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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
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Next One: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
