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庄少滨; 郭靖; 蒋小兵; 苏航。基于手臂刚度的手术机器人遥操作比例控制方法，申请专利号：CN201910743884.2，申请日期：2019-08-13，授权日期：2022-05-06，授权号CN110584790B
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Pre One:郭靖; 周亮; 何嘉乐; 成卓奇; 熊晓明。一种医用手持设备，申请专利号：CN202011059539.6，申请日期：2020-09-30，授权日期：2022-04-29，授权号CN112075962B
Next One:刘奕; 郭靖; 陈鹏; 高军礼。一种位置确定方法、系统及相关装置，申请专利号：CN201910150447.X，申请日期：2019-02-28，授权日期：2022-05-10，授权号CN109877832B
