CN107320108B - Joint mobility measuring method - Google Patents

Joint mobility measuring method Download PDF

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CN107320108B
CN107320108B CN201710689841.1A CN201710689841A CN107320108B CN 107320108 B CN107320108 B CN 107320108B CN 201710689841 A CN201710689841 A CN 201710689841A CN 107320108 B CN107320108 B CN 107320108B
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joint
detected
human body
detection module
position detection
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CN107320108A (en
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黄峰
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Foshan University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part

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  • Life Sciences & Earth Sciences (AREA)
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  • Heart & Thoracic Surgery (AREA)
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Abstract

The invention discloses a joint mobility measuring method, which comprises the steps of establishing a space coordinate system; initializing human body parameters; detecting item selection and activity degree. The invention combines the position detection module, the space coordinate system and the human body parameters together, and the upper computer simultaneously realizes the functions of identifying the joint to be detected and detecting the activity of the joint to be detected through the three-dimensional coordinate data transmitted by the position detection module assembled on the joint to be detected, so that the calculation of the activity of the joint is accurate, the intelligent detection of the activity of the joint is realized, and the medical personnel can operate in person, and the detection is simpler and quicker.

Description

Joint mobility measuring method
Technical Field
The invention relates to the technical field of medical measurement, in particular to a joint mobility measuring method.
Background
The joint mobility is a common detection item in clinical rehabilitation medicine and disability identification, a doctor can use the joint mobility as an index for evaluating the postoperative rehabilitation degree of a joint of a patient, and the disability degree of the patient is judged by measuring the joint mobility of the patient in the disability identification. Therefore, the accurate detection of the joint motion degree of the human body is very important.
In the prior art, the conventional joint mobility measuring scheme utilizes a joint mobility measuring scale to detect, the measuring accuracy is low, and medical workers are required to detect the measured person personally, so that hands are wasted.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: an intelligent joint mobility measuring method is provided.
The solution of the invention for solving the technical problem is as follows:
a joint mobility measuring method, comprising the steps of:
establishing a space coordinate system: establishing a space coordinate system by taking the central axis of the human body as a Z axis, the right front of the human body as an X axis and the left side of the human body as a Y axis;
human body parameter initialization step: inputting human body parameters of a measured person into an upper computer, wherein the human body parameters comprise height, shoulder width and thickness;
and a detection item selection step: assembling a position detection module on a joint to be detected of a detected person, wherein the position detection module is configured to be capable of detecting a three-dimensional coordinate of a space where the position detection module is located, and automatically identifying a detection item by combining the three-dimensional coordinate of the position detection module and a human body parameter of the detected person;
and (3) detecting the activity degree: the tested person moves the joint to be tested according to the medical standard, the position detection module sends the three-dimensional coordinates before and after the movement of the joint to be tested to the upper computer, and the upper computer calculates the mobility of the joint to be tested of the tested person.
As a further improvement of the above technical solution, the two position detection modules are configured to detect a three-dimensional coordinate of a target position of the joint to be detected and a three-dimensional coordinate of a starting position of the joint in the joint movement.
As a further improvement of the above technical solution, the activity detection step includes:
detecting three-dimensional coordinates of a target point position and a starting point position of the joint to be detected before the joint to be detected moves, and displaying the three-dimensional coordinates on a space coordinate system;
the tested person moves the joint to be tested according to the medical standard;
after the joint to be detected moves, three-dimensional coordinates of a target point position and a starting point position of the joint to be detected are detected and displayed on a space coordinate system;
connecting the target point position and the starting point position of the joint to be detected before and after the joint to be detected moves by using a straight line respectively to form a first joint shaft and a second joint shaft respectively;
and the upper computer calculates an included angle between the first joint shaft and the second joint shaft and identifies the moving direction of the joint to be detected.
As a further improvement of the above technical solution, the joint mobility measuring method further includes:
a determination parameter setting step: the upper computer calculates the normal range value of the activity degree of each joint of the human body under the condition according to the input human body parameters;
and finally, the step of detecting the activity degree also comprises the step of judging whether an included angle between the first joint shaft and the second joint shaft is within a set normal range value of the activity degree of the joint, if so, the upper computer outputs qualified information, and otherwise, the upper computer outputs unqualified information.
As a further improvement of the technical scheme, the position detection module comprises a three-axis acceleration sensor, a three-axis gyroscope, a single chip microcomputer and a wireless transmission unit, the output ends of the three-axis acceleration sensor and the three-axis gyroscope are respectively connected with the input end of the single chip microcomputer, and the single chip microcomputer is in communication connection with an upper computer through the wireless transmission unit.
The invention has the beneficial effects that: the invention combines a space coordinate system and human body parameters together, and enables an upper computer to simultaneously realize the functions of identifying the joint to be detected and detecting the activity of the joint to be detected through three-dimensional coordinate data transmitted by the position detection module assembled on the joint to be detected, the joint activity is accurately calculated, the intelligent detection of the joint activity is realized, the operation of medical personnel is not needed, and the detection is simpler and quicker.
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In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a flow chart of a joint motion measurement method of the present invention;
FIG. 2 is a flowchart of an embodiment of the activity detection step of FIG. 1;
FIG. 3 is a schematic diagram of the spatial coordinate system of the present invention (with a shoulder joint as the joint to be measured);
fig. 4 is a circuit configuration diagram of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
Referring to fig. 1 to 4, in order to solve the technical problem that accurate measurement of joint mobility is difficult in the prior art, the invention discloses a joint mobility measurement method with high intelligence degree and high detection accuracy, which comprises the following steps:
establishing a space coordinate system: establishing a space coordinate system by taking the central axis of the human body as a Z axis, the right front of the human body as an X axis and the left side of the human body as a Y axis;
human body parameter initialization step: inputting human body parameters of a measured person into an upper computer, wherein the human body parameters comprise height, shoulder width and thickness;
and a detection item selection step: assembling a position detection module on a joint to be detected of a detected person, wherein the position detection module is configured to be capable of detecting a three-dimensional coordinate of a space where the position detection module is located, and automatically identifying a detection item by combining the three-dimensional coordinate of the position detection module and a human body parameter of the detected person;
and (3) detecting the activity degree: the tested person moves the joint to be tested according to the medical standard, the position detection module sends the three-dimensional coordinates before and after the movement of the joint to be tested to the upper computer, and the upper computer calculates the mobility of the joint to be tested of the tested person.
Specifically, the joint mobility measuring method is created, firstly, a space coordinate system is established according to the position of a human body, referring to fig. 3, the central axis of the human body is taken as the Z axis, the right front of the human body is taken as the X axis, the left side of the human body is taken as the Y axis, and the space coordinate system is established according to the position of the human body, so that the joint mobility is more visual, and meanwhile, the calculation difficulty of the joint mobility is simplified to a certain extent; then inputting the human body parameters of the tested person, wherein the human body parameters comprise the maximum distances of the front, back, left, right and up and down of the human body, so that the invention uses the height, the shoulder width and the thickness to represent the distances of the front, back, left and right of the human body; the next step is that a position detection module is configured on the joint to be detected of the detected person, the position detection module is used for detecting the three-dimensional coordinate of the wearing position of the position detection module, the three-dimensional coordinate is mapped to the established space coordinate system, and the position worn by the position detection module is indirectly identified to which joint of the human body the wearing position of the position detection module corresponds according to the three-dimensional coordinate and the human body parameters transmitted by the position detection module, so that the automatic identification and selection of the joint activity degree detection project are realized without human participation; and finally, the tested person moves the joint to be tested according to the medical standard, the position detection module sends the three-dimensional coordinates before and after the movement of the joint to be tested to an upper computer, the three-dimensional coordinates are mapped into a space coordinate system, and the upper computer calculates the mobility of the joint to be tested of the tested person.
The invention combines a space coordinate system and human body parameters together, and enables an upper computer to simultaneously realize the functions of identifying the joint to be detected and detecting the activity of the joint to be detected through three-dimensional coordinate data transmitted by the position detection module assembled on the joint to be detected, the joint activity is accurately calculated, the intelligent detection of the joint activity is realized, and the medical staff operates in person, so the detection is simpler and quicker.
Further, as a preferred embodiment, in the invention, two position detection modules are configured, and are respectively used for detecting a three-dimensional coordinate of a target position of a joint to be detected and a three-dimensional coordinate of a starting position in joint movement. Specifically, when the joint moves, the corresponding human body part swings by a certain angle, and the swing angle is the corresponding joint motion degree. The invention uses knee joint as joint to be measured, and needs to measure the joint mobility of knee joint, under the condition that the knee space position is not changed, the crus can be swung according to medical standard, the swing angle of crus is the joint mobility of knee joint, at this moment, the problem can be converted into how to measure the swing angle of crus, the invention uses two position detecting modules, one is arranged on the knee cover as starting point position, the other is arranged on the crus as target point position, the upper computer maps the two position detecting modules to two points in the established space coordinate system through the three-dimensional coordinate data transmitted by the two position detecting modules, because the two points can determine a straight line, the two straight lines can be established through the two points in the space coordinate system before and after the joint movement, the joint mobility of joint to be measured can be detected as long as the included angle between the two straight lines is measured, the intelligence is convenient and the degree of accuracy is high.
Further, as a preferred embodiment, in the present invention, the activity detecting step includes:
detecting three-dimensional coordinates of a target point position and a starting point position of the joint to be detected before the joint to be detected moves, and displaying the three-dimensional coordinates on a space coordinate system;
the tested person moves the joint to be tested according to the medical standard;
after the joint to be detected moves, three-dimensional coordinates of a target point position and a starting point position of the joint to be detected are detected and displayed on a space coordinate system;
connecting the target point position and the starting point position of the joint to be detected before and after the joint to be detected moves by using a straight line respectively to form a first joint shaft and a second joint shaft respectively;
and the upper computer calculates an included angle between the first joint shaft and the second joint shaft and identifies the moving direction of the joint to be detected.
Specifically, the joint mobility of the joint to be measured can be obtained by measuring the included angle between a first joint shaft and a second joint shaft formed by the starting point position and the target point position before and after the movement of the joint to be measured, meanwhile, the rotation direction of the joint to be measured can be judged through three-dimensional coordinates corresponding to the starting point position and the target point position before and after the movement of the joint to be measured, and the mobility of the same joint in different movement directions is also the standard for judging whether the joint is normal or not in the actual joint mobility measuring process.
Further, as a preferred embodiment, in the present invention, the method for measuring joint mobility further includes:
a determination parameter setting step: the upper computer calculates the normal range value of the activity degree of each joint of the human body under the condition according to the input human body parameters;
and finally, judging whether the included angle between the first joint shaft and the second joint shaft is within a set normal range value of the joint activity degree, if so, outputting qualified information by the upper computer, and otherwise, outputting unqualified information by the upper computer.
Specifically, the invention can also be used as a daily intelligent physical examination method, at the moment, the technical scheme needs to intelligently judge whether the joint activity of the joint to be detected of the detected person is normal, and because the activity of each joint corresponding to people with different body types is slightly different, the joint activity of all people cannot be judged according to the same standard; and finally, after the tested person moves the joint to be tested according to the requirement, the upper computer can judge whether the included angle between the first joint shaft and the second joint shaft is within the set normal range value of the joint mobility and output a judgment result, and the detection speed is high, and the operation is simple and visual.
Further as a preferred embodiment, in the present invention, the position detection module is configured to detect a three-dimensional coordinate of a current position of the position detection module, and in order to achieve the above function, in a specific embodiment of the present invention, the position detection module includes a three-axis acceleration sensor, a three-axis gyroscope, a single chip microcomputer, and a wireless transmission unit, output ends of the three-axis acceleration sensor and the three-axis gyroscope are respectively connected to an input end of the single chip microcomputer, and the single chip microcomputer is in communication connection with an upper computer through the wireless transmission unit. The three-axis acceleration sensor is used for detecting the acceleration of movement, the moving distance can be obtained by performing secondary integration on the acceleration, the three-axis gyroscope is used for detecting the direction of the movement, the three-dimensional coordinate of the current position detection module is calculated by the data input by the three-axis acceleration sensor and the three-axis gyroscope through the single chip microcomputer, and the three-dimensional coordinate is transmitted to the upper computer through the wireless transmission unit, so that the position detection module can be mapped into a space coordinate system by the upper computer.
The invention uses shoulder joint as joint to be measured, and completely describes how to use the method to realize joint mobility measurement of shoulder joint:
step 1: a space coordinate system is established by taking the central axis of the human body as the Z axis, the right front of the human body as the X axis and the left side of the human body as the Y axis, and the origin can be arranged on the ground;
step 2: inputting human body parameters of a measured person into an upper computer, wherein the human body parameters comprise height, shoulder width and thickness;
and step 3: the upper computer calculates normal range values of joint mobility of shoulder joints of the human body in different movement directions under the condition according to the input human body parameters;
and 4, step 4: referring to fig. 3, two position detection modules are assembled on a joint to be detected of a detected person, wherein one position detection module is assembled on an arm and serves as a starting position 2, the other position detection module is assembled on a palm or a back of the hand and serves as a target position 1, then the two position detection modules transmit three-dimensional coordinates obtained through calculation to an upper computer, and the upper computer automatically identifies that the joint to be detected is a shoulder joint according to the two three-dimensional coordinates and human body parameters and by combining with the conventional size of a human body in medicine;
and 5: the tested person moves the joint to be tested according to the medical standard;
step 6: detecting three-dimensional coordinates of a target point position and a starting point position of the joint to be detected before and after the joint to be detected moves, displaying the three-dimensional coordinates on a space coordinate system, and connecting the target point position and the starting point position to form a first joint shaft 3 and a second joint shaft;
and 7: according to the three-dimensional coordinates of the starting point position and the target point position of the joint to be detected before and after the movement, the movement direction of the shoulder joint is identified, such as forward flexion and upward extension or abduction and upward extension;
and 8: calculating the mobility of the joint to be detected according to the starting position of the joint to be detected and the three-dimensional coordinates before and after the movement of the target point position;
and step 9: the upper computer judges whether the shoulder joint mobility is qualified or not and outputs a result.
The joint mobility detection method for other joints of the human body is similar to that described above, but differs in that the position detection module is worn at a different position.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.

Claims (2)

1. A joint mobility measuring method is characterized by comprising the following steps:
establishing a space coordinate system: establishing a space coordinate system by taking the central axis of the human body as a Z axis, the right front of the human body as an X axis and the left side of the human body as a Y axis;
human body parameter initialization step: inputting human body parameters of a measured person into an upper computer, wherein the human body parameters comprise height, shoulder width and thickness;
and a detection item selection step: assembling a position detection module on a joint to be detected of a detected person, wherein the position detection module is configured to be capable of detecting a three-dimensional coordinate of a space where the position detection module is located, and automatically identifying a detection item by combining the three-dimensional coordinate of the position detection module and a human body parameter of the detected person;
and (3) detecting the activity degree: the tested person moves the joint to be tested according to the medical standard, the position detection module sends the three-dimensional coordinates before and after the movement of the joint to be tested to the upper computer, and the upper computer calculates the mobility of the joint to be tested of the tested person;
the two position detection modules are respectively arranged at the target position and the starting position of the joint to be detected;
the activity detection step includes:
detecting three-dimensional coordinates of a target point position and a starting point position of the joint to be detected before the joint to be detected moves, and displaying the three-dimensional coordinates on a space coordinate system;
the tested person moves the joint to be tested according to the medical standard;
after the joint to be detected moves, three-dimensional coordinates of a target point position and a starting point position of the joint to be detected are detected and displayed on a space coordinate system;
connecting the target point position and the starting point position of the joint to be detected before and after the joint to be detected moves by using a straight line respectively to form a first joint shaft and a second joint shaft respectively;
and the upper computer calculates an included angle between the first joint shaft and the second joint shaft and identifies the moving direction of the joint to be detected.
2. A joint motion measure method according to claim 1, wherein: the position detection module comprises a triaxial acceleration sensor, a triaxial gyroscope, a single chip microcomputer and a wireless transmission unit, wherein the output ends of the triaxial acceleration sensor and the triaxial gyroscope are respectively connected with the input end of the single chip microcomputer, and the single chip microcomputer is in communication connection with an upper computer through the wireless transmission unit.
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CN108317982B (en) * 2018-02-02 2020-03-31 廊坊师范学院 Three-dimensional space body position sense testing device and method
CN110269774B (en) * 2018-03-15 2022-05-31 深圳市震有智联科技有限公司 Automatic calibration system of rehabilitation robot
CN111568428A (en) * 2020-04-13 2020-08-25 汕头大学医学院 Human joint mobility detection system and detection method
CN113842136A (en) * 2020-06-28 2021-12-28 中国医学科学院生物医学工程研究所 Detection equipment and method for lumbar mobility
CN113842137A (en) * 2020-06-28 2021-12-28 中国医学科学院生物医学工程研究所 Lumbar vertebra mobility detection device
CN111938658B (en) * 2020-08-10 2023-09-01 陈雪丽 Joint activity monitoring system and method for hand, wrist and forearm
CN114795192B (en) * 2022-07-01 2022-09-16 佛山科学技术学院 Joint mobility intelligent detection method and system

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Denomination of invention: A measurement method of joint range of motion

Granted publication date: 20200818

License type: Common License

Record date: 20221210

EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: SHENZHEN TOYOCOOL EQUIPMENT CO.,LTD.

Assignor: FOSHAN University

Contract record no.: X2023980034099

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230327

EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: Shenzhen gongyifu Electronic Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980034257

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230403

Application publication date: 20171107

Assignee: Shenzhen Wanlian Xinneng Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980034283

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230403

Application publication date: 20171107

Assignee: Shenzhen guantian Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980034291

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230403

Application publication date: 20171107

Assignee: Shenzhen Yikeai Health Industry Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980034378

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230403

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EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: SHENZHEN JINHONG WIRELESS TECHNOLOGY CO.,LTD.

Assignor: FOSHAN University

Contract record no.: X2023980034312

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230404

Application publication date: 20171107

Assignee: Shenzhen dabaoguang Electronic Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980034293

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230404

Application publication date: 20171107

Assignee: Shenzhen Yibai Industrial Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980034314

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230404

EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: SHENZHEN ZHIHUA TECHNOLOGY DEVELOPMENT Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980034471

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230406

EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: Wokang (Guangzhou) Electronic Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980037314

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230630

Application publication date: 20171107

Assignee: Guangzhou Xinghuo Information Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980037282

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230630

Application publication date: 20171107

Assignee: Guangzhou kechuanglian Network Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980037163

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20230630

EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: Changhong (Guangzhou) Information Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980043906

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231019

Application publication date: 20171107

Assignee: Guangzhou xuzhuo Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980043904

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231019

Application publication date: 20171107

Assignee: Guangzhou Shangqing Intelligent Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980043903

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231019

Application publication date: 20171107

Assignee: Guangzhou Ruijie Intelligent Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980043900

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231019

Application publication date: 20171107

Assignee: Guangzhou Daguan Digital Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980043899

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231019

Application publication date: 20171107

Assignee: Guangzhou nuobi Electronic Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980043898

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231019

EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: GUANGZHOU XINGYIN TECHNOLOGY Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980044827

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231027

Application publication date: 20171107

Assignee: GUANGZHOU HUAJUE BIOTECHNOLOGY CO.,LTD.

Assignor: FOSHAN University

Contract record no.: X2023980044823

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231027

Application publication date: 20171107

Assignee: GUANGZHOU SHANGCHENG TECHNOLOGY Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980044821

Denomination of invention: A method for measuring joint mobility

Granted publication date: 20200818

License type: Common License

Record date: 20231027

EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20171107

Assignee: Chongqing Baiyi medical supplies Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2023980048326

Denomination of invention: A method for measuring joint range of motion

Granted publication date: 20200818

License type: Common License

Record date: 20231124

EC01 Cancellation of recordation of patent licensing contract

Assignee: Shenzhen Yinyou Magic Square Technology Co.,Ltd.

Assignor: FOSHAN University

Contract record no.: X2022980025748

Date of cancellation: 20240426