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刘岱远; 郭靖; 蒋小兵。一种软组织手术机器人的控制方法、装置及设备,申请专利号:CN201910376134.6,申请日期:2019-05-07,授权日期:2022-02-15,授权号CN110074866B
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Pre One:郭靖; 王进; 周亮; 张乐; 蔡述庭; 熊晓明。一种导管机器人系统。申请(专利)号CN202010323338.6,申请日期:2020-04-22,授权日期:2021-07-09,授权号CN111528938B
Next One:郭靖; 刘奕; 周鹏宇; 高军礼; 刘超。一种双边遥操作系统的控制装置和设备,申请专利号:CN201910372071.7,申请日期:2019-05-06,授权日期:2022-03-25,授权号CN110007601B