CN207870972U - Device assembly, the surgical instrument of operating robot and operating robot - Google Patents
Device assembly, the surgical instrument of operating robot and operating robot Download PDFInfo
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- CN207870972U CN207870972U CN201720948094.4U CN201720948094U CN207870972U CN 207870972 U CN207870972 U CN 207870972U CN 201720948094 U CN201720948094 U CN 201720948094U CN 207870972 U CN207870972 U CN 207870972U
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- device assembly
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- connecting shaft
- drive
- operating robot
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Abstract
The utility model provides the surgical instrument and operating robot of a kind of device assembly, operating robot, wherein device assembly includes：One end of connecting shaft, connecting shaft is connected with drive component, and first gear is provided in connecting shaft；Drive link is provided with second gear on drive link, and one end of drive link is provided with operation enforcement division；Wherein, first gear is meshed with second gear, and drive component is drivingly connected shaft rotation and moves, and connecting shaft drives first gear rotation, first gear to drive second gear rotation, and second gear drive drive rod rotation is to drive operation enforcement division rotation.Device assembly provided by the utility model, realize the rotation control for enforcement division of performing the operation, enable operation enforcement division is interior in a limited space to realize reliable rotation, enable the surgical instrument for the operating robot for using the device assembly to be quick and precisely reliably completed the control instruction that doctor sends out simultaneously to control the movement of operation enforcement division, ensures being normally carried out for operation.
Description
Technical field
The utility model is related to Medical robot technical fields, in particular to a kind of device assembly, operating robot
Surgical instrument and operating robot.
Background technology
Currently, robot assisted micro-wound surgical operation is increasingly becoming the development trend of micro-wound surgical operation, in the relevant technologies
In, due to micro-wound surgical operation own characteristic so that the activity space of robot is greatly limited, and causes robot can not be certainly
Complicated by moving, and due to the surgical instrument of operating robot, volume is big, further has compressed the activity of robot
Space.Therefore, how to design a operating robot that neatly can be assembled and move interior in a limited space becomes urgent need solution
Certainly the problem of.
Utility model content
At least one in order to solve the above-mentioned technical problem, the embodiment of the first aspect of the utility model proposes a kind of device
Tool component.
A kind of second aspect embodiment of the utility model, it is also proposed that surgical instrument of operating robot.
A kind of third aspect embodiment of the utility model, it is also proposed that operating robot.
In view of this, the embodiment of first aspect according to the present utility model, the utility model proposes a kind of instrument groups
Part is used for the surgical instrument of operating robot, and the surgical instrument of operating robot includes drive component, and device assembly includes：Even
One end of spindle, connecting shaft is connected with drive component, and first gear is provided in connecting shaft；Drive link is arranged on drive link
There are second gear, one end of drive link to be provided with operation enforcement division；Wherein, first gear is meshed with second gear, driving group
Part is drivingly connected shaft rotation and moves, and connecting shaft drives first gear rotation, first gear to drive second gear rotation, second gear drive
Drive rod rotation is to drive operation enforcement division rotation.
Device assembly provided by the utility model, by the way that first gear and second gear is arranged, realization passes through drive component
Control drive link rotation, and then band have an operation enforcement division rotation, realize for perform the operation enforcement division rotation control so that hand
Art enforcement division interior in a limited space can realize reliable rotation, while make the operating robot for using the device assembly
Surgical instrument can quick and precisely be reliably completed the control instruction that doctor sends out with control operation enforcement division movement, ensure
Being normally carried out for operation, also improves the flexibility of surgical procedure and the versatility of device assembly.
In addition, the device assembly in above-described embodiment provided by the utility model can also have following supplementary technology special
Sign：
In the above-mentioned technical solutions, it is preferable that further include：First support, first support include bottom wall and side wall, on side wall
It is provided with the first mounting hole and the second mounting hole, the other end of connecting shaft is connected across the first mounting hole with first support, passes
The other end of lever is connected across the second mounting hole with first support, and connecting shaft is parallel to each other with drive link.
In the technical scheme, it is used as connecting shaft and the support member of drive link by the way that first support is arranged, ensures transmission
The stable motion of each component in the process, while connecting shaft is arranged parallel to each other with drive link, can either ensure that movement passes in this way
The stabilization passed, efficiently, while also allowing for the setting and assembly of component, and the structure of the component is simple, it is easy to maintain and replace,
This also improves its versatility.
In any of the above-described technical solution, it is preferable that further include：First mounting blocks, be arranged on bottom wall, connecting shaft it is another
One end is connected across the first mounting hole with the first mounting blocks；Second mounting blocks are arranged on bottom wall, and the other end of drive link is worn
The second mounting hole is crossed with the second mounting blocks to be connected.
In the technical scheme, pass through the first mounting blocks being arranged on bottom wall and the second mounting blocks mating connection axis and biography
Lever promotes the stability of all parts operation, ensures that operation enforcement division can be rotated smoothly.
In any of the above-described technical solution, it is preferable that be provided with first bearing, connecting shaft and first axle in the first mounting blocks
It holds and is connected；Second bearing is provided in second mounting blocks, drive link is connected with second bearing.
In the technical scheme, bearing is respectively set in the first mounting blocks and the second mounting blocks, and is fixed using bearing
With support connecting shaft and drive link, ensure the normal rotation of connecting shaft and drive link, and then ensures that operation enforcement division is normally revolved
Rotating function.
In any of the above-described technical solution, it is preferable that one end of connecting shaft is provided with the first terminal pad；Drive component includes
Motor and the second terminal pad, the second terminal pad are connected with the output shaft of motor；Wherein, in the first terminal pad and the second terminal pad
A upper setting it is fluted, be provided with protrusion on another, groove is adapted with protrusion, by groove and raised cooperation with
The second terminal pad is set to drive the rotation of the first terminal pad.
In the technical scheme, connecting shaft is connected with the output shaft of motor by the first terminal pad and the second terminal pad,
It is respectively arranged with protrusion or groove in two of which terminal pad, more improves flexibility and the versatility of apparatus structure in this way,
The first terminal pad can also be found accurately automatically with the second terminal pad during motor rotation simultaneously, realize that the reliable of the two connects
It connects.
In any of the above-described technical solution, it is preferable that be provided with guiding surface in protrusion；The depth of groove is more than or equal to convex
The height risen.
In the technical scheme, it is provided with guiding surface in protrusion in order to which protrusion is inserted into groove, can be promoted in this way
The joint efficiency of first terminal pad and the second terminal pad, at the same the depth of groove be more than or equal to protrusion height, it is ensured that protrusion with
The contact area for having bigger between groove improves the efficiency and stability of transmission.
In any of the above-described technical solution, it is preferable that operation enforcement division include scissors, bipolar nipper, noninvasive single hole nipper,
Noninvasive diplopore nipper, electric hook, ultrasound knife, needle holder or endoscope.
In the technical scheme, operation enforcement division include scissors, bipolar nipper, noninvasive single hole nipper, noninvasive diplopore nipper,
Electric hook, ultrasound knife, needle holder or endoscope, above-mentioned various operation enforcement divisions are required for being revolved during actual use
Turn operation, and the surgical instrument of the operating robot can realize reliable, the high-precision rotation for various operation enforcement divisions,
The flexibility for promoting operation ensures being normally carried out for operation.
The embodiment of the utility model second aspect additionally provides a kind of surgical instrument of operating robot, including：Driving
Component；And above-mentioned device assembly, device assembly are connected with drive component.
The surgical instrument of operating robot provided by the utility model, by using above-mentioned device assembly so that use
Person can by control drive component rotation band have an operation enforcement division rotation, realize for perform the operation enforcement division rotation control
System, and also enable operation enforcement division is interior in a limited space to realize reliable rotation, ensure being normally carried out for operation, simultaneously
Operation enforcement division can also be replaced at any time, further improve the flexibility of surgical procedure and the versatility of device.
In addition, the surgical instrument of the operating robot in above-described embodiment provided by the utility model can also have it is as follows
Additional technical feature：
In the above-mentioned technical solutions, it is preferable that further include：Second support, drive component are arranged on the secondary support bracket, and second
The first support of holder and device assembly is detachably connectable；When second support is connected with the first support of device assembly
Device assembly is connected with drive component.
In the technical scheme, device assembly and drive component are separately positioned on compatible first support and second support
On, the flexibility of device assembly and drive component assembly is promoted in this way, while working as device assembly or drive component when something goes wrong
Can direct integral replacing, or different operation enforcement divisions is separately positioned on different device assemblies, is being needed in this way
The effect of operation enforcement division and drive component assembly can be promoted when replacing operation enforcement division directly to device assembly integral replacing
Rate further also improves the efficiency of operation.
The embodiment of the utility model third aspect additionally provides a kind of operating robot, including：Above-mentioned surgical machine
The surgical instrument of people.
Operating robot provided by the utility model, by using the surgical instrument of above-mentioned operating robot so that make
User can by control drive component rotation band have an operation enforcement division rotation, realize for perform the operation enforcement division rotation control
System, and also enable operation enforcement division is interior in a limited space to realize reliable rotation, ensure being normally carried out for operation, simultaneously
Also improve the flexibility of surgical procedure and the versatility of device.
The additional aspect and advantage of the utility model will become apparent in following description section, or new by this practicality
The practice of type is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the utility model will in the description from combination following accompanying drawings to embodiment
Become apparent and is readily appreciated that, wherein：
Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；
Fig. 2 is the close-up schematic view of part A in structure shown in Fig. 1；
Fig. 3 is the close-up schematic view of part B in structure shown in Fig. 1；
Fig. 4 is a kind of drive component structural schematic diagram of embodiment of the utility model.
Wherein, the correspondence in Fig. 1 to Fig. 4 between reference numeral and component names is：
102 connecting shafts, 1022 first gears, 1,024 first terminal pads, 104 drive links, 1042 second gears, 1044 operations
Enforcement division, 106 first supports, 1062 bottom walls, 1064 side walls, 108 first mounting blocks, 110 second mounting blocks, 2 operating robots
Surgical instrument, 22 drive components, 222 motors, 224 second terminal pads, 226 second supports.
Specific implementation mode
In order to be more clearly understood that the above objects, features, and advantages of the utility model, below in conjunction with the accompanying drawings and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are elaborated in the following description in order to fully understand the utility model, still, this practicality
Novel to be implemented different from other modes described here using other, therefore, the scope of protection of the utility model is simultaneously
It is not limited by following public specific embodiment.
Referring to Fig. 1 to Fig. 4 description according to device assembly, the operating robot described in the utility model some embodiments
Surgical instrument and operating robot.
As shown in Figure 1 to Figure 3, the utility model provides a kind of device assembly, is used for the surgical instrument of operating robot
2, the surgical instrument 2 of operating robot includes drive component 22, and device assembly includes：Connecting shaft 102, one end of connecting shaft 102
It is connected with drive component 22, first gear 1022 is provided in connecting shaft 102；Drive link 104 is provided on drive link 104
One end of second gear 1042, drive link 104 is provided with operation enforcement division 1044；Wherein, first gear 1022 and second gear
1042 are meshed, and drive component 22 is drivingly connected axis 102 and rotates, and connecting shaft 102 drives first gear 1022 to rotate, first gear
1022 drive second gear 1042 to rotate, and second gear 1042 drives the rotation of drive link 104 to drive 1044 turns of enforcement division of operation
It is dynamic.
Device assembly provided by the utility model, by the way that first gear 1022 and second gear 1042 is arranged, realization passes through
Drive component 22 control drive link 104 rotation, and then band have an operation enforcement division 1044 rotation, realize for perform the operation enforcement division
1044 rotation control so that operation enforcement division 1044 interior in a limited space can realize reliable rotation, while to adopt
It can quick and precisely be reliably completed the control instruction that doctor sends out with the surgical instrument 2 of the operating robot of the device assembly
With the movement of control operation enforcement division 1044, ensures being normally carried out for operation, also improve flexibility and the instrument of surgical procedure
The versatility of component.
In one embodiment of the utility model, it is preferable that as shown in Fig. 2, further including：First support 106, first
Frame 106 includes bottom wall 1062 and side wall 1064, and the first mounting hole and the second mounting hole, connecting shaft 102 are provided on side wall 1064
The other end be connected with first support 106 across the first mounting hole, the other end of drive link 104 passes through the second mounting hole and the
One holder 106 is connected, and connecting shaft 102 and drive link 104 are parallel to each other.
In this embodiment, the support member of connecting shaft 102 and drive link 104 is used as by the way that first support 106 is arranged, is protected
The stable motion of each component in transmission process is demonstrate,proved, while connecting shaft 102 is arranged parallel to each other with drive link 104, in this way can
It is enough to ensure stabilization that movement transmits, efficiently, while the setting and assembly of component are also allowed for, and the structure of the component is simple, easily
In safeguarding and replacing, this also improves its versatility.
In one embodiment of the utility model, it is preferable that as shown in Fig. 2, further including：First mounting blocks 108, setting
On bottom wall 1062, the other end of connecting shaft 102 is connected across the first mounting hole with the first mounting blocks 108；Second mounting blocks
110, it is arranged on bottom wall 1062, the other end of drive link 104 is connected across the second mounting hole with the second mounting blocks 110.
In this embodiment, connected by the first mounting blocks 108 being arranged on bottom wall 1062 and the cooperation of the second mounting blocks 110
Spindle 102 and drive link 104 promote the stability of all parts operation, ensure that operation enforcement division 1044 can be rotated smoothly.
In one embodiment of the utility model, it is preferable that be provided with first bearing in the first mounting blocks 108, connect
Axis 102 is connected with first bearing；Second bearing is provided in second mounting blocks 110, drive link 104 is connected with second bearing
It connects.
In this embodiment, bearing is respectively set in the first mounting blocks 108 and the second mounting blocks 110, and utilizes bearing
Connecting shaft 102 and drive link 104 are fixed and supported, ensures the normal rotation of connecting shaft 102 and drive link 104, and then ensure hand
1044 normal rotation function of art enforcement division.
In one embodiment of the utility model, it is preferable that as shown in Figures 1 to 4, one end setting of connecting shaft 102
There is the first terminal pad 1024；Drive component 22 includes motor 222 and the second terminal pad 224, the second terminal pad 224 and motor 222
Output shaft be connected；Wherein, the upper setting of one in the first terminal pad 1024 and the second terminal pad 224 is fluted, another
On be provided with protrusion, groove is adapted with protrusion, by groove with protrusion cooperation so that the second terminal pad 224 drive first connect
Connect the rotation of disk 1024.
In this embodiment, connecting shaft 102 and the output shaft of motor 222 pass through the first terminal pad 1024 and the second terminal pad
224 are connected, be respectively arranged in two of which terminal pad protrusion or groove, more improve in this way the flexibility of apparatus structure with
And versatility, while the first terminal pad 1024 can also be looked for automatically with the second terminal pad 224 during motor 222 rotates
Standard realizes being reliably connected for the two.
In one embodiment of the utility model, it is preferable that be provided with guiding surface in protrusion；The depth of groove is more than
Equal to the height of protrusion.
In this embodiment, it is provided with guiding surface in protrusion in order to which protrusion is inserted into groove, the can be promoted in this way
The joint efficiency of one terminal pad 1024 and the second terminal pad 224, while the depth of groove is more than or equal to the height of protrusion, it is ensured that it is convex
Rise has the contact area of bigger between groove, improves the efficiency and stability of transmission.
In one embodiment of the utility model, it is preferable that operation enforcement division 1044 includes scissors, bipolar nipper, nothing
Create single hole nipper, noninvasive diplopore nipper, electric hook, ultrasound knife, needle holder or endoscope.
In this embodiment, operation enforcement division 1044 is grabbed including scissors, bipolar nipper, noninvasive single hole nipper, noninvasive diplopore
Pincers, electric hook, ultrasound knife, needle holder or endoscope, above-mentioned various operation enforcement divisions 1044 all need during actual use
Carry out rotation process, and the surgical instrument 2 of the operating robot can realize it is reliable for various operation enforcement divisions 1044,
High-precision rotation promotes the flexibility of operation, ensures being normally carried out for operation.
The utility model additionally provides a kind of surgical instrument 2 of operating robot, as shown in Figures 1 to 4, including：Driving
Component 22；And above-mentioned device assembly, device assembly are connected with drive component 22.
The surgical instrument 2 of operating robot provided by the utility model, by using above-mentioned device assembly so that use
Person can by control drive component 22 rotation band have an operation enforcement division 1044 rotate, realize for perform the operation enforcement division 1044
Rotation control, and also enable operation enforcement division 1044 in a limited space in realize reliable rotation, ensure operation
It is normally carried out, while operation enforcement division 1044 can also be replaced at any time, further improve flexibility and the dress of surgical procedure
The versatility set.
In one embodiment of the utility model, it is preferable that as shown in figure 4, further including：Second support 226, driving group
Part 22 is arranged in second support 226, and second support 226 and the first support 106 of device assembly are detachably connectable；When
Device assembly is connected with drive component 22 when two holders 226 are connected with the first support 106 of device assembly.
In this embodiment, device assembly and drive component 22 are separately positioned on compatible first support 106 and second
On holder 226, the flexibility that device assembly is assembled with drive component 22 is promoted in this way, while working as device assembly or drive component 22
When something goes wrong can direct integral replacing, or different operation enforcement divisions 1044 is separately positioned on different device assemblies
On, in this way operation enforcement division can be promoted when needing replacing operation enforcement division 1044 directly to device assembly integral replacing
1044 efficiency assembled with drive component 22, further also improve the efficiency of operation.
The utility model additionally provides a kind of operating robot, including：The surgical instrument of above-mentioned operating robot.
Operating robot provided by the utility model, by using the surgical instrument of above-mentioned operating robot so that make
User can by control drive component rotation band have an operation enforcement division rotation, realize for perform the operation enforcement division rotation control
System, and also enable operation enforcement division is interior in a limited space to realize reliable rotation, ensure being normally carried out for operation, simultaneously
Also improve the flexibility of surgical procedure and the versatility of device.
In the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly.Term
The terms such as " installation ", " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection,
Can be detachably connected, or be integrally connected；" connected " can be directly connected, and can also pass through the indirect phase of intermediary
Even.For the ordinary skill in the art, it can understand above-mentioned term in the present invention as the case may be
Concrete meaning.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least the one of the utility model
In a embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment
Or example.Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more embodiments or example
In can be combined in any suitable manner.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of device assembly is used for the surgical instrument of operating robot, the surgical instrument of the operating robot includes driving
Component, which is characterized in that the device assembly includes：
One end of connecting shaft, the connecting shaft is connected with the driving component, and first gear is provided in the connecting shaft；
Drive link is provided with second gear on the drive link, and one end of the drive link is provided with operation enforcement division；
Wherein, the first gear is meshed with the second gear, and the driving component drives the connecting shaft rotation, described
Connecting shaft drives the first gear rotation, the first gear that the second gear rotation, the second gear is driven to drive
The drive rod rotation is to drive the operation enforcement division to rotate.
2. device assembly according to claim 1, which is characterized in that further include：
First support, the first support include bottom wall and side wall, and the first mounting hole and the second installation are provided on the side wall
The other end in hole, the connecting shaft is connected across first mounting hole with the first support, the drive link it is another
End is connected across second mounting hole with the first support, and the connecting shaft and the drive link are parallel to each other.
3. device assembly according to claim 2, which is characterized in that further include：
First mounting blocks are arranged on the bottom wall, and the other end of the connecting shaft passes through first mounting hole and described the
One mounting blocks are connected；
Second mounting blocks are arranged on the bottom wall, and the other end of the drive link passes through second mounting hole and described the
Two mounting blocks are connected.
4. device assembly according to claim 3, which is characterized in that
First bearing is provided in first mounting blocks, the connecting shaft is connected with the first bearing；
Second bearing is provided in second mounting blocks, the drive link is connected with the second bearing.
5. device assembly according to any one of claim 1 to 4, which is characterized in that
One end of the connecting shaft is provided with the first terminal pad；
The driving component includes motor and the second terminal pad, and second terminal pad is connected with the output shaft of the motor；
Wherein, the upper setting of one in first terminal pad and second terminal pad is fluted, is provided on another convex
It rises, the groove is adapted with the protrusion, by the cooperation of the groove and the protrusion so that the second terminal pad drive the
One terminal pad rotates.
6. device assembly according to claim 5, which is characterized in that
It is provided with guiding surface in the protrusion；
The depth of the groove is more than or equal to the height of the protrusion.
7. device assembly according to any one of claim 1 to 4, which is characterized in that
The operation enforcement division includes scissors, bipolar nipper, noninvasive single hole nipper, noninvasive diplopore nipper, electric hook, ultrasound knife, holds
Needle device or endoscope.
8. a kind of surgical instrument of operating robot, which is characterized in that including：
Drive component；And
Device assembly as described in any one of claim 1 to 7, the device assembly are connected with the driving component.
9. the surgical instrument of operating robot according to claim 8, which is characterized in that further include：
Second support, the driving component are arranged in the second support, and the of the second support and the device assembly
One holder is detachably connectable；
The device assembly and the driving component when the second support is connected with the first support of the device assembly
It is connected.
10. a kind of operating robot, which is characterized in that including：
The surgical instrument of operating robot as claimed in claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948094.4U CN207870972U (en) | 2017-07-31 | 2017-07-31 | Device assembly, the surgical instrument of operating robot and operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948094.4U CN207870972U (en) | 2017-07-31 | 2017-07-31 | Device assembly, the surgical instrument of operating robot and operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207870972U true CN207870972U (en) | 2018-09-18 |
Family
ID=63500408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948094.4U Active CN207870972U (en) | 2017-07-31 | 2017-07-31 | Device assembly, the surgical instrument of operating robot and operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207870972U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334538A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | Device assembly, the operating theater instruments of operating robot and operating robot |
| CN110464467A (en) * | 2019-08-30 | 2019-11-19 | 微创（上海）医疗机器人有限公司 | Transmission, driving, sterile, instrument case assembly and surgical tool system, robot |
-
2017
- 2017-07-31 CN CN201720948094.4U patent/CN207870972U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334538A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | Device assembly, the operating theater instruments of operating robot and operating robot |
| CN110464467A (en) * | 2019-08-30 | 2019-11-19 | 微创（上海）医疗机器人有限公司 | Transmission, driving, sterile, instrument case assembly and surgical tool system, robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Patentee after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Patentee before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |