CN105935323A - Cervical vertebra traction rehabilitation robot and traction angle adjusting device thereof - Google Patents

Cervical vertebra traction rehabilitation robot and traction angle adjusting device thereof Download PDF

Info

Publication number
CN105935323A
CN105935323A CN201610364224.XA CN201610364224A CN105935323A CN 105935323 A CN105935323 A CN 105935323A CN 201610364224 A CN201610364224 A CN 201610364224A CN 105935323 A CN105935323 A CN 105935323A
Authority
CN
China
Prior art keywords
traction
motor
adjusting means
robot
screw mandrel
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.)
Granted
Application number
CN201610364224.XA
Other languages
Chinese (zh)
Other versions
CN105935323B (en
Inventor
李想
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Tianyu Rehabilitation Medical Robot Co Ltd
Original Assignee
Harbin Tianyu Rehabilitation Medical Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Harbin Tianyu Rehabilitation Medical Robot Co Ltd filed Critical Harbin Tianyu Rehabilitation Medical Robot Co Ltd
Priority to CN201610364224.XA priority Critical patent/CN105935323B/en
Publication of CN105935323A publication Critical patent/CN105935323A/en
Application granted granted Critical
Publication of CN105935323B publication Critical patent/CN105935323B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • A61F5/042Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching

Abstract

The present invention discloses a cervical vertebra traction rehabilitation robot and a traction angle adjusting device thereof. The traction angle adjusting device comprises a horizontally arranged cross bar, a lead screw sliding table, a second motor, a stay wire displacement sensor and an optical axis suit. Precision control of cervical vertebra traction angle and direction and traction force can be achieved by the robot, comprehensive rehabilitation treatment can be carried out for cervical vertebra disease patients, and rehabilitation time of cervical vertebra diseases can be largely shortened.

Description

A kind of vertebrae traction recovering robot and traction angle adjusting means thereof
[technical field]
The present invention relates to rehabilitation medical robot field, particularly relate to a kind of vertebrae traction recovering robot and Traction angle adjusting means.
[background technology]
Cervical vertebra is the place that in spinal column, mobility is maximum, it is possible to rotate, left and right lateral bending and front and back bending and stretching.Simultaneously The Facet joint face of cervical vertebra is close to level, so easily there is Dislocation with locked facet.Connect pillow on cervical vertebra simultaneously Bone, second line of a couplet thoracic vertebra, cervical vertebral body rear is neck marrow, and upper cervical part of esophagus is oblongata, has vital center, is damaged to god Warp, is in a bad way, can be with threat to life.So the feature of cervical spine injury is: cervical spine injury is susceptible to, Fracture of cervical vertebra accounts for the 30% of whole spinal fracture, and that can directly jeopardize patient vitals or high paraplegia can Can property.Cervical vertebra is connected with skull and structure thereof up, when the strength of head and cervical region exceedes its protection structure During institute's scattered ability of energy, cervical vertebra is by damaged, and in cervical spine injury, the patient of about 40% will have neurosis Shape, the patient of the traumatic spinal cord injury of about 10% is without the x-ray evidence of obvious spinal cord injury, due to cervical vertebra Danger is relatively big, also has bigger potentially danger, so correct assessment and and early treatment cervical spine injury And potential cervical spine injury is extremely important.The most domestic more existing patent for cervical vertebrae recovery therapeutic becomes Really, and these achievements all have limitation definitely, if the angle of traction is fixed, simulated doctor and treated Journey scarce capacity, fixing not steadily, dress the most comfortable etc..
[summary of the invention]
Present invention is generally directed in cervical spine injury patient, in conjunction with robotics, kinesiology, human engineering Learn scheduling theory and carry out Machine Design, propose a kind of there is multiple degrees of freedom training direction, multi-modal training form Vertebrae traction recovering medical robot.
In order to achieve the above object, the technical scheme that the present invention proposes is as follows:
A kind of vertebrae traction recovering robot, this robot includes supporting seat, pillar, drag rope, traction Headgear, traction angle adjusting means, adjustable seat, lead adjusting means, soft force control device, Computer controls and acquisition system;
Described support seat is used for supporting whole robot, and described pillar is vertically fixed on described support seat;
Described traction angle adjusting means is fixed on the top of described pillar, and parallel with described support seat;Described Traction angle adjusting means includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, bracing wire displacement sensing Device;Described screw mandrel slide unit is fixed on the top of described cross bar, and has the cunning can slided on this screw mandrel slide unit Block, described second motor is used for pulling this slide block to slide on screw mandrel slide unit;Fixing connection below described slide block One pulley;The steel cable of described stay wire displacement sensor is connected to described slide block, for detecting the position of slide block Move;
Described soft force control device includes base, and the first motor fixing on base and decelerator group Part, shaft coupling, torque sensor assembly and line wheel assembly, described base is fixed on described support seat, the One motor exports moment of torsion by decelerator, and shaft coupling one end connects described decelerator, and the other end connects described line Wheel assembly, this line wheel assembly is wrapped described drag rope.Described torque sensor assembly is arranged on shaft coupling Between device and line wheel assembly, for detection in real time and the size of feedback output moment of torsion;When the first motor work, It can rotate by band moving-wire wheel assembly, thus pulling traction rope rope;
Secure two pulleys on described pillar, below described cross bar, secure a pulley, at described line wheels The drag rope being wound around on part sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then Through the pulley on slide block, it is eventually connected to described traction headgear;
Described lead adjusting means includes electric pushrod, connecting rod, rotary shaft, rotation platform, electric pushrod Drivening rod promotes rotary shaft to rotate, and fixed angle sensor in rotary shaft, rotation platform is fixed on rotation In rotating shaft, described angular transducer, for detecting the anglec of rotation of described rotary shaft, therefore can realize rotating Platform carries out ± 70 degree of rotations, and described adjustable seat is fixedly mounted on rotation platform;
Described computer control with acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, moment of torsion Sensor cluster, angular transducer are connected, and can be calculated by the testing result of described stay wire displacement sensor The angle of traction, can calculate the anglec of rotation of rotary seat by the testing result of angular transducer, can basis The traction angle that doctor is arranged controls described second motor, can control described according to the anglec of rotation that doctor is arranged Electric pushrod, can control the output moment of torsion of the first motor according to the signal of described torque sensor assembly feedback, Realize the soft control of pull strength;Can actively control the work of above-mentioned two motor, it is possible to passive acquisition and recording The work process of two motors, is archived to the procedural information collected in database file, afterwards can basis Described database file controls motor work, thus reappears cervical traction process.
Preferably, the effective travel of described screw mandrel slide unit and described line slideway is 800mm.
Preferably, the traction angle that described traction angle adjusting means allows is that-15 degree are to+45 degree.
The solution have the advantages that: the robot of the present invention can realize cervical traction angle, direction and lead The control accurate of gravitation size, can carry out omnibearing rehabilitation to cervical spondylosis patient, be greatly shortened The rehabilitation duration of cervical spondylosis.
[accompanying drawing explanation]
Accompanying drawing described herein is used to provide a further understanding of the present invention, constitutes of the application Point, but it is not intended that inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 and Fig. 2 is the population structure schematic diagram of the present invention;
The traction angle adjusting means schematic diagram of Tu3Shi robot of the present invention;
The soft force control device schematic diagram of Tu4Shi robot of the present invention;
The drag rope of Tu5Shi robot of the present invention and traction headgear scheme of installation;
The lead adjusting means schematic diagram of Tu6Shi robot of the present invention;
[detailed description of the invention]
The present invention, illustrative examples therein is described in detail below in conjunction with accompanying drawing and specific embodiment And explanation is only used for explaining the present invention, but it is not intended as inappropriate limitation of the present invention.
Seeing accompanying drawing 1-2, the vertebrae traction recovering robot of the present invention includes supporting seat, propping up on population structure Post, drag rope, traction headgear (not marking in figure), traction angle adjusting means, adjustable seat, Lead adjusting means, soft force control device, computer control and acquisition system.
Described support seat is elongated, is the base of whole robot, is used for supporting whole robot.Described Pillar is vertically fixed on support seat, on the top of pillar, is fixedly connected horizontally disposed traction angle and adjusts Regulating device, this traction angle adjusting means is parallel with supporting seat.
Seeing accompanying drawing 3, it illustrates the traction angle adjusting means of robot of the present invention, this traction angle is adjusted Regulating device includes cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor, and described cross bar is horizontally disposed with, At described cross bar described screw mandrel slide unit fixed above, the effective travel of this screw mandrel slide unit is 800mm, slide block Can slide on this screw mandrel slide unit, described second motor can pull this slide block to slide on screw mandrel slide unit.Institute State and below slide block, secure a pulley, for through drag rope.The steel cable of described stay wire displacement sensor Being connected to described slide block, for measuring the displacement of slide block, computer controls and the acquisition system position by slide block Move the angle that just can calculate traction.Preferably, (i.e. drag rope is to cervical traction power for the angle of traction Angle with vertical direction) should be advisable to+45 degree for-15 degree.
According to another embodiment of the invention, the radial force can born due to screw mandrel slide unit is less, therefore Installing an optical axis suit below cross bar, this optical axis suit includes the straight line of effective travel 800mm Guide rail and a linear slider;The described slide block of screw mandrel slide unit is connected with this linear slider, so that it can Bear the radial force of maximum 60kg.
Seeing accompanying drawing 4, it illustrates the soft force control device of robot of the present invention, described gentle force controls Device has a base, and this base is fixed on described support seat, base secures the first motor and Reducer assemblies, shaft coupling, torque sensor assembly and line wheel assembly, the first motor is connected with this decelerator, Exporting moment of torsion, described shaft coupling one end driving member connection reducer by decelerator, other end output connects To line wheel assembly, this line wheel assembly is wrapped drag rope.Described torque sensor assembly is arranged on shaft coupling Between device and line wheel assembly, for detection in real time and the size of feedback output moment of torsion.When the first motor work, It can rotate by band moving-wire wheel assembly, thus pulling traction rope rope, it is achieved the traction to cervical vertebra.Computer controls The output that according to the signal of described torque sensor assembly feedback, can control the first motor with acquisition system is turned round Square, it is achieved the soft control of pull strength.
See accompanying drawing 5, it illustrates drag rope and the installation settings of traction headgear.On described pillar admittedly Determine two pulleys, the cross bar of traction angle adjusting means has also secured a pulley.Take turns at above-mentioned line The drag rope being wound around on assembly sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, so Afterwards through the pulley on the slide block of traction angle adjusting means, it is eventually connected to described traction headgear.
Seeing accompanying drawing 6, it illustrates the lead adjusting means of robot of the present invention, described lead is adjusted Regulating device is also mounted on described support seat.This lead adjusting means includes electric pushrod, connecting rod, rotation Rotating shaft, angular transducer, rotation platform.Described electric pushrod promotes rotary shaft to revolve for drivening rod Turning, described rotation platform is fixing on the rotary shaft, and connection angle sensor in described rotary shaft is described adjustable Joint seat is fixedly mounted on rotation platform.Based on said structure, rotation can be driven when electric pushrod works Turning platform and carry out ± 70 degree of rotations, when rotation platform rotates, adjustable seat also and then rotates, thus real The change of existing lead.Described angular transducer can detect rotary shaft rotate angle, computer control with Acquisition system just can know the anglec of rotation of described adjustable seat by the angle that this angular transducer detects And direction.
Described computer control with acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torsion Square sensor cluster, angular transducer are connected, and on the one hand can actively control the motion of two motors, separately On the one hand can gather the exercise data of said two motor and the detection data of three sensors, will collect Archives data in database file, motor work can be controlled according to described database file afterwards, from And reappear cervical traction process.
Two motors are controlled to be controlled by man machine operation interface with acquisition system by computer, can complete To the active Loading Control (the most directly controlling the motion of motor to draw patients with cervical) of two motors, passive Load information gathers and (is i.e. first actively controlled by doctor, enter the patients with cervical being fixed in robot of the present invention During row traction, computer controls to record the work process of each motor with acquisition system), to the information gathered (i.e. the motor process of each motor that reproduction is recorded is to simulate the treatment of doctor to carry out actively reappearing control Journey).
The work process of the present invention is as follows:
When using the healing robot of the present invention, patient is first sitting on adjustable seat, with fixing on seat Patient's upper body and waist are fixed by band, then lower jaw and the occipitalia of patient are fixed, by meter with traction headgear Calculation machine controls and acquisition system, and doctor can arrange traction angle, and computer controls with acquisition system by adjusting Slide position in traction angle adjusting means, it is achieved the adjustment of traction angle, then doctor can arrange rotation The anglec of rotation of platform, computer controls to control electric pushrod with acquisition system based on this anglec of rotation, to adjust The rotation platform of whole lead adjusting means, by rotation platform swiveling seat, it is achieved traction Adjustment, the soft force control device of last operation, cervical vertebra is drawn, its Computer control with gather The signal that system is fed back according to described torque sensor assembly, controls the output moment of torsion of the first motor, it is achieved lead The soft control of gravitation.Computer controls to gather the work process of each motor with acquisition system and deposit Store up in database file, after whole process collection storing, according to the information stored to each electricity Machine carries out actively loading, and reappears the output of each motor, it is achieved the simulation to medical treatment process.By adjusting The loading frequency of joint motor can regulate the speed of motor output in distraction procedure.When reusing, Ke Yizhi Connect the file according to having stored and directly carry out rehabilitation.
The above is only the better embodiment of the present invention, therefore all according to described in present patent application scope The equivalence that structure, feature and principle are done changes or modifies, in the range of being all included in present patent application.

Claims (3)

1. a vertebrae traction recovering robot, it is characterised in that this robot include support seat, pillar, Drag rope, traction headgear, traction angle adjusting means, adjustable seat, lead adjusting means, Soft force control device, computer control and acquisition system;
Described support seat is used for supporting whole robot, and described pillar is vertically fixed on described support seat;
Described traction angle adjusting means is fixed on the top of described pillar, and parallel with described support seat;Described Traction angle adjusting means includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, bracing wire displacement sensing Device;Described screw mandrel slide unit is fixed on the top of described cross bar, and has the cunning can slided on this screw mandrel slide unit Block, described second motor is used for pulling this slide block to slide on screw mandrel slide unit;Fixing connection below described slide block One pulley;The steel cable of described stay wire displacement sensor is connected to described slide block, for detecting the position of slide block Move;Being provided with optical axis suit below described cross bar, this optical axis suit includes a line slideway and one Linear slider, the described slide block of screw mandrel slide unit is connected with this linear slider;
Described soft force control device includes base, and the first motor fixing on base and decelerator group Part, shaft coupling, torque sensor assembly and line wheel assembly, described base is fixed on described support seat, the One motor exports moment of torsion by decelerator, and shaft coupling one end connects described decelerator, and the other end connects described line Wheel assembly, this line wheel assembly is wrapped described drag rope.Described torque sensor assembly is arranged on shaft coupling Between device and line wheel assembly, for detection in real time and the size of feedback output moment of torsion;When the first motor work, It can rotate by band moving-wire wheel assembly, thus pulling traction rope rope;
Secure two pulleys on described pillar, below described cross bar, secure a pulley, at described line wheels The drag rope being wound around on part sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then Through the pulley on slide block, it is eventually connected to described traction headgear;
Described lead adjusting means includes electric pushrod, connecting rod, rotary shaft, angular transducer, rotary flat Platform, electric pushrod can promote rotary shaft to rotate by drivening rod, and rotary shaft connection angle sensor is described Angular transducer is for detecting the anglec of rotation of described rotary shaft, and rotation platform is fixing on the rotary shaft, described Adjustable seat is fixedly mounted on rotation platform;
Described computer control with acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, moment of torsion Sensor cluster, angular transducer assembly are connected, can be by the testing result of described stay wire displacement sensor Calculate the angle of traction, the anglec of rotation of rotary seat can be calculated by the testing result of described angular transducer, Described second motor can be controlled, the anglec of rotation control that can arrange according to doctor according to the traction angle that doctor is arranged Make described electric pushrod, the defeated of the first motor can be controlled according to the signal of described torque sensor assembly feedback Go out moment of torsion, it is achieved the soft control of pull strength;Can actively control the work of above-mentioned two motor, it is possible to passive The work process of two motors of acquisition and recording, is archived to the procedural information collected in database file, it After can control motor work according to described database file, thus reappear cervical traction process.
Vertebrae traction recovering robot the most according to claim 1, it is characterised in that described screw mandrel is sliding The effective travel of platform and described line slideway is 800mm.
3. according to the vertebrae traction recovering robot described in claim 1-2, it is characterised in that the described angle of traction The traction angle that degree adjusting means allows is that-15 degree are to+45 degree.
CN201610364224.XA 2016-05-30 2016-05-30 A kind of vertebrae traction recovering robot and its traction angle adjusting means Active CN105935323B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610364224.XA CN105935323B (en) 2016-05-30 2016-05-30 A kind of vertebrae traction recovering robot and its traction angle adjusting means

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610364224.XA CN105935323B (en) 2016-05-30 2016-05-30 A kind of vertebrae traction recovering robot and its traction angle adjusting means

Publications (2)

Publication Number Publication Date
CN105935323A true CN105935323A (en) 2016-09-14
CN105935323B CN105935323B (en) 2018-04-06

Family

ID=57152274

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610364224.XA Active CN105935323B (en) 2016-05-30 2016-05-30 A kind of vertebrae traction recovering robot and its traction angle adjusting means

Country Status (1)

Country Link
CN (1) CN105935323B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107296675A (en) * 2017-06-12 2017-10-27 中山天愈医疗科技有限公司 A kind of spine recovering machine people
CN108478267A (en) * 2018-02-08 2018-09-04 中南大学湘雅医院 A kind of orthopaedics draft gear and its control method
CN109745161A (en) * 2019-01-22 2019-05-14 中国人民解放军陆军军医大学第一附属医院 A kind of rehabilitation physical therapy device that can precisely debug
CN111643246A (en) * 2020-08-05 2020-09-11 刘亮 Novel first aid wound is fixer for orthopedics

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2184414Y (en) * 1993-12-24 1994-12-07 第四军医大学西京医院康复医疗中心 Multi-angle cervical spondylopathy traction therapeutic device
CN1440732A (en) * 2003-02-18 2003-09-10 张吉林 Fast cervical spondylopathy treating instrument
KR20090049339A (en) * 2007-11-13 2009-05-18 한국표준과학연구원 A traction apparatus for the cervical vertebrae
CN201253279Y (en) * 2008-09-17 2009-06-10 周建平 Cervical vertebra multi-direction synthetic traction chair
CN203042565U (en) * 2013-01-09 2013-07-10 安阳市翔宇医疗设备有限责任公司 Cervical spine traction machine with massage function

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2184414Y (en) * 1993-12-24 1994-12-07 第四军医大学西京医院康复医疗中心 Multi-angle cervical spondylopathy traction therapeutic device
CN1440732A (en) * 2003-02-18 2003-09-10 张吉林 Fast cervical spondylopathy treating instrument
KR20090049339A (en) * 2007-11-13 2009-05-18 한국표준과학연구원 A traction apparatus for the cervical vertebrae
CN201253279Y (en) * 2008-09-17 2009-06-10 周建平 Cervical vertebra multi-direction synthetic traction chair
CN203042565U (en) * 2013-01-09 2013-07-10 安阳市翔宇医疗设备有限责任公司 Cervical spine traction machine with massage function

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107296675A (en) * 2017-06-12 2017-10-27 中山天愈医疗科技有限公司 A kind of spine recovering machine people
CN107296675B (en) * 2017-06-12 2019-09-24 中山天愈医疗科技有限公司 A kind of spine recovering machine people
CN108478267A (en) * 2018-02-08 2018-09-04 中南大学湘雅医院 A kind of orthopaedics draft gear and its control method
CN108478267B (en) * 2018-02-08 2019-12-17 中南大学湘雅医院 Traction device for orthopedics
CN109745161A (en) * 2019-01-22 2019-05-14 中国人民解放军陆军军医大学第一附属医院 A kind of rehabilitation physical therapy device that can precisely debug
CN111643246A (en) * 2020-08-05 2020-09-11 刘亮 Novel first aid wound is fixer for orthopedics

Also Published As

Publication number Publication date
CN105935323B (en) 2018-04-06

Similar Documents

Publication Publication Date Title
CN105935323A (en) Cervical vertebra traction rehabilitation robot and traction angle adjusting device thereof
CN107296675B (en) A kind of spine recovering machine people
CN107106155A (en) The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot
CN205548813U (en) Otolith disease is diagnose and semicircular canal function inspection integration system
CN102525712B (en) Rope-traction upper limb rehabilitation robot and control method thereof
CN106074071B (en) A kind of patella ulnaris joint traction recovering robot and its traction angle adjustment mechanism
CN208591274U (en) A kind of intelligent medical robot for lower limb rehabilitation treatment
CN107507503B (en) It is a kind of for train rotation handle method mechanical simulation apparatus
CN105434091B (en) A kind of spinal column pressure reduction equipment
CN207356217U (en) A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving
CN107374917A (en) Electronic body weight loss of weight mechanism and motion control method
CN206566167U (en) Healing robot
CN106073970B (en) A kind of vertebrae traction recovering robot
CN205515449U (en) Parallelly connected cervical vertebra rehabilitation device of gentle cable drive
CN103211694B (en) Cervical vertebra recovery robot based on head self-weight traction principle
CN109692104A (en) Medical rehabilitation ectoskeleton interactive mode synchronous control system and method
CN105919706B (en) A kind of vertebrae traction recovering robot and its rotating platform mechanism
CN105919705A (en) Cervical traction rehabilitation robot and pulley thereof
CN105853148B (en) A kind of patella ulnaris joint traction recovering robot and its antiwind structure of rope
CN105853149A (en) Cervical traction rehabilitation robot and auxiliary physical therapy assembly thereof
CN107928976A (en) A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving
ES2908105T3 (en) rehabilitation device
CN208864738U (en) A kind of upper limb rehabilitation robot system of view-based access control model human body pose detection
CN206194387U (en) Non - heavy burden radiation protection clothes
CN105640737B (en) A kind of Wire driven robot cervical vertebra rehabilitation device in parallel

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant