CN113796966A - Compact large-torque brake mechanism - Google Patents
Compact large-torque brake mechanism Download PDFInfo
- Publication number
- CN113796966A CN113796966A CN202111194074.XA CN202111194074A CN113796966A CN 113796966 A CN113796966 A CN 113796966A CN 202111194074 A CN202111194074 A CN 202111194074A CN 113796966 A CN113796966 A CN 113796966A
- Authority
- CN
- China
- Prior art keywords
- unlocking
- brake lever
- brake
- unblock
- lever
- 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.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (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)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
The invention provides a compact large-torque brake mechanism, which comprises: go up brake lever and lower brake lever, go up brake lever and the relative setting of lower brake lever, go up brake lever and lower brake lever and set up through last pivot and pivot down respectively with rotating, it is provided with brake pretension spring to go up between the first end of brake lever and the first end of lower brake lever, the second of going up brake lever is held the inboard and the second of lower brake lever is held the inboard and all is provided with the friction disc, go up brake lever and lower brake lever and set up the brake disc both sides at the rotation axis respectively. When the brake mechanism is locked, the brake force is provided by the brake pre-tightening springs at the first ends of the upper brake lever and the lower brake lever, and the elastic force of the brake pre-tightening springs is amplified as clamping force at the second end of the brake lever through the lever principle, so that the brake disc is reliably clamped, and the joint motion brake is realized.
Description
Technical Field
The invention relates to a robot locking mechanism, in particular to a compact large-torque brake mechanism.
Background
Minimally invasive surgery, also commonly referred to as invasive surgery, is performed by making small incisions in the body surface (or relying on the natural body lumen), and by using image guidance from a visual display system to extend surgical instruments through the body surface incisions into the body for treatment or diagnosis. The minimally invasive surgery technology distinguishes most surgical operations from open surgical modes, the application of the robot technology to medical surgical operations has become more and more popular, the robot has significant advantages in operation stability, rapidity and accuracy, and the integration of the robot technology into the surgical operations can improve the operation environment of doctors and shorten the recovery time of patients.
In order to ensure that the surgical robot cannot cause additional damage to a patient in the surgical process, the movement of the joint in the structure of the robot is often accompanied with locking, and the reliable locking of the joint is difficult due to the weight of the mechanical arm and the inertia during the movement.
Disclosure of Invention
The invention provides a compact large-torque brake mechanism, and aims to solve the problem that a joint of a mechanical arm is difficult to reliably lock due to gravity and motion inertia.
In order to achieve the above object, an embodiment of the present invention provides a compact large-torque brake mechanism, including:
go up brake lever and lower brake lever, go up brake lever and the relative setting of lower brake lever, go up brake lever and lower brake lever and set up through last pivot and pivot down respectively with rotating, it is provided with brake pretension spring to go up between the first end of brake lever and the first end of lower brake lever, the second of going up brake lever is held the inboard and the second of lower brake lever is held the inboard and all is provided with the friction disc, go up brake lever and lower brake lever and set up the brake disc both sides at the rotation axis respectively.
Wherein, still include:
unlocking mechanism, unlocking mechanism is provided with the unblock clamp plate, go up the first end top of brake lever with the upper portion fixed connection of unblock clamp plate, the first end of brake lever is provided with the unblock connecting plate down, the middle part of unblock clamp plate is provided with the unblock through-hole, the size of unblock through-hole is greater than the size of unblock connecting plate, the unblock connecting plate is worn to establish in the unblock through-hole.
The unlocking mechanism comprises an unlocking pressing plate, unlocking cam rods, unlocking bearings and an unlocking connecting plate, wherein the unlocking mounting seats are arranged on two sides of the lower portion of the unlocking pressing plate, the unlocking cam rods are rotatably arranged in the two unlocking mounting seats, a cam structure is arranged at the first end of each unlocking cam rod, the unlocking bearings are rotatably arranged on two sides of the unlocking connecting plate, the unlocking bearings are tightly attached to the cam structure of each unlocking cam rod, and the unlocking cam rods are used for pushing the unlocking connecting plate to move.
The unlocking cam rods are arranged at the two ends of the unlocking cam rods, the unlocking rocker arms are arranged above the second ends of the two unlocking cam rods in a rotating mode, the first ends of the unlocking rocker arms are provided with rocker arm bearings in a rotating mode, the rocker arm bearings are arranged in a mode of being attached to the second ends of the unlocking cam rods in a clinging mode, and the unlocking rocker arms are used for pushing the unlocking cam rods to rotate.
Wherein, the both sides of going up brake lever and brake lever down all are provided with supporting baseplate, all be provided with the unblock push rod on the supporting baseplate, the unblock push rod wears to establish through linear bearing with sliding supporting baseplate's one end, the end of unblock push rod is provided with the push rod bearing with rotating, the push rod bearing is hugged closely the second end setting of unblock rocking arm, the unblock push rod is used for promoting the unblock rocking arm is rotatory.
The other end of the supporting bottom plate is fixedly provided with an unlocking pneumatic cylinder in a penetrating mode, and a piston rod of the unlocking pneumatic cylinder is fixedly connected with the unlocking push rod.
The end faces of the second ends of the upper brake lever and the lower brake lever are provided with arc-shaped concave parts, and the radian of the arc-shaped concave parts is matched with that of the rotating shaft.
The scheme of the invention has the following beneficial effects:
when the brake mechanism is locked, the brake force is provided by the brake pre-tightening springs at the first ends of the upper brake lever and the lower brake lever, and the elastic force of the brake pre-tightening springs is amplified as clamping force at the second end of the brake lever through the lever principle, so that the brake disc is reliably clamped, and the joint motion brake is realized. When the unlocking pneumatic cylinder is connected with the air pressure, the piston rod of the pneumatic cylinder pushes the unlocking push rod to push the unlocking push rod forwards under the guiding action of the linear bearing, the unlocking push rod acts on the unlocking rocker arm with the acting force to drive the unlocking rocker arm to rotate, the unlocking rocker arm rotates to press the unlocking cam rod downwards, the cam at the first end of the unlocking cam rod acts on the unlocking bearing, the lower brake lever moves upwards to compress the brake pre-tightening spring, the second end of the brake lever releases the brake disc, and unlocking is achieved.
Drawings
FIG. 1 is an assembled schematic view of the compact high torque brake mechanism of the present invention;
FIG. 2 is a first schematic structural diagram of the compact high-torque brake mechanism of the present invention;
fig. 3 is a schematic structural diagram of the compact large-torque brake mechanism of the invention.
[ description of reference ]
1-upper brake lever; 2-lower brake lever; 3-brake pre-tightening spring; 4-friction plate; 5-a rotating shaft; 6-brake disc; 7-unlocking the pressure plate; 8-unlocking the connecting plate; 9-unlocking the mounting seat; 10-unlocking the cam lever; 11-unlocking the bearing; 12-unlocking the rocker arm; 13-rocker arm bearings; 14-a support floor; 15-unlocking the push rod; 16-a linear bearing; 17-a push rod bearing; 18-unlocking the pneumatic cylinder.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a compact large-moment brake mechanism aiming at the problem that the joint of the existing mechanical arm is difficult to reliably lock due to gravity and motion inertia.
As shown in fig. 1 to 3, an embodiment of the present invention provides a compact large-torque brake mechanism, including: go up brake lever 1 and lower brake lever 2, go up brake lever 1 and the relative setting of lower brake lever 2, go up brake lever 1 and lower brake lever 2 and set up through last pivot and pivot down respectively with rotating, it is provided with brake pretension spring 3 to go up between the first end of brake lever 1 and the first end of lower brake lever 2, it all is provided with friction disc 4 to go up the inboard second end of brake lever 1 and the inboard second end of lower brake lever 2, it sets up respectively in 6 both sides of brake disc of rotation axis 5 with lower brake lever 2 to go up brake lever 1.
In the compact large-torque brake mechanism according to the embodiment of the invention, the upper brake lever 1 and the lower brake lever 2 respectively realize lever-type rotation by taking the upper rotating shaft and the lower rotating shaft as supporting points, the brake pre-tightening spring 3 is arranged between the first end of the upper brake lever 1 and the first end of the lower brake lever 2 in a pre-compression state, the second end of the upper brake lever 1 and the second end of the lower brake lever 2 are stressed to be drawn together, the friction plates 4 on the inner sides of the upper brake lever 1 and the lower brake lever 2 are tightly clamped on two sides of the brake disc 6 of the rotating shaft 5, and the rotating shaft 5 can realize stable locking under the influence of friction force; when the first end of the upper brake lever 1 and/or the first end of the lower brake lever 2 are/is applied with relative external force, the brake pre-tightening spring 3 is extruded under stress, the first ends of the brake levers are mutually closed, and the second ends of the upper brake lever 1 and the lower brake lever 2 loosen the brake disc 6 to realize unlocking.
Wherein, still include: the unlocking mechanism is provided with an unlocking pressing plate 7, the top of the first end of the upper brake lever 1 is fixedly connected with the upper portion of the unlocking pressing plate 7, the first end of the lower brake lever 2 is provided with an unlocking connecting plate 8, an unlocking through hole is formed in the middle of the unlocking pressing plate 7, the size of the unlocking through hole is larger than that of the unlocking connecting plate 8, and the unlocking connecting plate 8 is arranged in the unlocking through hole in a penetrating mode.
The unlocking mechanism comprises an unlocking pressing plate 7, unlocking mounting seats 9 are arranged on two sides of the lower portion of the unlocking pressing plate 7, unlocking cam rods 10 are arranged in the two unlocking mounting seats 9 in a rotating mode, a cam structure is arranged at the first end of each unlocking cam rod 10, unlocking bearings 11 are arranged on two sides of an unlocking connecting plate 8 in a rotating mode, the unlocking bearings 11 are tightly attached to the cam structure of the unlocking cam rods 10, and the unlocking cam rods 10 are used for pushing the unlocking connecting plate 8 to move.
In the compact high-torque brake mechanism according to the embodiment of the invention, the upper brake lever 1 can be driven to move by applying external force to the unlocking connecting plate 8, so that when the unlocking cam rod 10 rotates, the cam can rotate to push the unlocking connecting plate 8 to drive the upper brake lever 1 to rotate, so that the brake mechanism is unlocked, and meanwhile, as the unlocking bearings 11 are rotatably arranged on the two sides of the unlocking connecting plate 8, the cam of the unlocking cam rod 10 can roll along with the unlocking bearings 11 when contacting with the unlocking bearings 11, so that the friction force between the unlocking connecting plate 8 and the unlocking cam rod 10 is reduced.
An unlocking rocker arm 12 is rotatably arranged above the second ends of the two unlocking cam rods 10, a rocker arm bearing 13 is rotatably arranged at the first end of the unlocking rocker arm 12, the rocker arm bearing 13 is closely attached to the second end of the unlocking cam rod 10, and the unlocking rocker arm 12 is used for pushing the unlocking cam rod 10 to rotate.
Wherein, the both sides of going up brake lever 1 and brake lever 2 down all are provided with supporting baseplate 14, all be provided with unblock push rod 15 on the supporting baseplate 14, unblock push rod 15 wears to establish through linear bearing 16 with sliding the one end of supporting baseplate 14, the end of unblock push rod 15 is provided with push rod bearing 17 with rotating, push rod bearing 17 hugs closely unblock 12's second end setting, unblock push rod 15 is used for promoting unblock rocker 12 is rotatory.
According to the compact high-torque brake mechanism disclosed by the embodiment of the invention, when the unlocking push rod 15 moves under the action of an external force, the unlocking push rod 15 moves towards the second end of the unlocking cam rod 10 under the guidance of the linear bearing 16, because the end head of the unlocking push rod 15 is rotatably provided with the push rod bearing 17, the push rod bearing 13 rolls along with the unlocking push rod 15 when the unlocking push rod 15 contacts the unlocking rocker arm 12, so that the friction force is reduced, the unlocking rocker arm 12 is in an L-shaped structure, when the second end of the unlocking rocker arm 12 moves under the action of the external force, the first end of the unlocking rocker arm 12 rotates along with the unlocking push rod bearing 13, the unlocking cam rod 10 is squeezed, and meanwhile, the rocker arm bearing 13 reduces the friction force between the unlocking rocker arm 12 and the unlocking cam rod 10.
The other end of the supporting bottom plate 14 is fixedly provided with an unlocking pneumatic cylinder 18 in a penetrating mode, and a piston rod of the unlocking pneumatic cylinder 18 is fixedly connected with an unlocking push rod.
The end faces of the second ends of the upper brake lever 1 and the lower brake lever 2 are provided with arc-shaped concave parts, and the radian of the arc-shaped concave parts is matched with that of the rotating shaft 5.
The compact type high-torque brake mechanism disclosed by the embodiment of the invention has a compact structure, the brake torque can be adjusted by adjusting the length of the brake lever, the unlocking stroke can be flexibly adjusted by adjusting the length and the angle of two arms of the unlocking rocker arm 12, and the size of the cam of the unlocking cam lever 10 can be matched; when the brake disc is locked, the brake force is provided by the brake pre-tightening spring 3, and the elastic force of the brake pre-tightening spring 3 becomes clamping force amplification at the second end of the brake lever through the lever principle, so that the brake disc 6 is reliably clamped, and the brake of the motion of the rotating shaft is realized. When the brake disc is unlocked, air pressure is provided through two unlocking pneumatic cylinders 18 which are symmetrical on two sides, when the unlocking pneumatic cylinders 18 are connected with the air pressure, piston rods of the pneumatic cylinders push unlocking push rods 15, the unlocking push rods 15 are pushed forwards under the guiding action of linear bearings 16, the unlocking push rods 15 apply acting force on the unlocking rocker arms 12 to drive the unlocking rocker arms 12 to rotate, the unlocking rocker arms 12 rotate to press the unlocking cam rods 10 downwards, a cam at the first end of each unlocking cam rod 10 acts on an unlocking bearing, so that the unlocking connecting plate 8 and the lower brake lever 2 move upwards to compress the brake pre-tightening springs 3, the second ends of the brake levers are far away from each other to release the brake disc 6, and unlocking is achieved; for guaranteeing effective cooperation of the upper brake lever 1 and the lower brake lever 2 with the rotating shaft 5, the end faces of the upper brake lever 1 and the lower brake lever 2 are provided with arc-shaped concave avoiding structures, so that collision between the upper brake lever 1 and the lower brake lever 2 and the rotating shaft 5 during movement can be avoided.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A compact high torque brake mechanism, comprising:
go up brake lever and lower brake lever, go up brake lever and the relative setting of lower brake lever, go up brake lever and lower brake lever and set up through last pivot and pivot down respectively with rotating, it is provided with brake pretension spring to go up between the first end of brake lever and the first end of lower brake lever, the second of going up brake lever is held the inboard and the second of lower brake lever is held the inboard and all is provided with the friction disc, go up brake lever and lower brake lever and set up the brake disc both sides at the rotation axis respectively.
2. The compact high torque brake mechanism of claim 1 further comprising:
unlocking mechanism, unlocking mechanism is provided with the unblock clamp plate, go up the first end top of brake lever with the upper portion fixed connection of unblock clamp plate, the first end of brake lever is provided with the unblock connecting plate down, the middle part of unblock clamp plate is provided with the unblock through-hole, the size of unblock through-hole is greater than the size of unblock connecting plate, the unblock connecting plate is worn to establish in the unblock through-hole.
3. The compact high-torque brake mechanism according to claim 2, wherein unlocking mounting seats are arranged on two sides of the lower portion of the unlocking pressure plate, unlocking cam rods are rotatably arranged in the two unlocking mounting seats, a cam structure is arranged at a first end of each unlocking cam rod, unlocking bearings are rotatably arranged on two sides of the unlocking connecting plate, the unlocking bearings are arranged in a manner of being tightly attached to the cam structures of the unlocking cam rods, and the unlocking cam rods are used for pushing the unlocking connecting plate to move.
4. The compact high-torque brake mechanism according to claim 3, wherein two unlocking cam rods are rotatably provided with unlocking rocker arms above the second ends thereof, the first ends of the unlocking rocker arms are rotatably provided with rocker arm bearings, the rocker arm bearings are arranged close to the second ends of the unlocking cam rods, and the unlocking rocker arms are used for pushing the unlocking cam rods to rotate.
5. The compact high-torque brake mechanism according to claim 4, wherein support bottom plates are arranged on two sides of the upper brake lever and the lower brake lever, unlocking push rods are arranged on the support bottom plates, the unlocking push rods penetrate through one ends of the support bottom plates in a sliding mode through linear bearings, push rod bearings are arranged at ends of the unlocking push rods in a rotating mode, the push rod bearings are tightly attached to second ends of the unlocking rocker arms, and the unlocking push rods are used for pushing the unlocking rocker arms to rotate.
6. The compact high-torque brake mechanism as claimed in claim 5, wherein an unlocking pneumatic cylinder is fixedly arranged at the other end of the support bottom plate in a penetrating manner, and a piston rod of the unlocking pneumatic cylinder is fixedly connected with the unlocking push rod.
7. The compact high-torque brake mechanism as claimed in claim 1, wherein the second end faces of the upper and lower brake levers are provided with arc-shaped concave recesses, and the radian of the arc-shaped concave recesses matches with the radian of the rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111194074.XA CN113796966B (en) | 2021-10-13 | 2021-10-13 | Compact large-moment brake mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111194074.XA CN113796966B (en) | 2021-10-13 | 2021-10-13 | Compact large-moment brake mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113796966A true CN113796966A (en) | 2021-12-17 |
| CN113796966B CN113796966B (en) | 2023-05-12 |
Family
ID=78897703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111194074.XA Active CN113796966B (en) | 2021-10-13 | 2021-10-13 | Compact large-moment brake mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113796966B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201013806Y (en) * | 2007-02-16 | 2008-01-30 | 阎长春 | Add-ons brake device |
| US20120310255A1 (en) * | 2011-05-31 | 2012-12-06 | Intuitive Surgical Operations, Inc. | Surgical instrument with single drive input for two end effector mechanisms |
| CN104169603A (en) * | 2012-03-16 | 2014-11-26 | 舍弗勒技术有限两合公司 | Friction clutch with readjustment device |
| CN106175937A (en) * | 2016-09-21 | 2016-12-07 | 东莞市联洲知识产权运营管理有限公司 | A kind of operating robot being provided with rotary cutter clamping dish |
| CN206468715U (en) * | 2017-02-17 | 2017-09-05 | 秦皇岛鸿鼎轨道交通设备有限公司 | Pneumatic caliper brake |
| CN207858879U (en) * | 2017-12-29 | 2018-09-14 | 苏州大学 | A kind of joint locking mechanism |
| CN208893427U (en) * | 2017-08-31 | 2019-05-24 | 首都医科大学附属北京天坛医院 | A kind of guidewire controller |
-
2021
- 2021-10-13 CN CN202111194074.XA patent/CN113796966B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201013806Y (en) * | 2007-02-16 | 2008-01-30 | 阎长春 | Add-ons brake device |
| US20120310255A1 (en) * | 2011-05-31 | 2012-12-06 | Intuitive Surgical Operations, Inc. | Surgical instrument with single drive input for two end effector mechanisms |
| CN104169603A (en) * | 2012-03-16 | 2014-11-26 | 舍弗勒技术有限两合公司 | Friction clutch with readjustment device |
| CN106175937A (en) * | 2016-09-21 | 2016-12-07 | 东莞市联洲知识产权运营管理有限公司 | A kind of operating robot being provided with rotary cutter clamping dish |
| CN206468715U (en) * | 2017-02-17 | 2017-09-05 | 秦皇岛鸿鼎轨道交通设备有限公司 | Pneumatic caliper brake |
| CN208893427U (en) * | 2017-08-31 | 2019-05-24 | 首都医科大学附属北京天坛医院 | A kind of guidewire controller |
| CN207858879U (en) * | 2017-12-29 | 2018-09-14 | 苏州大学 | A kind of joint locking mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113796966B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5927815A (en) | Balancing chair | |
| JPH10505038A (en) | Brake caliper unit for disc brakes of vehicles, especially rail vehicles | |
| WO2007076521B1 (en) | Hybrid nutating pump | |
| CN113796966A (en) | Compact large-torque brake mechanism | |
| CN212370922U (en) | Dynamic balance single toggle punching machine | |
| JP3798050B2 (en) | A device that puts the rubber cylinder of a rotary printing press into and out of the operating position. | |
| JPH06158470A (en) | Cam mechanism that is used for loom | |
| WO2023115782A1 (en) | Mechanical arm | |
| JPWO2020205372A5 (en) | ||
| CN207470386U (en) | A kind of connecting rod piston device of air compressor machine or vacuum pump | |
| CN114189101B (en) | Connecting rod brake mechanism, rotor speed reduction system and rotor speed reduction method | |
| CN110403696A (en) | Appliance mechanisms arm with balanced structure | |
| JP4545833B2 (en) | Body rest and body escape device | |
| CN112237489B (en) | Flip type orthodontic bracket with variable arch wire groove | |
| CN208388728U (en) | Apparatus for bending | |
| JP3788134B2 (en) | Substrate holding device | |
| CN210872701U (en) | Adjustable hand support after coronary artery intervention | |
| JPH0335458Y2 (en) | ||
| CN213640935U (en) | Locking device of scanning assembly in ultrasonic imaging system and ultrasonic imaging system | |
| JPH0720407Y2 (en) | Compound actuator | |
| CN219206999U (en) | Head fixing device for CTA | |
| CN215110854U (en) | Oscillating action executor | |
| JPH0225953Y2 (en) | ||
| CN220066664U (en) | Auxiliary locking mechanism of double-hook tightener | |
| CN113545868B (en) | Shoulder arthroscopy operation frame |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |