CN103099719A - Knee joint flexibility auxiliary recovery device - Google Patents
Knee joint flexibility auxiliary recovery device Download PDFInfo
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- CN103099719A CN103099719A CN2013100328257A CN201310032825A CN103099719A CN 103099719 A CN103099719 A CN 103099719A CN 2013100328257 A CN2013100328257 A CN 2013100328257A CN 201310032825 A CN201310032825 A CN 201310032825A CN 103099719 A CN103099719 A CN 103099719A
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Abstract
The invention relates to a knee joint flexibility auxiliary recovery device which comprises a thigh connecting mechanism, a shank connecting mechanism, an activity range adjusting mechanism and a flexibility control mechanism. The activity range adjusting mechanism comprises an inner shell and an outer shell, the inner shell is connected with the thigh connecting mechanism, and a spline is disposed in the center of the inner shell and connected with a wobble wheel which is provided with a pair of oscillating rods. The outer shell is connected with the shank connecting mechanism. The outer shell is a ring gear and is provided with a pair of flanges, the two oscillating rods are provided with a pair of limit buttons between the two flanges, the two limit buttons are respectively connected with a fan-shaped gear, and the upper portions are respectively connected with a pointer. The outer shell is provided with a sealed cover. The flexibility control mechanism comprises an outer shell and an inner shell, the inner shell is connected with the left side of the shank connecting mechanism, and the outer shell is connected with the left side of the thigh connecting mechanism. A rotating shaft is disposed in the center of the outer shell and fixedly connected with a button, a flat spring is clamped on the inner side of the rotating shaft, and both ends of the flat spring are fixed on the inner wall of the inner shell. The knee joint flexibility auxiliary recovery device can be widely used in research of knee joint recovery and contribute to medical rehabilitation programs.
Description
Technical field
The present invention relates to a kind of auxiliary rehabilitation device, particularly about the flexible auxiliary rehabilitation device of a kind of knee joint.
Background technology
For kneed auxiliary rehabilitation device, generally can be divided into Wearable and non-Wearable.The Wearable auxiliary rehabilitation device refers to be worn on the outer utensil of human body thigh and calf, and its stretching, extension and flexing with the joint is limited in suitable angular range, perhaps knee joint is maintained a certain angle, to promote that knee joint function obtains rehabilitation in early days.The auxiliary rehabilitation device of Wearable is relatively simple for structure at present, generally plays support, stablizes the impaired kneed effect of patient, uses also relatively simple.The auxiliary rehabilitation device of non-Wearable is eager to excel larger than the function of Wearable, it can increase patient's muscular strength and kneed motility and improve the patient to the control ability of muscle, but such device is huger, generally concentrate on the rehabilitation medical center, carry out rehabilitation so the patient can only arrive rehabilitation center, this is also very inconvenient concerning the patient that the action obstacle is arranged.In addition, external also some wearable dynamic knee joint auxiliary rehabilitation device, it can initiatively provide power-assisted to knee joint, but its power transmission arrangment more complicated, battery power consumption is larger, price, especially weight is large, thus itself and be not suitable for the patient and dress for a long time.
In recent years, based on studies show that of biology and physiology aspect, the flexible stored energy mechanisms such as muscle tendinous tissue have very important effect to stability and the energy efficiency of human body walking.And the driving joint that existing device is all rigidity rotates, and can not have flexibility as people's knee joint.Flexible joint is in motor process, alternately carry out storage power and release energy, so that kinetic energy, gravitional force and elastic potential energy are changed, so not only improved the utilization ratio of energy when the people walks, also improved the adaptability to the walking environment, therefore kneed convalescence device have flexible when driving joint rotates.In sum, need a kind of knee joint auxiliary rehabilitation device light and handy, that facilitate and can provide flexibility of dressing badly.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of flexible flexible auxiliary rehabilitation device of knee joint of dressing lightly, facilitate and can provide.
For achieving the above object, the present invention takes following technical scheme: the flexible auxiliary rehabilitation device of a kind of knee joint is characterized in that: it comprises that one is used for the large and small lower limb bindiny mechanism of fixing large and small lower limb, range of activity governor motion and Flexible Control mechanism; Described range of activity governor motion comprises one first inner shell and one first shell, described the first inner shell is fixedly connected with the right side of described thigh bindiny mechanism by a head rod and is integral, the center of described the first inner shell is provided with a spline, the other end of described spline connects a wobble wheel, is symmetrically arranged with the swing arm of a pair of protrusion on described wobble wheel; Described the first shell is fixedly connected with the right side of described shank bindiny mechanism by one second connecting rod; Described the first shell is the ring gear of an outboard end face closure, described the first shell circumferentially is symmetrically arranged with the flange that subtend first an inner shell direction is stretched out, be staggeredly equipped with a pair of spacing button with two described swing arms between two described flanges, the bottom of two described spacing buttons is fixedly connected with respectively a sector gear that coordinates with described ring gear; The top of two described spacing buttons is fixedly connected with respectively the pointer of described first shell of leap; Be provided with a capping of fixing two described pointers at the center of described the first shell, two described pointers are fixed in described capping; Be provided with angle dial on the end face of the outside of described the first shell, the middle part of described pointer is provided with a through hole, checks scale on described angle dial by described through hole; In the outside of described wobble wheel, one turn is set, the external diameter of described turn withstands on the bottom of two described spacing buttons; Be provided with the locator protrusions of the described turn in some location on the inwall of described the first inner shell; Described Flexible Control mechanism comprises a second housing and one second inner shell, and described the second inner shell is fixedly connected with the left side of described shank bindiny mechanism by one the 3rd connecting rod; Described second housing is fixedly connected with the left side of described thigh bindiny mechanism by one the 4th connecting rod, and described second housing center is provided with a long through-hole; Be symmetrically arranged with some spacing gap on described long through-hole two side along its length, insert a rotating shaft in described long through-hole, be symmetrically arranged with two limited blocks that match with described spacing gap in described rotating shaft, the described rotating shaft outside is fixedly connected with a button, described rotating shaft inboard is folded with a flat spring, and described flat spring two ends are fixed on described the second inner shell inwall.
Described thigh bindiny mechanism comprises a thigh support chamber, adhere to one first Anti-slip cover on described thigh support chamber inwall, one the first vertical opening is set on described thigh support chamber, be provided with at least one first tight locking button across described the first opening, the outer wall both sides of described thigh support chamber are respectively arranged with described head rod and described the second connecting rod.
Described shank bindiny mechanism comprises a shank support chamber, adhere to one second Anti-slip cover on described shank support chamber inwall, one the second vertical opening is set on described shank support chamber, be provided with at least one second tight locking button across described the second opening, the outer wall both sides of described shank support chamber are respectively arranged with described the 3rd connecting rod and described the 4th connecting rod.
Described large and small lower limb support chamber is to adopt 3-D scanning equipment to carry out repeatedly circular scanning along large and small lower limb installation position respectively, then is input in computer, sets up the threedimensional model on large and small lower limb surface, the final generation and the complete applying entity of human muscle's profile.
Described first, second Anti-slip cover adopts the linear polymeric polymer to make.
Described first, second Anti-slip cover adopts polyvinyl alcohol film to make.
The present invention is owing to adopting above technical scheme, it has the following advantages: 1, the present invention is owing to being provided with a Flexible Control mechanism, change clip position and the clamping degree of depth between rotating shaft and flat spring by button, and then the pivoting flexible between adjusting thigh and shank, and provide passive power-assisted, therefore, the present invention can be adapted to different sick and wounded patients in the different rehabilitation different demands in period.2, the present invention is owing to being provided with a range of activity governor motion, by pressing the spacing button on it, can make sector gear and ring gear break away from engagement, to change the range of activity of wobble wheel, thereby change thigh bindiny mechanism is with respect to the limit rotation angular range of shank bindiny mechanism, therefore, the present invention not only can be adapted to different sick and wounded patients in the different rehabilitation different demands in period, and very simple and convenient of the adjusting of spacing button.3, the present invention is owing to adopting the three-dimensional digital technology to make large and small lower limb support chamber, 3-D scanning equipment carries out repeatedly circular scanning along large and small lower limb installation position, then set up the threedimensional model on large and small lower limb surface, therefore, the present invention can be good at and the complete applying of human muscle's profile, the patient is dressed more comfortable.4, the present invention is owing to being provided with respectively one deck Anti-slip cover in large and small lower limb bindiny mechanism, it adopts polyvinyl alcohol film to make, the characteristics of its high-elastic characteristic, flexibility and portability have been utilized, therefore, it not only can reduce the relative sliding between limbs of patient and large and small lower limb support chamber, and can also make the patient dress light and handy, comfortable and convenience.5, the present invention is when design, with range of activity governor motion and Flexible Control mechanism all with the kneed pivot center conllinear of patient, therefore, the present invention regulates knee joint flexibility and Range of motion of knee joint according to the physiological structure of human body, thereby guarantees comfort level and the safety of knee joint in rehabilitation course.The present invention can be widely used in the research of knee joint recovery, serves the medical rehabilitation cause.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention
Fig. 2 is the cutaway view of range of activity governor motion of the present invention
Fig. 3 is the structural representation of the spacing button of the present invention
Fig. 4 is the 3 dimensional drawing of range of activity governor motion of the present invention
Fig. 5 is the cutaway view of Flexible Control of the present invention mechanism
Fig. 6 is the assembly drawing of Flexible Control of the present invention mechanism
Fig. 7 is the integrally-built left view of the present invention
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1, the present invention includes thigh bindiny mechanism 10, range of activity governor motion 20, Flexible Control mechanism 40 and shank bindiny mechanism 50, when design, must be with range of activity governor motion 20 and Flexible Control mechanism 40 and the kneed pivot center conllinear of patient.
Thigh of the present invention bindiny mechanism 10 comprises a thigh support chamber 11, adhere to an Anti-slip cover 12 on thigh support chamber 11 inwalls, one vertical opening 13 is set on thigh support chamber 11, is provided with at least one tight locking button 14 across opening 13, tight locking button 14 is used for adjusting elasticity and fixing Anti-slip cover 12.The outer wall both sides of thigh support chamber 11 are respectively arranged with a connecting rod 15,16.
As shown in Figure 1 and Figure 2, range of activity governor motion 20 of the present invention comprises an inner shell 21 and a shell 22, connecting rod 16 lower ends on inner shell 21 and right side are fixedly connected with and are integral, the center of inner shell 21 is provided with a spline, be inserted with an end of a spline in spline, the other end of spline connects a wobble wheel 23, is symmetrically arranged with the swing arm 24 of a pair of protrusion on wobble wheel 23.
As shown in Fig. 2～4, shell 22 is the ring gear 25 of an outboard end face closure, shell 22 circumferentially is symmetrically arranged with a pair of flange 26 that stretches out to inner shell 21 directions, the bottom that is staggeredly equipped with the spacing button 27 of a pair of spacing button 27, two with two swing arms 24 between two flanges 26 is fixedly connected with respectively a sector gear 28 that coordinates with ring gear 25.The top of two spacing buttons 27 is fixedly connected with respectively the pointer 29 of a leap shell 22.Be provided with a screw at the center of shell 22, be screwed into a capping 30 in screw, being screwed into of capping 30 can be fixed the position of two pointers 29, be provided with the angle dial (not shown) on the end face of the outside of shell 22, the middle part of pointer 29 is provided with a through hole 31, can see scale on angle dial by through hole 31.One turn 32 is set in the outside of wobble wheel 23, and the external diameter of turn 32 withstands on the bottom of two spacing buttons 27, to keep the engagement of sector gear 28 and ring gear 25, for positioning ejection spring coil 32, is provided with some locator protrusions 33 on the inwall of inner shell 21.When pressing spacing button 27 to wobble wheel 23 centers, can make sector gear 28 and ring gear 25 break away from engagement, to change thigh bindiny mechanism 10 with respect to the limit rotation angular range of shank bindiny mechanism 50; When unclamping spacing button 27, turn 32 can reset by the spacing button 27 of promotion, continues and ring gear 25 engagements.
As shown in Fig. 5～7, Flexible Control of the present invention mechanism 40 also comprises a shell 41 and an inner shell 42, and connecting rod 15 lower ends in shell 41 and the left side of thigh bindiny mechanism 11 are fixedly connected with, and shell 41 centers are provided with a long through-hole 43; Be symmetrically arranged with some spacing gap 44 on long through-hole 43 two side along its length, interior insertion one rotating shaft 45 of long through-hole 43, be symmetrically arranged with two limited blocks 46 that match with spacing gap 44 in rotating shaft 45, rotating shaft 45 outsides are fixedly connected with a button 47, rotating shaft 45 inboards are folded with a flat spring 48, and flat spring 48 bottoms are fixed on inner shell 42 inwalls.By pressing of button 47, can regulate the clamping degree of depth between rotating shaft 45 and flat spring 48, and then regulate the pivoting flexible between thigh and shank.
As shown in Figure 1, shank of the present invention bindiny mechanism 50 comprises a shank support chamber 51, is attached with an Anti-slip cover 52 on shank support chamber 51 inwalls, and an opening 53 is set on shank support chamber 51; Across opening 53, at least one tight locking button 54 is set, tight locking button 54 is used for regulating and fixing Anti-slip cover 52.The outer wall both sides of shank support chamber 51 are respectively arranged with a connecting rod 55,56.The connecting rod 55 in left side is fixedly connected with the inner shell 42 of Flexible Control mechanism 40, and the connecting rod 56 on right side is fixedly connected with the shell 22 of range of activity governor motion 20.
In above-described embodiment, large and small lower limb support chamber 11,51 is to adopt existing 3-D scanning equipment, carry out repeatedly circular scanning along large and small lower limb installation position, then be input in computer, set up the threedimensional model on large and small lower limb surface, the final generation and the complete applying entity of human muscle's profile.
In above-described embodiment, Anti-slip cover 12,52 adopts linear polymeric polymer, especially polyvinyl alcohol film (PVA) to make.
When utilizing the present invention to carry out knee joint recovery, comprise the following steps:
1) regulate start bit and the stop bit that two spacing buttons 27 are regulated Range of motion of knee joint
Two spacing buttons 27 are respectively used to regulate start bit and the stop bit of Range of motion of knee joint.When pressing wherein a spacing button 27, make the sector gear 28 that links together with it break away from ring gear 25, rotate this spacing button 27, check angle dial plate on shell 22 by the through hole 31 on this spacing button 27, thereby read the angle value of current position.When unclamping this spacing button 27, the compressed sector gear 28 that is connected with this spacing button 27 resets, thereby again meshes with ring gear 25, thus the start bit of setting or stop bit.
After setting the start bit and stop bit of Range of motion of knee joint by two spacing buttons 27, wobble wheel 23 just swings in the scope of setting, and realizes that knee joint is movable in the scope of setting.When identical, realize that knee joint angle is fixed on setting value when two spacing buttons 27 setting values.
Flexibility when 2) regulating button 47 adjusting knee joint activity
Flexibility when button 47 is used for regulating the knee joint activity.When button 47 is in vertical position, can be free to slide in the long through-hole 43 of shell 41, thereby change clip position on flat spring 48 and the effective depth of clamping, realize the adjustment of knee joint flexibility.When button 47 was horizontal and presses, the limited block 46 in rotating shaft 45 just in time was stuck in spacing gap 44 on long through-hole 43, thereby realized button 47 lockings.
The present invention only describes with above-described embodiment; the structure of each parts, setting position and connection thereof all can change to some extent; on the basis of technical solution of the present invention; all improvement and equivalents of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (9)
1. the flexible auxiliary rehabilitation device of a knee joint is characterized in that: it comprises that one is used for the large and small lower limb bindiny mechanism of fixing large and small lower limb, range of activity governor motion and Flexible Control mechanism;
Described range of activity governor motion comprises one first inner shell and one first shell, described the first inner shell is fixedly connected with the right side of described thigh bindiny mechanism by a head rod and is integral, the center of described the first inner shell is provided with a spline, the other end of described spline connects a wobble wheel, is symmetrically arranged with the swing arm of a pair of protrusion on described wobble wheel;
Described the first shell is fixedly connected with the right side of described shank bindiny mechanism by one second connecting rod; Described the first shell is the ring gear of an outboard end face closure, described the first shell circumferentially is symmetrically arranged with the flange that subtend first an inner shell direction is stretched out, be staggeredly equipped with a pair of spacing button with two described swing arms between two described flanges, the bottom of two described spacing buttons is fixedly connected with respectively a sector gear that coordinates with described ring gear; The top of two described spacing buttons is fixedly connected with respectively the pointer of described first shell of leap; Be provided with a capping of fixing two described pointers at the center of described the first shell, two described pointers are fixed in described capping; Be provided with angle dial on the end face of the outside of described the first shell, the middle part of described pointer is provided with a through hole, checks scale on described angle dial by described through hole; In the outside of described wobble wheel, one turn is set, the external diameter of described turn withstands on the bottom of two described spacing buttons; Be provided with the locator protrusions of the described turn in some location on the inwall of described the first inner shell;
Described Flexible Control mechanism comprises a second housing and one second inner shell, and described the second inner shell is fixedly connected with the left side of described shank bindiny mechanism by one the 3rd connecting rod; Described second housing is fixedly connected with the left side of described thigh bindiny mechanism by one the 4th connecting rod, and described second housing center is provided with a long through-hole; Be symmetrically arranged with some spacing gap on described long through-hole two side along its length, insert a rotating shaft in described long through-hole, be symmetrically arranged with two limited blocks that match with described spacing gap in described rotating shaft, the described rotating shaft outside is fixedly connected with a button, described rotating shaft inboard is folded with a flat spring, and described flat spring two ends are fixed on described the second inner shell inwall.
2. the flexible auxiliary rehabilitation device of a kind of knee joint as claimed in claim 1, it is characterized in that: described thigh bindiny mechanism comprises a thigh support chamber, adhere to one first Anti-slip cover on described thigh support chamber inwall, one the first vertical opening is set on described thigh support chamber, be provided with at least one first tight locking button across described the first opening, the outer wall both sides of described thigh support chamber are respectively arranged with described head rod and described the second connecting rod.
3. the flexible auxiliary rehabilitation device of a kind of knee joint as claimed in claim 1, it is characterized in that: described shank bindiny mechanism comprises a shank support chamber, adhere to one second Anti-slip cover on described shank support chamber inwall, one the second vertical opening is set on described shank support chamber, be provided with at least one second tight locking button across described the second opening, the outer wall both sides of described shank support chamber are respectively arranged with described the 3rd connecting rod and described the 4th connecting rod.
4. the flexible auxiliary rehabilitation device of a kind of knee joint as claimed in claim 2, it is characterized in that: described shank bindiny mechanism comprises a shank support chamber, adhere to one second Anti-slip cover on described shank support chamber inwall, one the second vertical opening is set on described shank support chamber, be provided with at least one second tight locking button across described the second opening, the outer wall both sides of described shank support chamber are respectively arranged with described the 3rd connecting rod and described the 4th connecting rod.
5. as claim 2 or the 3 or 4 flexible auxiliary rehabilitation devices of described a kind of knee joint, it is characterized in that: described large and small lower limb support chamber is to adopt 3-D scanning equipment to carry out repeatedly circular scanning along large and small lower limb installation position respectively, then be input in computer, set up the threedimensional model on large and small lower limb surface, the final generation and the complete applying entity of human muscle's profile.
6. as claim 2 or the 3 or 4 flexible auxiliary rehabilitation devices of described a kind of knee joint, it is characterized in that: described first, second Anti-slip cover adopts the linear polymeric polymer to make.
7. the flexible auxiliary rehabilitation device of a kind of knee joint as claimed in claim 5, is characterized in that: described first, second Anti-slip cover employing linear polymeric polymer making.
8. the flexible auxiliary rehabilitation device of a kind of knee joint as claimed in claim 6, is characterized in that: described first, second Anti-slip cover employing polyvinyl alcohol film making.
9. the flexible auxiliary rehabilitation device of a kind of knee joint as claimed in claim 7, is characterized in that: described first, second Anti-slip cover employing polyvinyl alcohol film making.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310032825.7A CN103099719B (en) | 2013-01-29 | 2013-01-29 | Knee joint flexibility auxiliary recovery device |
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| CN201310032825.7A CN103099719B (en) | 2013-01-29 | 2013-01-29 | Knee joint flexibility auxiliary recovery device |
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| CN103099719A true CN103099719A (en) | 2013-05-15 |
| CN103099719B CN103099719B (en) | 2014-08-06 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104606025A (en) * | 2013-11-05 | 2015-05-13 | 崔建忠 | Automatic ankle joint rehabilitative apparatus |
| CN105055119A (en) * | 2015-07-06 | 2015-11-18 | 石丹杰 | Knee joint rehabilitation trainer |
| CN106618998A (en) * | 2016-12-30 | 2017-05-10 | 漳州蒙发利实业有限公司 | Massaging machine |
| CN106983637A (en) * | 2016-01-21 | 2017-07-28 | 上海电气集团股份有限公司 | A kind of quick wearing mechanism for lower limb rehabilitation robot |
| CN107020619A (en) * | 2017-05-09 | 2017-08-08 | 广州初曲科技有限公司 | A kind of intelligent knee elbow joint protection electric transmission power-assisted guidance system of pressure-sensitive |
| CN107263443A (en) * | 2017-06-19 | 2017-10-20 | 侯昭正 | Unpowered ectoskeleton |
| CN110370253A (en) * | 2019-08-23 | 2019-10-25 | 西安魔晶五维家居有限公司 | A kind of wearable type leg joint assistance mechanism |
| CN111166614A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
| CN111544002A (en) * | 2019-02-15 | 2020-08-18 | 华中科技大学同济医学院附属协和医院 | Knee joint flexion and extension measuring scale |
| CN111789433A (en) * | 2019-04-02 | 2020-10-20 | 现代自动车株式会社 | Seating support device of wearable seat |
| CN113855364A (en) * | 2021-09-04 | 2021-12-31 | 李信 | Knee joint and ankle joint integrated joint fixator |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104606025A (en) * | 2013-11-05 | 2015-05-13 | 崔建忠 | Automatic ankle joint rehabilitative apparatus |
| CN105055119A (en) * | 2015-07-06 | 2015-11-18 | 石丹杰 | Knee joint rehabilitation trainer |
| CN106983637A (en) * | 2016-01-21 | 2017-07-28 | 上海电气集团股份有限公司 | A kind of quick wearing mechanism for lower limb rehabilitation robot |
| CN106618998A (en) * | 2016-12-30 | 2017-05-10 | 漳州蒙发利实业有限公司 | Massaging machine |
| CN107020619B (en) * | 2017-05-09 | 2018-08-07 | 广州初曲科技有限公司 | A kind of pressure-sensitive intelligence knee elbow joint protection electric transmission power-assisted guidance system |
| CN107020619A (en) * | 2017-05-09 | 2017-08-08 | 广州初曲科技有限公司 | A kind of intelligent knee elbow joint protection electric transmission power-assisted guidance system of pressure-sensitive |
| CN107263443A (en) * | 2017-06-19 | 2017-10-20 | 侯昭正 | Unpowered ectoskeleton |
| CN111544002A (en) * | 2019-02-15 | 2020-08-18 | 华中科技大学同济医学院附属协和医院 | Knee joint flexion and extension measuring scale |
| CN111544002B (en) * | 2019-02-15 | 2024-05-14 | 华中科技大学同济医学院附属协和医院 | Knee joint Qu Shendu measuring scale |
| CN111789433A (en) * | 2019-04-02 | 2020-10-20 | 现代自动车株式会社 | Seating support device of wearable seat |
| CN110370253A (en) * | 2019-08-23 | 2019-10-25 | 西安魔晶五维家居有限公司 | A kind of wearable type leg joint assistance mechanism |
| CN111166614A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
| CN113855364A (en) * | 2021-09-04 | 2021-12-31 | 李信 | Knee joint and ankle joint integrated joint fixator |
| CN113855364B (en) * | 2021-09-04 | 2023-10-13 | 江苏独角兽电子科技有限公司 | Knee joint ankle joint integral type joint fixer |
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