiber. In order to improve the detection precision as much as possible, a lens is arranged at the position of the through light hole so as to improve the light collection efficiency and ensure the normal operation of the laser ranging module 4.
EXAMPLE six
The difference between this embodiment and the fifth embodiment is that in this embodiment, there are a plurality of distance measuring modules, and the handpiece 2 is provided with a plurality of light passing holes, specifically, there are three light passing holes and three laser distance measuring modules 4 in this embodiment, the control module determines the inclination angle of the needle 3 by calculating the difference between the detection results of the distance measuring modules, the principle of which is shown in fig. 4, the inclination angle is obtained according to the difference between the distance measurement and the distance between the laser distance measuring modules 4, and the control module calculates the depth of the needle 3 cutting or entering the tooth 6 according to the detection result of the distance measuring modules and the inclination angle of the needle 3, the principle of this process is shown in fig. 3, and is the same as the principle in the first embodiment, and the control module is further configured to send the detection result of the posture detecting module to.
In this embodiment, through setting up a plurality of clear holes, range finding is carried out to different positions department, and in less within range, regard as a fixed plane to the flank of a tooth, and then utilize the distance of many places range finding to look for can reacing the inclination of cell-phone body and car needle 3, also can be in turn according to the accurate degree of depth of calculation car needle 3 cutting or entering in the tooth 6 of the inclination of automobile body, need not to be equipped with gesture detection module, can reduce cost.
EXAMPLE seven
The difference between this embodiment and the sixth embodiment is that, in this embodiment, the light passing holes are preset patterns, or a plurality of light passing holes form a preset pattern, such as a circular ring shape, the distance measuring module further includes an image collecting module, in this embodiment, the image collecting module is a camera, and is disposed on the handpiece 2, the camera is a micro camera, such as a CMOS OV6920 camera for an endoscope or a MEMS camera, so as to reduce the volume as much as possible, the image collecting module is used for collecting the shape of the laser irradiated on the tooth surface, the control module detects the inclination angle of the dental handpiece and the distance from the handpiece 2 to the tooth surface according to the distortion condition of the laser on the tooth tissue surface, and the calculation of the distance or the angle through the pattern distortion is realized by the existing image processing algorithm. Compared with the sixth embodiment, the method can accurately measure the distance on the more complex tooth surface and is suitable for the environment with changeable tooth surfaces.
Example eight
In this embodiment, be equipped with visible light laser emitter and light source switching module in the ranging module, when needs throw light on, can switch to visible light laser through light source switching module, visible light laser passes through light source switching module and gets into optic fibre, shines out by the through-light hole at last, and then throws light on the oral cavity is inside, makes things convenient for doctor's operation.
The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. Dental handpiece with supplementary range finding depthkeeping function, including the cell-phone body, the cell-phone body includes the aircraft nose, be equipped with car needle on the aircraft nose, its characterized in that: the device comprises a machine head, a distance measuring module, a control module and a communication module, wherein the distance measuring module is used for detecting the distance from the machine head to the tooth surface, and the control module is in signal connection with the communication module and the distance measuring module; the control module is used for calculating the depth of the cutting or tooth entering of the needle according to the detection result of the distance measuring module and sending the calculation result to the upper computer through the communication module; the distance measuring module is a laser distance measuring module;
the mobile phone comprises a mobile phone body, a distance measuring module, a control module and a communication module, wherein an optical fiber is arranged in the mobile phone body, a light through hole communicated with the optical fiber is formed in the machine head, the distance measuring module, the control module and the communication module are all independently arranged with the mobile phone body, and a laser receiving and transmitting end of the distance measuring module is connected with the optical fiber;
the control module is also used for calculating the inclination angle of the needle, and the control module is also used for calculating the depth of the cutting or entering the teeth of the needle according to the detection result of the distance measuring module and the inclination angle of the needle.
2. A dental handpiece with auxiliary ranging and depth setting functions as claimed in claim 1, wherein: the range finding module has a plurality ofly, be equipped with a plurality of light holes that lead to on the aircraft nose, control module judges the inclination of car needle through calculating the difference between each range finding module testing result, control module still is used for sending the testing result of the inclination of car needle to the host computer.
3. A dental handpiece with auxiliary ranging and depth setting functions as claimed in claim 1, wherein: the unthreaded hole is for predetermineeing the figure, the range finding module still includes image acquisition module, image acquisition module is used for gathering the shape that laser irradiation was behind the tooth face, control module detects the inclination of dental handpiece's car needle and the distance of aircraft nose to the tooth face according to the distortion condition of laser on tooth body tissue surface.
4. A dental handpiece with auxiliary ranging and depth setting functions as claimed in claim 1, wherein: still be equipped with gesture detection module on the cell-phone body, gesture detection module and control module signal connection, control module is used for detecting the inclination of car needle through gesture detection module, control module still is used for sending gesture detection module's testing result to the host computer.
5. A dental handpiece with auxiliary ranging and depth setting functions according to claim 4, characterized in that: the automatic tooth cutting machine further comprises a zero setting correction key, the controller is electrically connected with the zero setting correction key, and after the controller receives a signal of the zero setting correction key, the length of the needle which is not cut or enters a tooth is calculated according to a detection result of the distance measuring module and an inclination angle of the needle and is used as the total length of the needle.
6. A dental handpiece with auxiliary ranging and depth setting functions according to claim 5, characterized in that: and after the control module receives the signal of the zero setting correction key, the control module acquires data of the distance measurement module and the attitude detection module for multiple times, calculates the total length of the vehicle needle, and takes the average value of multiple calculation results as the total length of the vehicle needle.
7. A dental handpiece with auxiliary ranging and depth setting functions as claimed in claim 6, wherein: the control module comprises a timing module, when the total length of the needle is calculated every time, the control module judges whether the mobile phone body is stable or not through data of the distance measuring module or/and the posture detecting module, the control module is used for recording the duration time of the mobile phone body keeping stable through the timing module, and the control module is used for collecting a detection result of the distance measuring module and the inclination angle of the needle and calculating the total length of the needle after the duration time is larger than a preset value.
8. A dental handpiece with auxiliary ranging and depth setting functions as claimed in claim 1, wherein: the machine head is also provided with a torque sensor, the torque sensor is used for detecting torque parameters borne by the needle, and the control module is also used for sending the detection result of the torque sensor to the upper computer.
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| CN201910935578.9A CN110559091B (en) | 2019-09-29 | 2019-09-29 | Dental handpiece with auxiliary distance measuring and depth fixing functions |
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| CN201910935578.9A CN110559091B (en) | 2019-09-29 | 2019-09-29 | Dental handpiece with auxiliary distance measuring and depth fixing functions |
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| FR3129073A1 (en) * | 2021-11-18 | 2023-05-19 | Micro Mega International Manufactures | depth gauge for endodontics |
| WO2023089253A1 (en) * | 2021-11-18 | 2023-05-25 | Micro-Mega International | Depth gauge for endodontics |
| CN115153930B (en) * | 2022-07-20 | 2023-12-26 | 桂林市啄木鸟医疗器械有限公司 | Laser therapeutic instrument with motor |
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