CN210589289U - Four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment - Google Patents
Four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment Download PDFInfo
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- CN210589289U CN210589289U CN201921088264.1U CN201921088264U CN210589289U CN 210589289 U CN210589289 U CN 210589289U CN 201921088264 U CN201921088264 U CN 201921088264U CN 210589289 U CN210589289 U CN 210589289U
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Abstract
A four-axis convergence redundant mechanism capable of realizing arbitrary posture adjustment relates to the technical field of medical robots. The utility model discloses a solve current medical robot's initiative end when accomplishing arbitrary direction's all-round action, require processing and assembly precision height, be not convenient for production, the unsafe problem of simultaneous control precision. The utility model discloses a redundant beat joint, every single move joint, beat joint and gyration joint, redundant beat joint, every single move joint, beat joint and gyration joint are rotatory around the axis of revolution of self respectively, and the axis of revolution of redundant beat joint, every single move joint, the axis of revolution of beat joint and the axis of revolution of gyration joint converge in a bit. The utility model is used for medical treatment operation robot.
Description
Technical Field
The utility model relates to a medical robot technical field, concretely relates to can realize redundant mechanism is handed over to four-axis that the gesture was adjusted wantonly.
Background
In the development of medical equipment today, doctors do not need to directly operate surgical instruments, but perform medical operations by remotely operating medical instruments, which needs to be performed by medical robots. In the remote control operation process of the medical surgical robot, synchronous simulation needs to be realized by the posture action of the driving end and the driven surgical instrument, so that the operation action of the driven end needs to be completed to complete omnibearing simulation, and the driving end needs to complete omnibearing action in any direction.
In the field of medical robots, the posture structure of an active end of a medical operation is realized by remotely operating medical instruments, and generally, a single coded disc at an input end and a motor direct connection structure at the input end are adopted. Based on the above situation, higher requirements are provided for the design, processing and assembly precision, the coded disc reflects the position of the input end rather than the actual output position, and the transmission error is influenced in the middle, so that the defects of inaccurate control position precision and the like are caused.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve current medical robot's initiative end when accomplishing arbitrary direction's all-round action, require processing and assembly precision height, the production of being not convenient for, the unsafe problem of simultaneous control precision, and then propose a four-axis that can realize the gesture and adjust wantonly and assemble redundant mechanism.
The utility model discloses a solve the technical scheme that above-mentioned technical problem took and be:
a four-axis intersection redundancy mechanism capable of realizing random posture adjustment comprises a redundancy deflection joint, a pitching joint, a deflection joint and a rotary joint, wherein the redundancy deflection joint, the pitching joint, the deflection joint and the rotary joint respectively rotate around the own rotary axis, and the rotary axis of the redundancy deflection joint, the rotary axis of the pitching joint, the rotary axis of the deflection joint and the rotary axis of the rotary joint are intersected at one point.
Compared with the prior art, the utility model the beneficial effect who contains is:
the utility model provides a can realize the redundant mechanism is handed over to four-axis collection that the gesture was adjusted wantonly, four member rotation axes are handed over in a bit promptly, have formed a ball-type mechanism in other words. The mechanism has the advantages of flexible operation, easy kinematics solution and capability of effectively avoiding singular points. Meanwhile, the position of the handheld point can not be changed when the structure is adjusted, and partial decoupling of the pose of the structure is realized. The transmission mechanism of the part can flexibly adjust the installation clearance, is convenient to assemble, can ensure the transmission flexibility, has low requirements on processing and installation precision, is convenient to produce and assemble, and reduces the production cost. And the driving motor can be installed in the rod piece, so that the size of the mechanism is reduced. The utility model discloses can adapt to medical treatment operation robot remote control operation environment to realize the application to the accurate control of the terminal driven end apparatus of operation. The utility model discloses a redundant mechanism is handed over to four-axis collection can in time accurately reflect the accurate position of position appearance to realize with the accurate control of the terminal driven end apparatus of operation. The device has the advantages of high control precision, good transmission stability, high flexibility and good coordination, and can realize the precise control of the instrument at the driven end of the surgical end in six freedom directions.
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FIG. 1 is a front sectional view of the overall structure of the present invention;
fig. 2 is a sectional view taken along line a-a in fig. 1.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 2, and the four-axis intersection redundant mechanism capable of realizing arbitrary posture adjustment according to the present embodiment includes a redundant yaw joint, a pitch joint, a yaw joint, and a revolute joint, the redundant yaw joint, the pitch joint, the yaw joint, and the revolute joint rotate around their own revolute axes, and the revolute axes of the redundant yaw joint, the revolute axes of the pitch joint, the revolute axes of the yaw joint, and the revolute axes of the revolute joint intersect at one point.
In the present embodiment, the pivot axis of the redundant yaw joint, the pivot axis of the pitch joint, the pivot axis of the yaw joint, and the pivot axis of the pivot joint intersect at a single point, which corresponds to a spherical mechanism. The mechanism has the advantages of flexible operation, easy kinematics solution and capability of effectively avoiding singular points. Meanwhile, the position of the handheld point can not be changed when the structure is adjusted, and partial decoupling of the pose of the structure is realized. The four-axis convergence redundant mechanism can timely and accurately reflect the accurate position of the pose and realize the accurate control of the surgical tail end driven end instrument. The device has the advantages of high control precision, good transmission stability, high flexibility and good coordination, and can realize the precise control of the instrument at the driven end of the surgical end in six freedom directions.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 2, and the redundant yaw joint of the present embodiment includes a first connecting rod 1, a redundant yaw motor 2, a redundant yaw base 5, and a redundant yaw shaft 6, the redundant yaw motor 2 is fixed to the redundant yaw base 5, a motor shaft of the redundant yaw motor 2 is connected to the redundant yaw shaft 6, the redundant yaw shaft 6 is rotatably connected to the redundant yaw base 5, the first connecting rod 1 is L-shaped, and the redundant yaw shaft 6 is vertically fixed to an outer end of a horizontal end of the first connecting rod 1. Other components and connection modes are the same as those of the first embodiment.
In the embodiment, the redundant yaw joint takes the redundant yaw seat 5 as a base body, the redundant yaw motor 2 is installed on the redundant yaw seat 5, and the redundant yaw motor 2 drives the redundant yaw shaft 6 to rotate, so that the first connecting rod 1 fastened on the redundant yaw shaft 6 is driven to rotate. And the deflection action of the attitude redundant deflection joint in the 4-axis convergence redundant mechanism is realized.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 to 2, in the embodiment, the redundant yaw motor 2 is fixedly connected to the redundant yaw base 5 through the redundant yaw motor mounting base 3, the redundant yaw motor 2 is vertically fixedly connected to the redundant yaw motor mounting base 3, and the redundant yaw shaft 6 is rotatably connected to the redundant yaw base 5 through a set of first bearings 4. Other components and connection modes are the same as those of the second embodiment.
In the present embodiment the first link 1 is arranged at the upper end of the redundant yawing base 5.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 to 2, the pitch joint of the embodiment includes a second link 7, a first driven wheel 20, a first driving wheel 21, a pitch input shaft 22, a pitch motor 25 and a pitch shaft 18, the pitch motor 25 is fixedly connected to an outer end of a vertical end of the first link 1, a motor shaft of the pitch motor 25 is connected to the pitch input shaft 22, the pitch input shaft 22 is arranged parallel to the vertical end of the first link 1, the pitch input shaft 22 is fixedly connected to the first driving wheel 21, the pitch shaft 18 is vertically inserted into the outer end of the vertical end of the first link 1, the pitch shaft 18 is rotatably connected to the first link 1, one end of the pitch shaft 18 is fixedly connected to the first driven wheel 20, the first driving wheel 21 is engaged with the first driven wheel 20, the second link 7 is L-shaped, and the other end of the pitch shaft 18 is vertically fixedly connected to an outer end of the vertical end of the second link 7. The other components and the connection mode are the same as those of the first embodiment, the second embodiment or the third embodiment.
In the embodiment, the pitch joint uses the first connecting rod 1 as a base, the pitch motor 25 is installed on the first connecting rod 1, and the pitch motor 25 drives the pitch input shaft 22 to rotate and drives the first driving wheel 21 connected to the pitch input shaft 22 to rotate, so as to drive the first driven wheel 20 fastened on the pitch shaft 18 to rotate, and further drive the pitch shaft 18 and the second connecting rod 7 connected to the pitch shaft 18 to rotate. The pitching motion of the pitching joint in the 4-axis intersection redundancy mechanism is realized.
The fifth concrete implementation mode: referring to fig. 1 to 2, the embodiment is described, in which the tilt motor 25 is fixedly connected to the first link 1 through a tilt motor fixing plate 24, the tilt motor 25 is vertically fixedly connected to the tilt motor fixing plate 24, the tilt input shaft 22 is rotatably connected to the first link 1 through a set of second bearings 23, and the tilt shaft 18 is rotatably connected to the first link 1 through a set of third bearings 19. The other components and the connection mode are the same as those of the fourth embodiment.
In the embodiment, the pitch motor fixing plate 24 is fixedly connected with the outer side end of the vertical end of the first connecting rod 1, the pitch motor 25, the first driving wheel 21 and the first driven wheel 20 are all arranged on the outer side of the first connecting rod 1, and the second connecting rod 7 is arranged on the inner side of the first connecting rod 1.
In this embodiment, the first connecting rod 1 may also be a hollow rod, and the pitching motor 25, the first driving wheel 21 and the first driven wheel 20 are all disposed in the rod of the first connecting rod 1.
In the present embodiment, a plurality of first link arms are fixed to the outer side of the first link 1 to support the pitch input shaft 22 and the pitch shaft 18, and the outer rings of the second bearing 23 and the third bearing 19 are fixed to the first link arms.
The sixth specific implementation mode: the embodiment is described with reference to fig. 1 to 2, the yaw joint of the embodiment includes a second driven wheel 9, a second driving wheel 10, a third connecting rod 12, a yaw shaft 13, a yaw motor 15 and a yaw input shaft 17, the yaw motor 15 is fixedly connected to an outer side end of a horizontal end of the second connecting rod 7, a motor shaft of the yaw motor 15 is connected to the yaw input shaft 17, the yaw input shaft 17 is arranged parallel to the horizontal end of the second connecting rod 7, the second driving wheel 10 is fixedly connected to the yaw input shaft 17, the yaw shaft 13 is vertically inserted into the outer side end of the horizontal end of the second connecting rod 7, the yaw shaft 13 is rotatably connected to the second connecting rod 7, the second driven wheel 9 is fixedly connected to one end of the yaw shaft 13, the second driving wheel 10 is engaged with the second driven wheel 9, the third connecting rod 12 is L-shaped, and the other end of the yaw shaft 13 is fixedly connected to an outer side end of a horizontal end of the third connecting rod 12. Other components and connecting modes are the same as those of the first embodiment, the second embodiment, the third embodiment or the fifth embodiment.
In the embodiment, the second connecting rod 7 is used as a base body of the deflection joint, the deflection motor 15 is installed on the second connecting rod 7, and the deflection motor 15 drives the deflection input shaft 17 to rotate and drives the second driving wheel 10 connected to the deflection input shaft 17 to rotate, so as to drive the second driven wheel 9 fastened on the deflection shaft 13 to rotate, and further drive the third connecting rod 12 connected between the deflection shaft 13 and the deflection shaft 13 to rotate. The deflection motion of the deflection joint in the 4-axis convergence redundant mechanism is realized.
The seventh embodiment: referring to fig. 1 to 2, the embodiment is described, in which the yaw motor 15 is fixedly connected to the second connecting rod 7 through a yaw motor fixing plate 16, the yaw motor 15 is vertically fixedly connected to the yaw motor fixing plate 16, the yaw input shaft 17 is rotatably connected to the second connecting rod 7 through a set of fourth bearings 11, and the yaw shaft 13 is rotatably connected to the second connecting rod 7 through a set of fifth bearings 8. Other components and connection modes are the same as those of the sixth embodiment.
In the embodiment, the deflection motor fixing plate 16 is fixedly connected with the outer side end of the horizontal end of the second connecting rod 7, the deflection motor 15, the second driving wheel 10 and the second driven wheel 9 are all arranged on the outer side of the second connecting rod 7, and the third connecting rod 12 is arranged on the inner side of the second connecting rod 7.
In this embodiment, the second connecting rod 7 may also be a hollow rod, and the yaw motor 15, the second driving wheel 10, and the second driven wheel 9 are all disposed in the rod of the second connecting rod 7.
In this embodiment, a plurality of second connecting arms are fixed to the outer sides of the second connecting rods 7 to support the yaw input shaft 17 and the yaw shaft 13, and the outer rings of the fourth bearing 11 and the fifth bearing 8 are fixed to the second connecting arms.
The specific implementation mode is eight: the present embodiment is described with reference to fig. 1 to 2, and the rotary joint of the present embodiment includes a rotary shaft 14, a rotary input shaft 26, a rotary motor 27, a third driven wheel 31, a third driving wheel 32 and a handle 33, the rotary motor 27 is fixedly connected to an outer side end of a vertical end of the third connecting rod 12, a motor shaft of the rotary motor 27 is connected to the rotary input shaft 26, the rotary input shaft 26 is arranged in parallel with the vertical end of the third connecting rod 12, the rotary input shaft 26 is fixedly connected to the third driving wheel 32, the rotary shaft 14 is vertically inserted into the outer side end of the vertical end of the third connecting rod 12, the rotary shaft 14 is rotatably connected to the third connecting rod 12, one end of the rotary shaft 14 is fixedly connected to the third driven wheel 31, the third driving wheel 32 is engaged with the third driven wheel 31, and the other end of the rotary shaft 14 is vertically fixedly connected to. Other components and connecting modes are the same as those of the first embodiment, the second embodiment, the third embodiment, the fifth embodiment or the seventh embodiment.
In this embodiment, the rotary joint is formed by using the third link 12 as a base, the rotary motor 27 is attached to the third link 12, and the rotary motor 27 rotates the rotary input shaft 26 to rotate the third driving pulley 32 connected to the rotary input shaft 26 and the third driven pulley 31 fastened to the rotary shaft 14, thereby rotating the rotary shaft 14 and the handle 33 connected to the rotary shaft 14. The rotary motion of the rotary joint in the 4-axis intersection redundancy mechanism is realized.
The specific implementation method nine: in the present embodiment, the rotation motor 27 is fixed to the third link 12 by a rotation motor fixing plate 28, and the rotation motor 27 is vertically fixed to the rotation motor fixing plate 28, as described with reference to fig. 1 to 2. The other components and connection modes are the same as those of the eighth embodiment.
In this embodiment, the rotation motor fixing plate 28 is fixed to the outer end of the horizontal end of the third link 12, the rotation motor 27, the third driving wheel 32, and the third driven wheel 31 are all disposed on the outer side of the third link 12, and the handle 33 is disposed on the inner side of the third link 12.
In this embodiment, the third link 12 may also be a hollow rod, and the rotation motor 27, the third driving wheel 32, and the third driven wheel 31 are all disposed in the rod of the third link 12.
The detailed implementation mode is ten: referring to fig. 1 to 2, the rotation input shaft 26 of the present embodiment is rotatably connected to the third link 12 by a set of sixth bearings 29, and the rotation shaft 14 is rotatably connected to the third link 12 by a set of seventh bearings 30. The other components and the connection mode are the same as those of the ninth embodiment.
In this embodiment, a plurality of third connecting arms are fixed to the outer sides of the third links 12 to support the rotation input shaft 26 and the rotation shaft 14, and outer rings of a sixth bearing 29 and a seventh bearing 30 are fixed to the third connecting arms.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. The utility model provides a can realize redundant mechanism is handed over to four-axis that gesture was adjusted wantonly which characterized in that: the four-axis convergence redundancy mechanism capable of realizing optional posture adjustment comprises a redundancy deflection joint, a pitching joint, a deflection joint and a rotation joint, wherein the redundancy deflection joint, the pitching joint, the deflection joint and the rotation joint respectively rotate around the rotation axis of the redundancy deflection joint, and the rotation axis of the redundancy deflection joint, the rotation axis of the pitching joint, the rotation axis of the deflection joint and the rotation axis of the rotation joint converge at one point.
2. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 1, characterized in that: the redundant deflection joint comprises a first connecting rod (1), a redundant deflection motor (2), a redundant deflection seat (5) and a redundant deflection shaft (6), wherein the redundant deflection motor (2) is fixedly connected to the redundant deflection seat (5), a motor shaft of the redundant deflection motor (2) is connected with the redundant deflection shaft (6), the redundant deflection shaft (6) is rotatably connected with the redundant deflection seat (5), the first connecting rod (1) is L-shaped, and the redundant deflection shaft (6) is vertically and fixedly connected with the outer side end of the horizontal end of the first connecting rod (1).
3. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 2, characterized in that: redundant beat motor (2) pass through redundant beat motor mount pad (3) and redundant beat seat (5) rigid coupling, redundant beat motor (2) perpendicular rigid coupling is on redundant beat motor mount pad (3), redundant beat axle (6) rotate with redundant beat seat (5) through a set of first bearing (4) and are connected.
4. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 1, 2 or 3, characterized in that: the pitching joint comprises a second connecting rod (7), a first driven wheel (20), a first driving wheel (21), a pitching input shaft (22), a pitching motor (25) and a pitching shaft (18), the pitching motor (25) is fixedly connected to the outer side end of the vertical end of the first connecting rod (1), a motor shaft of the pitching motor (25) is connected with the pitching input shaft (22), the pitching input shaft (22) is parallel to the vertical end of the first connecting rod (1), the pitching input shaft (22) is fixedly connected with a first driving wheel (21), the pitching shaft (18) is vertically inserted into the outer side end of the vertical end of the first connecting rod (1), the pitching shaft (18) is rotatably connected with the first connecting rod (1), one end of the pitching shaft (18) is fixedly connected with a first driven wheel (20), the first driving wheel (21) is meshed with the first driven wheel (20), the second connecting rod (7) is L-shaped, and the other end of the pitching shaft (18) is vertically fixedly connected with the outer side end of the vertical end of the second connecting rod (7).
5. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 4, wherein: the pitching motor (25) is fixedly connected with the first connecting rod (1) through a pitching motor fixing plate (24), the pitching motor (25) is vertically fixedly connected on the pitching motor fixing plate (24), the pitching input shaft (22) is rotatably connected with the first connecting rod (1) through a group of second bearings (23), and the pitching shaft (18) is rotatably connected with the first connecting rod (1) through a group of third bearings (19).
6. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 1, 2, 3 or 5, characterized in that: the deflection joint comprises a second driven wheel (9), a second driving wheel (10), a third connecting rod (12), a deflection shaft (13), a deflection motor (15) and a deflection input shaft (17), the swing motor (15) is fixedly connected to the outer side end of the horizontal end of the second connecting rod (7), a motor shaft of the swing motor (15) is connected with the swing input shaft (17), the swing input shaft (17) is arranged in parallel with the horizontal end of the second connecting rod (7), the swing input shaft (17) is fixedly connected with a second driving wheel (10), the swing shaft (13) is vertically inserted into the outer side end of the horizontal end of the second connecting rod (7), the swing shaft (13) is rotatably connected with the second connecting rod (7), one end of the swing shaft (13) is fixedly connected with a second driven wheel (9), the second driving wheel (10) is meshed with the second driven wheel (9), the third connecting rod (12) is L-shaped, and the other end of the swing shaft (13) is fixedly connected with the outer side end of the horizontal end of the third connecting rod (12).
7. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 6, wherein: the deflection motor (15) is fixedly connected with the second connecting rod (7) through a deflection motor fixing plate (16), the deflection motor (15) is fixedly connected on the deflection motor fixing plate (16) vertically, the deflection input shaft (17) is rotatably connected with the second connecting rod (7) through a group of fourth bearings (11), and the deflection shaft (13) is rotatably connected with the second connecting rod (7) through a group of fifth bearings (8).
8. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 1, 2, 3, 5 or 7, characterized in that: the rotary joint comprises a rotary shaft (14), a rotary input shaft (26), a rotary motor (27), a third driven wheel (31), a third driving wheel (32) and a handle (33), the rotary motor (27) is fixedly connected to the outer side end of the vertical end of the third connecting rod (12), a motor shaft of the rotary motor (27) is connected with the rotary input shaft (26), the rotary input shaft (26) is parallel to the vertical end of the third connecting rod (12), the rotary input shaft (26) is fixedly connected with a third driving wheel (32), the rotary shaft (14) is vertically inserted into the outer side end of the vertical end of the third connecting rod (12), the rotary shaft (14) is rotatably connected with the third connecting rod (12), one end of the rotary shaft (14) is fixedly connected with a third driven wheel (31), the third driving wheel (32) is meshed with the third driven wheel (31), and the other end of the rotary shaft (14) is vertically fixedly connected with one end face of the handle (33).
9. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 8, wherein: the rotary motor (27) is fixedly connected with the third connecting rod (12) through a rotary motor fixing plate (28), and the rotary motor (27) is vertically and fixedly connected to the rotary motor fixing plate (28).
10. The four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment according to claim 9, wherein: the rotary input shaft (26) is rotationally connected with the third connecting rod (12) through a group of sixth bearings (29), and the rotary shaft (14) is rotationally connected with the third connecting rod (12) through a group of seventh bearings (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921088264.1U CN210589289U (en) | 2019-07-11 | 2019-07-11 | Four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921088264.1U CN210589289U (en) | 2019-07-11 | 2019-07-11 | Four-axis intersection redundancy mechanism capable of realizing arbitrary posture adjustment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181499A (en) * | 2019-07-11 | 2019-08-30 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of four axis congruences friendship redundant unit that posture may be implemented and arbitrarily adjusts |
-
2019
- 2019-07-11 CN CN201921088264.1U patent/CN210589289U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181499A (en) * | 2019-07-11 | 2019-08-30 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of four axis congruences friendship redundant unit that posture may be implemented and arbitrarily adjusts |
| CN110181499B (en) * | 2019-07-11 | 2024-05-17 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Four-axis convergence redundant mechanism capable of realizing arbitrary adjustment of gestures |
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Address after: 150000 No. 8, Dalian north road, haping road concentration area, economic development zone, Harbin, Heilongjiang Province Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150000 room 08, 15 / F, No. 368, Changjiang Road, Nangang concentration area, Nangang District, economic development zone, Nangang District, Harbin City, Heilongjiang Province Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
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