CN105287020B - A kind of multipurpose shoulder joint gesture rack - Google Patents
A kind of multipurpose shoulder joint gesture rack Download PDFInfo
- Publication number
- CN105287020B CN105287020B CN201510815427.1A CN201510815427A CN105287020B CN 105287020 B CN105287020 B CN 105287020B CN 201510815427 A CN201510815427 A CN 201510815427A CN 105287020 B CN105287020 B CN 105287020B
- Authority
- CN
- China
- Prior art keywords
- motor
- arm
- output shaft
- rotating arm
- pressure transducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 20
- 239000000725 suspension Substances 0.000 claims abstract description 35
- 239000000203 mixture Substances 0.000 claims abstract description 21
- 244000309464 bull Species 0.000 claims description 7
- 239000000945 filler Substances 0.000 claims description 7
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 4
- 230000033228 biological regulation Effects 0.000 abstract description 3
- 230000002980 postoperative effect Effects 0.000 abstract 1
- 210000000245 forearm Anatomy 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 206010039227 Rotator cuff syndrome Diseases 0.000 description 2
- 206010053692 Wound complication Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 210000000513 rotator cuff Anatomy 0.000 description 2
- 241001653121 Glenoides Species 0.000 description 1
- 208000005137 Joint instability Diseases 0.000 description 1
- 206010067268 Post procedural infection Diseases 0.000 description 1
- 208000024288 Rotator Cuff injury Diseases 0.000 description 1
- 210000002659 acromion Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 208000029215 central polydactyly of fingers Diseases 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001804 debridement Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000281 joint capsule Anatomy 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004611 spectroscopical analysis Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Landscapes
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a kind of multipurpose shoulder joint gesture rack, include base, the altitude mixture control push rod being vertically installed on base, it is arranged on the control panel of altitude mixture control push rod side, it is fixedly connected on the first motor of altitude mixture control push rod output shaft end, a stay tube of the L-shaped being fixedly connected on the first motor output shaft, it is fixedly connected on the second motor of a stay tube upper end, the 3rd motor being connected on the second motor output shaft, the first rotating arm being connected is fixed, with the 3rd motor output shaft, in one end, it is fixedly connected on the 4th motor of the first rotating arm other end, and one end fixes, with the 4th motor output shaft, the second turning arm being connected；Described first rotating arm, the second turning arm respectively have an arm bracket by two suspension strops connections；Regulation shoulder joint position when this gesture rack can be not only used for arthroscopic shoulder surgery is it can also be used to postoperative auxiliary patient activity's arm.
Description
Technical field
The invention belongs to medical instruments field, be specifically related to a kind of multipurpose shoulder joint gesture rack.
Background technology
Shoulder joint mirror is diagnosis and the therapeutic scheme of the most the more commonly used a kind of Shoulder joint.As joint is swum
In vitro, clarify a diagnosis, extract episome；Property joint instability bitterly, feasible arthroscopic shoulder surgery is clear and definiteJoint capsule, Glenoid labruminjury portion
Position, feasible repairing operation；Rupture of biceps can be appreciated that the degree of fracture, excises the broken ends of fractured bone, alleviatesPain；Rupture of the rotator cuff, in urgency
Property completeness rotator cuff injury, owing to leakage joint capsule can not swell, should not row arthroscopy, can be clear and definite to chronic rupture of the rotator cuff
Pathological changes situation, can repair the broken ends of fractured bone to Incomplete injury and ease the pain；OsteoarthritisCan debridement under shoulder joint mirror, rinse；ShoulderChange Purulent arthritisProperty cleaning can rinse under shoulder joint mirror；Acromion Impingement Syndrome, feasible acromionShiShimonosekiJoint spectroscopy, also may be used
Row acromionectomy.Along with the development of sports medical science, all have at each hospital of China and universal carry out shoulder joint mirror hands
Art, but perplexing one of subject matter of joint surgery at present is the most effectively to adjust in the position support for suffering limb and art
Suffering limb position, current operative doctor usually needs an assistant to be responsible for adjusting the position of suffering limb in operation process specially, with cruelly
The gap of dew shoulder joint, fully appears the entrance of lesion, beneficially operating theater instruments.Appear in the way of artificial have current
Not enough: 1, relatively long due to the arthroscopic shoulder surgery time, especially at basic hospital, the muscle power for assistant is to choose greatly
War；2, artificial swing position, easily causes the pollution of operating field；3, it is difficult to after assistant's fatigue remain that effective wound surface shows
Dew；4, some angle needing ideal to appear the most manually is difficult to permanently effective realization.So invention one can be adjusted automatically
The arthrocsopic surgery position device of whole angle becomes the hope of vast joint surgery doctor.It addition, the health after Shoulder surgery
During Fu, patient needs suitable movable joint, with promote but can not overexertion.
Summary of the invention
The technical problem to be solved is: the deficiency existed for prior art, it is provided that a kind of multipurpose shoulder joint
Joint gesture rack, both can automatically adjust arm position when operation, and can be used for after surgery again assisting support arm, beneficially arm to enter
Row moderate exercise.
For realizing the purpose of the present invention, it is achieved by the following technical solutions: a kind of multipurpose shoulder joint gesture rack, bag
Include base, the altitude mixture control push rod being vertically installed on base, it is arranged on the control panel of altitude mixture control push rod side, fixing
It is connected to the first motor of altitude mixture control push rod output shaft end, the support of the L-shaped being fixedly connected on the first motor output shaft
Pipe, is fixedly connected on the second motor of stay tube upper end, the 3rd motor being connected on the second motor output shaft, one end and the
Three motor output shafts fix the first rotating arm of connection, are fixedly connected on the 4th motor of the first rotating arm other end, Yi Jiyi
End fixes, with the 4th motor output shaft, the second turning arm being connected；The output shaft of described first motor is vertically to arrange
, the output shaft of the second motor is horizontally disposed, the 3rd motor and the output shaft of the 4th motor and the second motor
Output shaft is perpendicular；
Described first rotating arm, the second turning arm respectively have an arm bracket by two suspension strops connections；Described
First rotating arm, the both ends of the second turning arm are provided with serving motor, and the output shaft of serving motor is horizontally disposed, volume
The output shaft of rope motor connects bull wheel, and the upper end of described suspension strop is fixing with bull wheel to be connected；
Described arm bracket includes integrally moulded connecting wall and be connected to connect the hook body segment below wall, even
Connecing and be fixedly connected with soft filler strip below wall, the lower surface of soft filler strip is curved, connect wall side be fixedly connected with 3 with
On fixing band, the lower end of fixing band is connected with hook body segment side by male and female nylon buckles；The upper bottom portion two ends of described hook body segment
One pressure transducer is respectively installed；
Two long limits of described first rotating arm lower end connect the sensor that can slide along first rotating arm width
Installing plate, each sensor installing plate is provided with the photoelectric sensor of more than 3 groups equidistantly；
Two long limits of described second turning arm lower end connect the sensor that can slide along the second turning arm width
Installing plate, each sensor installing plate is provided with the photoelectric sensor of more than 3 groups equidistantly；
It is touching display screen outside described control panel, control circuit plate is installed in control panel, described the first motor,
Second motor, the 3rd motor, the 4th motor, each photoelectric sensor, serving motor and pressure transducer are electric with control respectively
Road plate electrical connection；
Described serving motor controls release or roll suspension strop, by arm according to the force value of each pressure transducer
After being fixed on arm bracket, making arm be in relaxation state, each pressure transducer obtains initial pressure value as reference
Value；When lifting on arm, pressure transducer detects that force value reduces, and the serving motor of relevant position controls suspension strop and rolls；When
Arm moves down, and pressure transducer detects that force value increases, and the serving motor of relevant position controls suspension strop and releases；
When more than one suspension strop is released completely, altitude mixture control push rod shortens, and records pressure to pressure transducer and reaches
To the maximum set；When more than one suspension strop is rolled completely, altitude mixture control push rod extends, and records to pressure transducer
Pressure reaches the minima set；
When the suspension strop of the 3rd motor side close on first rotating arm is released completely, and the suspension strop of opposite side is rolled up completely
When rising, then the second motor drives first rotating arm to be rotated up；Otherwise, when hanging near the 4th motor side on first rotating arm
Lanyard is released completely, and when the suspension strop of opposite side is rolled completely, then the second motor drives first rotating arm to rotate down；
When on described first rotating arm, the photoelectric sensor on a limit detects and is blocked, then the 3rd motor is to being blocked
Photoelectric sensor side rotate；When on described second turning arm, the photoelectric sensor on a limit detects and is blocked, then
Four motors rotate to the photoelectric sensor side being blocked.
Compared with prior art, the invention has the beneficial effects as follows: when carrying out arthroscopic shoulder surgery, forearm is fixed on
On one arm bracket, then control the first motor, the second motor, the 3rd motor, the 4th motor and height by control panel
Regulation push rods etc., make shoulder joint reach intended position, decrease assistant's labor intensity, fully appear shoulder joint gap, improve
Arthroscopic shoulder surgery efficiency, reduces postoperative infection risk.After surgery during assisted movement, by control panel switching working mode,
Large arm and forearm are separately fixed on the arm bracket below first rotating arm, the second turning arm, first rotating arm, the second rotation
The position of pivoted arm and altitude mixture control push rod etc. is adjusted accordingly according to moving direction and the amplitude of arm, makes patient's arm obtain
Wound pain is caused because of overexertion to appropriate activity and don't meeting.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of arm bracket part.
Fig. 3 is the structural representation of the second turning arm.
1, base；2, altitude mixture control push rod；3, control panel；4, the first motor；5, stay tube is propped up；6, the second motor；7,
Three motors；81, first rotating arm；82, the second turning arm；801, suspension strop；802, arm bracket；803, fixing band；804, soft
Matter filler strip；805, sensor installing plate；806, photoelectric sensor；807, serving motor；808, bull wheel；809, pressure sensing
Device；9, the 4th motor.
Detailed description of the invention
Below according to accompanying drawing, the detailed description of the invention of the present invention is made a detailed explanation.
Embodiment 1
According to Fig. 1, Fig. 2 and Fig. 3, a kind of multipurpose shoulder joint gesture rack described in the present embodiment, include base,
The altitude mixture control push rod being vertically installed on base, is arranged on the control panel of altitude mixture control push rod side, is fixedly connected on height
First motor of degree regulation push rod output shaft end, a stay tube of the L-shaped being fixedly connected on the first motor output shaft, the company of fixing
Being connected on the second motor of a stay tube upper end, the 3rd motor being connected on the second motor output shaft, one end is defeated with the 3rd motor
Shaft fixes the first rotating arm of connection, is fixedly connected on the 4th motor of the first rotating arm other end, and one end and the 4th
Motor output shaft fixes the second turning arm of connection；The output shaft of described first motor is vertically arranged, the second electricity
The output shaft of machine is horizontally disposed, and the output shaft of the 3rd motor and the output shaft of the 4th motor and the second motor hangs down mutually
Directly.
Connecting with circumference array form below described base and have 6-8 sucker, sucker is connected with vacuum pump, passes through sucker
Base firmly can be sucked on the ground.
Described first rotating arm, the second turning arm respectively have an arm bracket by two suspension strops connections；Described
First rotating arm, the both ends of the second turning arm are provided with serving motor, and the output shaft of serving motor is horizontally disposed, volume
The output shaft of rope motor connects bull wheel, and the upper end of described suspension strop is fixing with bull wheel to be connected.
Described arm bracket includes integrally moulded connecting wall and be connected to connect the hook body segment below wall, even
Connecing and be fixedly connected with soft filler strip below wall, the lower surface of soft filler strip is curved, connect wall side be fixedly connected with 3 with
On fixing band, the lower end of fixing band is connected with hook body segment side by male and female nylon buckles；The upper bottom portion two ends of described hook body segment
One pressure transducer is respectively installed.
Two long limits of described first rotating arm lower end connect the sensor that can slide along first rotating arm width
Installing plate, each sensor installing plate is provided with 3 groups of photoelectric sensors equidistantly.
Two long limits of described second turning arm lower end connect the sensor that can slide along the second turning arm width
Installing plate, each sensor installing plate is provided with 3 groups of photoelectric sensors equidistantly.
It is touching display screen outside described control panel, control circuit plate is installed in control panel, described the first motor,
Second motor, the 3rd motor, the 4th motor, each photoelectric sensor, serving motor and pressure transducer are electric with control respectively
Road plate electrical connection.Motor described in literary composition is motor.Control circuit plate is controlled by PLC or single-chip microcomputer etc.
The action of each motion device, for the routine techniques means of prior art, repeats no more in literary composition.
When carrying out arthroscopic shoulder surgery, forearm is fixed on the arm bracket below the second turning arm, by controlling
Panel controls serving motor and suspension strop is rolled up to shortest length, makes to offset below arm bracket and the second suspension arm and be in phase
To stable state；Then control the first motor, the second motor, the 3rd motor, the 4th motor and height by control panel to adjust
Joint push rods etc., make shoulder joint reach intended position, and can enter shoulder joint position in time as required according to the progress of operation
Row sum-equal matrix, decreases assistant's labor intensity, fully appears shoulder joint gap, improves arthroscopic shoulder surgery efficiency, reduces operation sense
Dye risk.
When gesture rack is as the assistive device of patient activity's arm, by control panel switching working mode: described
Serving motor controls release or roll suspension strop according to the force value of each pressure transducer, and arm is being fixed to arm bracket
After on, making arm be in relaxation state, each pressure transducer obtains initial pressure value as reference value；When lifting on arm,
Pressure transducer detects that force value reduces, and the serving motor of relevant position controls suspension strop and rolls；When arm moves down, pressure passes
Sensor detects that force value increases, and the serving motor of relevant position controls suspension strop and releases.
When more than one suspension strop is released completely, altitude mixture control push rod shortens, and records pressure to pressure transducer and reaches
To the maximum set；When more than one suspension strop is rolled completely, altitude mixture control push rod extends, and records to pressure transducer
Pressure reaches the minima set.
When the suspension strop of the 3rd motor side close on first rotating arm is released completely, and the suspension strop of opposite side is rolled up completely
When rising, then the second motor drives first rotating arm to be rotated up；Otherwise, when hanging near the 4th motor side on first rotating arm
Lanyard is released completely, and when the suspension strop of opposite side is rolled completely, then the second motor drives first rotating arm to rotate down.
When on described first rotating arm, the photoelectric sensor on a limit detects and is blocked, then the 3rd motor is to being blocked
Photoelectric sensor side rotate；When on described second turning arm, the photoelectric sensor on a limit detects and is blocked, then
Four motors rotate to the photoelectric sensor side being blocked.So, gesture rack is the most servo-actuated according to the active state of patient's arm,
Reduce exerting oneself of patient's arm muscles, both played exercise effect, and avoided again energy to spend greatly and cause wound pain even secondary
Damage.
By adjusting the position of sensor installing plate, the position of photoelectric sensor can be adjusted accordingly, when photoelectric sensor
When position is more outer, then arm needs to move and the most just can trigger photoelectric sensor；Contrary, when the position of photoelectric sensor
When putting more inner, then arm moves and the most just can trigger photoelectric sensor.I.e. by adjusting the position of sensor installing plate
I.e. adjustable the 3rd motor, the sensitivity of the 4th electric machine rotation.
It addition, one group of photoelectric sensor of the same side can set different spans of control limit of control on described first rotating arm, it may be assumed that lean on
When the photoelectric sensor of nearly second turning arm detects signal, illustrating that large arm rotation amplitude is less, the 3rd motor rotation speed is relatively
Little, when the photoelectric sensor the closer to the 3rd motor side detects signal relatively, then the 3rd motor rotation speed increases relatively.
In like manner, on described second turning arm, one group of photoelectric sensor of the same side can set different spans of control limit of control, it may be assumed that
When the photoelectric sensor of the second turning arm outer end detects signal, illustrating that forearm rotation amplitude is less, the 4th motor turns
Dynamic speed is less, when the photoelectric sensor the closer to the 4th motor side detects signal relatively, then and the 4th motor rotation speed
Relatively increase.
Claims (1)
1. a multipurpose shoulder joint gesture rack, includes base, the altitude mixture control push rod being vertically installed on base, is arranged on
The control panel of altitude mixture control push rod side, is fixedly connected on the first motor of altitude mixture control push rod output shaft end, the company of fixing
A stay tube of the L-shaped being connected on the first motor output shaft, is fixedly connected on the second motor of a stay tube upper end, is connected to second
The 3rd motor on motor output shaft, one end is fixed, with the 3rd motor output shaft, the first rotating arm being connected, is fixedly connected on
4th motor of the one turning arm other end, and one end fixes, with the 4th motor output shaft, the second turning arm being connected；Described
The output shaft of one motor is vertically arranged, and the output shaft of the second motor is horizontally disposed, the 3rd motor
Perpendicular with the output shaft of the output shaft of the 4th motor and the second motor；Described first rotating arm, the second turning arm respectively pass through
Two suspension strops connect an arm bracket；
It is characterized in that:
Described first rotating arm, the both ends of the second turning arm are provided with serving motor, and the output shaft of serving motor is along level
Direction is arranged, and the output shaft of serving motor connects bull wheel, and the upper end of described suspension strop is fixing with bull wheel to be connected；
Described arm bracket includes integrally moulded connecting wall and be connected to connect the hook body segment below wall, connects wall
Lower section is fixedly connected with soft filler strip, and the lower surface of soft filler strip is curved, and the side connecting wall is fixedly connected with more than 3
Fixing band, the lower end of fixing band is connected with hook body segment side by male and female nylon buckles；The upper bottom portion two ends of described hook body segment are respectively pacified
Equipped with a pressure transducer；
Two long limits of described first rotating arm lower end connect to be had and can install along the sensor that first rotating arm width slides
Plate, each sensor installing plate is provided with the photoelectric sensor of more than 3 groups equidistantly；
Two long limits of described second turning arm lower end connect to be had and can install along the sensor that the second turning arm width slides
Plate, each sensor installing plate is provided with the photoelectric sensor of more than 3 groups equidistantly；
It is touching display screen outside described control panel, control circuit plate is installed in control panel, described the first motor, second
Motor, the 3rd motor, the 4th motor, each photoelectric sensor, serving motor and pressure transducer respectively with control circuit plate
Electrical connection；
Described serving motor controls release or roll suspension strop according to the force value of each pressure transducer, is being fixed by arm
After on arm bracket, making arm be in relaxation state, each pressure transducer obtains initial pressure value as reference value；When
Lifting on arm, pressure transducer detects that force value reduces, and the serving motor of relevant position controls suspension strop and rolls；When under arm
Moving, pressure transducer detects that force value increases, and the serving motor of relevant position controls suspension strop and releases；
When more than one suspension strop is released completely, altitude mixture control push rod shortens, and records pressure to pressure transducer and reaches to set
Fixed maximum；When more than one suspension strop is rolled completely, altitude mixture control push rod extends, and records pressure to pressure transducer
Reach the minima set；
When the suspension strop of the 3rd motor side close on first rotating arm is released completely, and the suspension strop of opposite side is rolled completely
Time, then the second motor drives first rotating arm to be rotated up；Otherwise, when the suspension of the 4th motor side close on first rotating arm
Rope is released completely, and when the suspension strop of opposite side is rolled completely, then the second motor drives first rotating arm to rotate down；
When on described first rotating arm, the photoelectric sensor on a limit detects and is blocked, then the 3rd motor is to the light being blocked
Electric transducer side rotates；When on described second turning arm, the photoelectric sensor on a limit detects and is blocked, then the 4th electricity
Machine rotates to the photoelectric sensor side being blocked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510815427.1A CN105287020B (en) | 2015-11-23 | 2015-11-23 | A kind of multipurpose shoulder joint gesture rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510815427.1A CN105287020B (en) | 2015-11-23 | 2015-11-23 | A kind of multipurpose shoulder joint gesture rack |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105287020A CN105287020A (en) | 2016-02-03 |
| CN105287020B true CN105287020B (en) | 2016-10-12 |
Family
ID=55185333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510815427.1A Active CN105287020B (en) | 2015-11-23 | 2015-11-23 | A kind of multipurpose shoulder joint gesture rack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105287020B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106176133B (en) * | 2016-07-07 | 2019-02-01 | 庞林琳 | One kind is for recovery bracket after mammary cancer chemotherapy |
| CN109009488A (en) * | 2018-09-14 | 2018-12-18 | 张志鹏 | A kind of hand and foot surgery fixed frame |
| CN112294594A (en) * | 2020-01-15 | 2021-02-02 | 南通市第一人民医院 | Upper limb rehabilitation training device convenient for adjusting swing arm track |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101125112A (en) * | 2007-09-20 | 2008-02-20 | 华中科技大学 | Wearing type upper limb recovery training robot device |
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| WO2010071252A1 (en) * | 2008-12-16 | 2010-06-24 | Industry-University Cooperation Foundation Hanyang University | Wearable robotic system for rehabilitation training of the upper limbs |
| CN102379793A (en) * | 2011-08-18 | 2012-03-21 | 付风生 | Upper limb rehabilitation training robot |
| CN204260992U (en) * | 2014-10-14 | 2015-04-15 | 哈尔滨理工大学 | Dermaskeleton type upper limb rehabilitation training aids |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9737374B2 (en) * | 2012-12-11 | 2017-08-22 | Levitate Technologies, Inc. | Adaptive arm support systems and methods for use |
-
2015
- 2015-11-23 CN CN201510815427.1A patent/CN105287020B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101125112A (en) * | 2007-09-20 | 2008-02-20 | 华中科技大学 | Wearing type upper limb recovery training robot device |
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| WO2010071252A1 (en) * | 2008-12-16 | 2010-06-24 | Industry-University Cooperation Foundation Hanyang University | Wearable robotic system for rehabilitation training of the upper limbs |
| CN102379793A (en) * | 2011-08-18 | 2012-03-21 | 付风生 | Upper limb rehabilitation training robot |
| CN204260992U (en) * | 2014-10-14 | 2015-04-15 | 哈尔滨理工大学 | Dermaskeleton type upper limb rehabilitation training aids |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105287020A (en) | 2016-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105853142B (en) | The ankle joint rehabilitation training device of integrated rehabilitation training and motion state detection | |
| CN105287020B (en) | A kind of multipurpose shoulder joint gesture rack | |
| CN104287944B (en) | A kind of upper limb rehabilitation robot | |
| CN109875841A (en) | A kind of wrist convalescence device | |
| CN107374909A (en) | A kind of flexible upper limb rehabilitation robot of lasso trick driving | |
| CN205107915U (en) | Multipurpose shoulder joint position holding frame's arm hangs mechanism | |
| CN109984920A (en) | A kind of knee joint recovery robot of human-computer fusion | |
| CN107550614A (en) | A kind of novel children bone traction frame | |
| CN105287019B (en) | A kind of Multifunctional shoulder joint gesture rack | |
| CN205108234U (en) | Dual -purpose shoulder joint position holding frame's arm fixed establishment | |
| CN105287018B (en) | A kind of shoulder joint gesture rack | |
| CN204092505U (en) | A kind of upper limb rehabilitation robot | |
| CN107595546B (en) | Ankle joint rehabilitation mechanism based on RRR-PaRPS-RHJ | |
| CN205126715U (en) | Shoulder joint position holding frame's arm fixed establishment | |
| CN205107917U (en) | Multipurpose shoulder joint position holding frame | |
| CN205107916U (en) | Dual -purpose shoulder joint position holding frame | |
| CN105287021B (en) | A kind of dual-purpose shoulder joint gesture rack | |
| CN112006847A (en) | Automatic change gypsum fixation machine people | |
| CN109044727A (en) | The bionical arm of healing and training shoulder joint Medical Robot and the Medical Robot including it | |
| CN207186701U (en) | A kind of knee joint positioner for bone tuberculosis operation | |
| CN109044728A (en) | Medical healing and training shoulder joint robot with bionical arm | |
| CN205126440U (en) | Multi -functional shoulder joint position holding frame | |
| CN205107914U (en) | Multi -functional shoulder joint position holding frame structure | |
| CN108543274A (en) | A kind of medical active recovery set for lower limbs | |
| CN107616894A (en) | A kind of more positions of pediatric surgical operation can setting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160519 Address after: 323000 Lishui, Zhejiang Volkswagen street, No. 15 Applicant after: Lishui City People's Hospital Address before: 323000 Lishui People's Hospital, Lishui, Zhejiang, No. 15 Applicant before: Wang Bo |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181205 Address after: 644000 No. 8, 4th Floor, Unit 2, Building 7 B, Jiuzhou Road, Cuiping District, Yibin City, Sichuan Province Patentee after: Fan Runxian Address before: 323000 15 Volkswagen street, Lishui, Zhejiang Patentee before: Lishui City People's Hospital |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191227 Address after: 629000 No. 601, Yulong Road, Suining economic and Technological Development Zone, Suining City, Sichuan Province Patentee after: Silver sensitive Address before: 644000 Yibin province Sichuan City Cuiping District Jiuzhou Road No. 7 unit 2 building B floor 4 No. 8 Patentee before: Fan Runxian |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200601 Address after: 215200 south of Lianyang road and east of Chang'an Road, Wujiang Economic and Technological Development Zone, Suzhou City, Jiangsu Province (Science and technology entrepreneurship Park) Patentee after: Wujiang science and Technology Pioneer Park Management Service Co.,Ltd. Address before: 629000 No. 601, Yulong Road, Suining economic and Technological Development Zone, Suining City, Sichuan Province Patentee before: Silver sensitive |