CN105997432A - Medical device for assisting in standing - Google Patents
Medical device for assisting in standing Download PDFInfo
- Publication number
- CN105997432A CN105997432A CN201610459691.0A CN201610459691A CN105997432A CN 105997432 A CN105997432 A CN 105997432A CN 201610459691 A CN201610459691 A CN 201610459691A CN 105997432 A CN105997432 A CN 105997432A
- Authority
- CN
- China
- Prior art keywords
- follower link
- crank
- medical treatment
- treatment device
- bearing frame
- 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
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/36—Specific positions of the patient standing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
A medical device for assisting in standing is provided with a first crank rocker mechanism distributed on at least one side of a backrest, wherein the first crank rocker mechanism comprises a first crank, a triangular bearing frame and a first rocking bar; the included angle between the first crank and a second driven connecting rod connected with the first crank and contained in the triangular bearing frame is always smaller than 90 degrees when the first crank drives the bearing frame to approximately upwards or downwards reciprocate, so that the backrest connected to the second driven connecting rod is always in a back leaning state, upward support force can be additionally provided for a human body, and the medical device is used for assisting a user in standing or completing sit-up training.
Description
Technical field
The present invention relates to a kind of rehabilitation mechanical device, particularly relate to the medical treatment device of a kind of aiding upright.
Background technology
Investigation shows, the whole world the most about produces 50,000,000 paralytics, the most Chinese every 21 seconds
A paralytic will be increased newly.According to drug in some provinces part population investigation in 2012, China's apoplexy
Prevalence is about 1.82%, and paralytic has the probability of 85% to need Physical rehabilitation to treat.It addition,
Due to reasons such as living habit, apoplexy morbidity is tending to rejuvenation, 40-50 year crowd the most gradually
Become principal pathogenetic crowd.The whole world is about the research of apoplexy, and always in constantly carrying out, these grind
Study carefully and be intended to go to recover patient's body constitution originally with maximum probability.Although traditional rehabilitation service energy
Enough play certain effect, but the high dependency because it is expensive, to human resources, it is not people
Optimum selection.Doctor typically can advise the rehabilitation training that patient is carried out two hours every day, but, greatly
Most of patients is only capable of obtaining the training of two hours weekly at present, can not meet the most far away wanting of rehabilitation training
Ask.
The medical rehabilitation device of China, gets rapid development nearly ten years.In addition to original Industry Foundation, have
Enterprise has taked joint form improve product quality and increase kind.As a whole, the medical rehabilitation of China
Device industry is weaker, in complexity and the motility of mechanism with abroad compared certain gap, but
China have developed the technical specification rehabilitation training system close to Foreign Advanced Lerel also according to self-character.
Domestic had rehabilitation wheelchair basic fundamental and research strength, and first-class universities and colleges and research unit are
It is engaged in the research in terms of rehabilitation engineering for many years.Take the lead at home such as Tsing-Hua University have developed horizontal lower limb health
Multiple training system, have employed virtual reality technology in this achievement.Additionally, Shanghai Communications University, west
The colleges and universities such as peace university of communications, Harbin Engineering University, Guangdong University of Technology have also carried out relevant research.
Analyzing new product in domestic and international modern age, it is mainly characterized by: (1) traditional product combines with computer technology,
Form electromechanical integration or manual intelligent product.(2) biomaterials art is used for human body recovery, shape
Become man-machine integration product.(3) according to the plasticity of bodily fuctions, some devices, promotion functions are designed
Recovery and regeneration.
Chinese patent (notification number is CN201005940Y) discloses a kind of Based Intelligent Control lower limb rehabilitation
Locomotorium.This utility model relates to a kind of Intelligent control lower limb recovering exerciser, specifically refers to a kind of utilization
The legs recovery unit of the Based Intelligent Control of the principle rehabilitation human body lower limbs of passive exercise.This lower limb rehabilitation is transported
Dynamic device includes the lower extremity movement assembly being arranged on wheelchair, controls the intelligence control of this lower extremity movement component operation
Unit processed and the supply unit of offer power, this intelligent control unit includes for controlling this lower extremity movement
The timing controller of component movement time and for adjusting the speed of this lower extremity movement component movement rate
Controller.This utility model has and in any time needed, patient can be carried out rehabilitation, and can also
Enough remember the length of the time that patient passively treats and this treatment time be set and control in therapeutic process
The function of the speed of this legs recovery unit movement rate, simultaneously this legs recovery unit work noise
Little, safe and reliable.
The Intelligent control lower limb recovering exerciser that this patent provides is only the function realizing lower limb passive exercise,
Only as one simple mechanical type rehabilitation exercise equipment.This equipment only completes the forging of user lower limb
Refining, does not possess the function that auxiliary user is stood, this power-assisted apparatus being based only on mechanical training mode
The theory of human-computer interaction can not be realized well, can not be understood alternately by the information with user
User lower limb rehabilitation process, in order to adjust rehabilitation programme in time.Make for suffering from disease in various degree
User, traditional rehabilitation exercise device is just difficult to coordinate, and the number of times of user training every day is with strong
Degree varies with each individual, and the process of rehabilitation is also constantly changing, and traditional rehabilitation exercise apparatus obviously can not
Meet demand.
Summary of the invention
For the deficiency of prior art, the invention provides the medical treatment device of a kind of aiding upright, its feature
Being, the medical treatment device of described aiding upright has the first crank rocker machine being distributed in backrest at least side
Structure, described first crank and rocker mechanism includes the first crank, triangle load-bearing frame and the first rocking bar；
In described first crank handle turns load-bearing frame reciprocatory movement generally upwards or generally downward with
That first crank is connected and the second follower link of being contained in described triangle load-bearing frame and described the
Angle between one crank is consistently less than 90 °, thus result in and be connected to leaning in the second follower link
The back of the body is always layback state, it is possible to additionally provide the support force of diagonal upward direction for human body.
According to one preferred embodiment, described first crank and rocker mechanism includes: the first crank, by
What the first follower link, the second follower link and the 3rd follower link formed is used for assisting support user to rise
Sit triangle load-bearing frame and first rocking bar of training；
Described triangle load-bearing frame is acute triangle structure, and wherein the first follower link is driven with second
The angle of connecting rod is 40 °；Wherein the first follower link is 60 ° with the angle of the 3rd follower link；The
Two follower link are 80 ° with the angle of the 3rd follower link.
According to one preferred embodiment, in described first crank and rocker mechanism, the first follower link
Length more than the length of the second follower link, the length of the second follower link is more than the length of the first rocking bar
Degree, the length of the first rocking bar is more than the length of the 3rd follower link, and the length of the 3rd follower link is more than the
The length of one crank.
According to one preferred embodiment, described backrest is parallel to described second follower link, and with institute
Stating the second follower link to be rigidly connected, two junction points that described backrest is connected with described second follower link lean on
It is bordering on the connection end of described second follower link and the 3rd follower link.
According to one preferred embodiment, described backrest both sides are respectively provided with at crank and rocker mechanism
There is provided the shoulder belt of pulling force in mechanism's operation process to shoulders of human body, described backrest bottom also has for people
Body waist provides the belt of pulling force.
According to one preferred embodiment, in described triangle load-bearing frame, described first follower link
One end is connected with described second follower link by rigidly connected mode, described first follower link another
End is connected with the 3rd follower link by rigidly connected mode；The described second follower link other end passes through
Rigidly connected mode is connected with the 3rd follower link.
According to one preferred embodiment, described triangle load-bearing frame is in the first follower link and second
The place that is rigidly connected of follower link is connected with the first crank by hinged connected mode；Described triangle is formed
Vertical frame at the place that is rigidly connected of the first follower link and the 3rd follower link by hinged connected mode
It is connected with the first rocking bar.
According to one preferred embodiment, in described first crank and rocker mechanism, the first crank is also and axis
Being connected, wherein the first crank receives, by axis, the kinetic energy that motor provides；First crank is to be connected with axis
Point is the center of circle, drives crank and rocker mechanism operating with the first crank length for radius；Described first crank exists
Can realize under the drive of axis counterclockwise or rotating clockwise around axis, thus realize driving whole load frame
Frame is moved upwardly or downwardly.
According to one preferred embodiment, the medical treatment device of described aiding upright also includes for providing bent
The motor of handle endplay device power and for realizing the drive mechanism of motor kinetic energy transmission function；
Described drive mechanism includes: one-level chain-drive mechanism, major axis, two-stage chain drive mechanism and axis.
According to one preferred embodiment, the medical treatment device of described aiding upright can process cloud with data
Terminal combines and realizes the Intelligent treatment of data, and the Intelligent treatment of described data includes: utilizes and is in cloud eventually
The expert knowledge library of end carries out rehabilitation training plans recommendation；Rehabilitation situation based on user completes rehabilitation instruction
Practice the real-time adjustment of plan；Utilize the methods such as machine learning to carry out personalized rising and sit training renewal.
The medical treatment device that the present invention provides at least has the advantage that
(1) in the first crank handle turns load-bearing frame rotation process, the second follower link and described first
Angle between crank is consistently less than 90 °.Its role is to when the second follower link is bent with described first
When angle between handle is consistently less than 90 °, the second follower link is then relative to itself and the company of the first crank
Contact is the effect of a layback, so that the backrest being connected in the second follower link also shakes at crank
Linkage motor process is in layback state.
Making user during having realized sitting training, backrest the most not merely relies on shoulder belt thereon
Thering is provided pulling force upwards with belt to human body, human body also can be produced and support by the layback structure of backrest simultaneously
Power, it is to avoid sit during training because the pulling force of simple shoulder belt or belt causes not to human body rising
Suitable.
(2) load-bearing frame is during driving human body to carry out sitting training, is connected in load-bearing frame
The movement locus of the backrest of the second follower link is obliquely or obliquely so that human body is being stood or sat down
During movement locus meet human engineering motion track.Backrest the most simply moves up and down, from
And preferably can play seat training for human body recovery and help is provided.
(3) present invention is during rehabilitation object carries out rehabilitation training, and statistics training data is also assessed
The limb rehabilitating situation of rehabilitation object, provides training suggestion and rehabilitation information to rehabilitation object, it is simple to rehabilitation
Object actively carries out correct rehabilitation training.
Accompanying drawing explanation
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the crank and rocker mechanism kinematic sketch of the present invention；
Fig. 3 is the rack construction schematic diagram of the present invention；
Fig. 4 is the axis assembling schematic diagram of the present invention；With
Fig. 5 is the seat schematic diagram of the present invention.
Reference numerals list
1: crank the 1a: the first crank 2: follower link
2a: the first follower link 2b: the second follower link 2c: the 3rd follower link
3: rocking bar the 3a: the first rocking bar 4: backrest
5: frame 6: seat 7: motor
8: one-level chain-drive mechanism 9: major axis 10: two-stage chain drive mechanism
11: vertical tube 12: transverse tube 13: vertical shaft bearing
14: motor mounting plate 15: motor mount 16: rhombus bearing block
17: pedal 18: axis 19: two-stage chain transmission low speed is taken turns
20: back cushion 21: clamp system 22: seat support
23: medicated cushion
Detailed description of the invention
It is described in detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 shows the structure diagram of medical treatment device of the present invention.Fig. 2 is the crank and rocker mechanism of the present invention
Kinematic sketch.As depicted in figs. 1 and 2, the medical treatment device of the present invention include for realize support human body rise
Sit the crank and rocker mechanism of training, for providing the backrest 4 of back support power, for supporting described medical treatment
The frame 5 of device, for realizing the seat 6 of human body sitting, for providing crank and rocker mechanism power
Motor 7, for realizing the one-level chain-drive mechanism 8 of motor 7 kinetic energy transmission function, for receiving and passing
Pass the major axis 9 of the kinetic energy of one-level chain-drive mechanism 8 transmission, for transmitting the two of the kinetic energy that major axis 9 receives
Level chain-drive mechanism 10.Described crank and rocker mechanism is made up of crank 1, follower link 2 and rocking bar 3.
Described crank thoughts mechanism is divided into two sets, lays respectively at frame both sides.Described crank 1 includes being distributed in
Second crank of frame both sides and the first crank 1a.Described follower link 2 includes being distributed in frame side
First follower link 2a, the second follower link 2b, the 3rd follower link 2c and be distributed in frame opposite side
The 4th follower link, the 5th follower link, the 6th follower link.Described rocking bar 3 includes being distributed in machine
Second rocking bar of frame both sides and the first rocking bar 3a.Wherein, shown in Fig. 2 for the first crank and rocker mechanism,
Including playing the first crank 1a actively having an effect, and drive based on the first crank 1a and move first
Follower link 2a, the second follower link 2b and the 3rd follower link 2c.Described first crank and rocker mechanism
Also include the first rocking bar 3a.
Fig. 3 is the rack construction schematic diagram of the present invention.Support 5 includes the vertical tube for supporting seat 6
11, for maintain frame 5 stability transverse tube 12, for fix major axis 9 vertical shaft bearing 13,
For supporting the motor mounting plate 14 of motor 7, for installing the motor mount 15 of motor 7, rhombus
Bearing block 16 and for placing the pedal 17 of human foot.
Fig. 4 shows the axis assembling schematic diagram of the present invention, including: for realizing low for two-stage chain transmission
The power of speed wheel 19 passes to the axis 18 of crank 1, transmits for receiving two-stage chain drive mechanism 10
Power two-stage chain transmission low speed wheel 19.
Fig. 5 shows that the armchair structure of the present invention, seat 6 comprise back cushion 20, clamp system 21, seat
Chair support 22, medicated cushion 23, clamp system 21 coordinates with the vertical tube 11 in frame 5, tights a bolt
It is used for fixing seat 6, unclamps bolt for adjusting the height of seat 6；Seat support 22 is provided with two
Place's long slot bore, is used for fixing medicated cushion 23 and adjusts position before and after medicated cushion 23.
According to preferred embodiment, crank 1 is connected with axis 18.Wherein crank 1 is by axis 18
Receive the kinetic energy that motor 7 provides.Crank 1 with axis 18 junction point as the center of circle, with crank 1 length
Crank and rocker mechanism operating is driven for radius.Follower link 2 is connected with crank 1.Follower link 2 receives
The kinetic energy that crank 1 provides, drives the backrest 4 being connected in follower link 2 to move, thus passes through backrest
The motion of 4 realizes supporting human body and stands, and auxiliary human body has carried out sitting the function of training.According to one preferably
Embodiment, described backrest 4 both sides are respectively provided with for carrying to shoulders of human body in mechanism's operation process
For the shoulder belt of pulling force, described backrest 4 bottom also has the belt for providing pulling force to human body waist.Shake
Bar 3 is connected with follower link 4.Rocking bar 3 is used for assisting follower link 2 to move, it is achieved backrest 4 energy
To meet human engineering orbiting motion, thus realize supporting the effect that human body is stood.Rocking bar 3 is also simultaneously
It is connected with frame 5, for fixed crank endplay device and frame, it is achieved stablizing of crank and rocker mechanism
Run and sustainable operating.Seat 6 is connected with frame 5, is fixed on the vertical tube 11 in frame 5,
User can adjust height of seat according to self comfort level along vertical tube 11 in the vertical direction.Motor 7 is pacified
It is loaded on the motor mount 15 in frame 5.Motor mount 15 is used for realizing motor 7 and is fixed on
On motor mounting plate 14.Motor 7 can realize forward or reverse according to user demand.Meanwhile, motor
Mounting seat 15 has damper function, ensures that whole medical treatment device has while being used for fixing motor 7
Having vibrations little, human body experiences the feature that comfort level is high.Motor 7 is by one-level chain-drive mechanism 8 and major axis
9 are connected.Motor 7 drives major axis 9 to rotate by one-level chain-drive mechanism 8, it is achieved the kinetic energy of motor 7
It is transferred to major axis 9.Major axis 9 is by being positioned at runner and two-stage chain drive mechanism 10 phase at major axis 9 two ends
Even.Major axis 9 is connected with two-stage chain transmission low speed wheel 19 through two-stage chain drive mechanism 10.Major axis 9
Through two-stage chain drive mechanism 10, motor 7 being transferred to the kinetic energy of major axis 9, to be transferred to two-stage chain transmission low
Speed wheel 19.Two-stage chain transmission low speed takes turns 19 nooses on axis 18, thus realizes by two-stage chain transmission
Low speed wheel 19 drive axis 18 rotates, and kinetic energy is transferred to axis 18.
According to preferred embodiment, support 5 includes the vertical tube 11 for supporting seat 6, for tieing up
Hold the transverse tube 12 of frame 5 stability, for fixing the vertical shaft bearing 13 of major axis 9, for supporting electricity
The motor mounting plate 14 of machine 7, for installing the motor mount 15 of motor 7, rhombus bearing block 16
With the pedal 17 for placing human foot.Wherein said vertical tube 11 one end is connected with the top of frame 5,
One end is connected with described transverse tube 12.It is collateral that frame 5 liang is fixed on by screw in described transverse tube 12 two ends
On stay tube.Described vertical shaft bearing 13 has two, lays respectively at the both sides of frame 5, solid through screw
On a stay tube of frame 5.Described vertical shaft bearing 13 is used for supporting major axis 9.Major axis 9 two ends
It is connected with vertical shaft bearing 13 respectively, and can be freely rotatable in vertical shaft bearing 13.Described motor
Installing plate 14 is fixed on bottom frame rear end, and machine is fixed on through screw in described motor mounting plate 14 two ends
On frame 5.Described motor mounting plate 14 is rectangular plate, and there are rectangle opening in its sheet material central authorities, its perforate
Length is about the distance value of frame 5 left and right sides bracing frame.Described motor mount 15 by screw with
Motor mounting plate 14 is connected.Described motor mount 15 can be pacified at motor according to the size of motor
Move left and right on dress plate 14, to facilitate the installation of motor, and ensure that the center of gravity of motor 7 is positioned at electricity simultaneously
The central authorities of machine installing plate 14, it is to avoid the center of gravity causing this medical treatment device because of the centre-of gravity shift of motor 7 is inclined
Move, thus avoid the accidents such as in use generating means rollover.Described rhombus bearing block 16 has
Two, lay respectively at the left and right sides of frame 5, be fixed on a stay tube of frame 5 through screw.Described
Rhombus bearing block 16 is used for supporting axis 18.Axis 18 two ends are connected with rhombus bearing block 16 respectively,
And can be freely rotatable in Upright Diamond bearing block 16.
According to preferred embodiment, include during the axis assembling of the present invention: for realizing two grades
The power of Chain conveyer low speed wheel 19 passes to the axis 18 of crank 1, for receiving two-stage chain drive mechanism
The two-stage chain transmission low speed wheel 19 of the power of 10 transmission.As it can be seen, rhombus bearing block 16 passes through spiral shell
For providing support force for axis 18 on the stay tube that nail is fixed in frame 5.Axis 18 through
Rhombus bearing block 16, and can be freely rotatable in Upright Diamond bearing block 16.Axis 18 one end with two grades
Chain conveyer low speed wheel 19 is connected, and one end is connected with crank 1.19 are taken turns by described two-stage chain transmission low speed
Rotational band disorder of internal organs axle 18 rotate thus drive described crank 1 to rotate.
According to preferred embodiment, in the armchair structure of the present invention, seat 6 comprises back cushion 20, clamping
Mechanism 21, seat support 22, medicated cushion 23, clamp system 21 coordinates with the vertical tube 11 in frame 5,
Tight a bolt and be used for fixing seat 6, unclamp bolt for adjusting the height of seat 6；Seat support 22
It is provided with long slot bore at two, is used for fixing medicated cushion 23 and adjusts position before and after medicated cushion 23.
Embodiment 1
In conjunction with Fig. 2, it is positioned in backrest 4 both sides as a example by the first crank and rocker mechanism by the present invention, song is described
The motor process of handle endplay device.Described first crank and rocker mechanism has included the first crank actively having an effect
1a, and drive based on the first crank 1a and move the first follower link 2a, the second follower link
2b and the 3rd follower link 2c.Described first crank and rocker mechanism also includes the first rocking bar 3a.
In described crank and rocker mechanism, the length of the first follower link 2a is more than the second follower link 2b
Length.The length of the second follower link 2b length more than the first rocking bar 3a.First rocking bar 3a's
Length is more than the length of the 3rd follower link 2c.The length of the 3rd follower link 2c is more than the first crank
The length of 1a.
Described first follower link 2a, the second follower link 2b and the 3rd follower link 2c composition crank
The triangle load-bearing frame of endplay device.Described triangle load-bearing frame is connected to second for supporting drive
Backrest 4 in follower link 2b moves.Thus realize driving human body to realize sitting up training.All many
In the shape structure of limit, the load-bearing frame of triangle is rock-steady structure.
Described first crank 1a drives in load-bearing frame reciprocatory movement generally upwards or generally downward,
The second follower link 2b that is that be connected with the first crank 1a and that be contained in described triangle load-bearing frame with
Angle between described first crank 1a is consistently less than 90 °, thus result in and be connected to the second driven company
Backrest 4 on bar 2b is always layback state, it is possible to additionally provide the support of diagonal upward direction for human body
Power.
According to one preferred embodiment, described load-bearing frame reciprocal fortune generally upwards or generally downward
Moving for described load-bearing frame during driving human body to carry out sitting training, the first crank 1a promotes and holds
Power framework moves obliquely or obliquely, so that be connected to the second follower link 2b in load-bearing frame
The movement locus of backrest 4 be obliquely or obliquely so that human body fortune during standing or sitting down
Dynamic track meets human engineering motion track.
Described backrest 4 is parallel to described second follower link 2b, and firm with described second follower link 2b
Property connect, two junction points that described backrest 4 is connected with described second follower link 2b are close to described the
Two follower link 2b and the connection end of the 3rd follower link 2c.
In described triangle load-bearing frame, the first follower link 2a is this triangle longest edge.First from
The length of dynamic connecting rod 2a is more than the second follower link length 2b.The length of the first follower link 2a is more than
3rd follower link length 2c.The length of the second follower link 2b is more than the 3rd follower link 2c.
In described triangle load-bearing frame, first follower link 2a one end by rigidly connected mode with
Second follower link 2b is connected.The first follower link 2a other end is by rigidly connected mode and the 3rd
Follower link 2c is connected.Second follower link 2b one end is by rigidly connected mode and the first driven company
Bar 2a is connected.The second follower link 2b other end is by rigidly connected mode and the 3rd follower link
2c is connected.Described 3rd follower link 2c one end is by rigidly connected mode and the second follower link 2b
Being connected, the 3rd follower link 2c other end is connected with the first follower link 2a by rigidly connected mode.
Described triangle load-bearing frame is rigidly connected the first follower link 2a and the second follower link 2b
Place is connected with the first crank 1a by hinged connected mode.Described triangle become vertical frame first from
The place that is rigidly connected of dynamic connecting rod 2a and the 3rd follower link 2c is by hinged connected mode and the first rocking bar
3a is connected.
Described triangle load-bearing frame is acute triangle structure.Wherein the first follower link 2a and second
The angle of follower link 2b is 40 °.Wherein the first follower link 2a and the folder of the 3rd follower link 2c
Angle is 60 °.The angle of the second follower link 2b and the 3rd follower link is 80 °.
In described crank and rocker mechanism, the first crank 1a is also connected with axis 18.Wherein the first crank 1a
The kinetic energy that motor 7 provides is received by axis 18.First crank 1a with axis 18 junction point as circle
The heart, drives crank and rocker mechanism operating with the first a length of radius of crank 1a.Described first crank 1a exists
Can realize under the drive of axis 18 counterclockwise or rotating clockwise around axis 18.Thus realize driving whole
Individual load-bearing frame is moved upwardly or downwardly.
Wherein in the first crank 1a drives load-bearing frame rotation process, described second follower link and institute
The angle stated between the first crank 1a is consistently less than 90 °.Its role is to when the second follower link and institute
Stating the angle between the first crank 1a when being consistently less than 90 °, the second follower link 2b is then relative to it
It is an effect swung back with the junction point of the first crank 1a, so that be connected to the second follower link
Backrest 4 on 2b is also in layback state in crank and rocker mechanism motor process.Also allow for using
Person is during having realized sitting training, and backrest 4 the most not merely relies on shoulder belt thereon and belt to people
Body provides pulling force upwards, and the layback structure of backrest 4 also can produce support force to human body simultaneously, it is to avoid
The discomfort caused to human body because of the pulling force of simple shoulder belt or belt during playing seat training.Meanwhile, institute
State load-bearing frame during driving human body to carry out sitting to train, be connected in load-bearing frame second driven
The movement locus of the backrest 4 of connecting rod 2b is obliquely or obliquely so that human body is being stood or sat down
Movement locus in journey meets human engineering motion track.Backrest 4 the most simply moves up and down, from
And preferably can play seat training for human body recovery and help is provided.
Embodiment 2
Illustrate that apparatus of the present invention and data process the cloud terminal data carried out that combine and process.Data process bag
Containing three parts: one is to utilize expert knowledge library to carry out rehabilitation training plans recommendation.Data process cloud terminal
Containing data preprocessing module.The data preprocessing module Monitoring Data to the user that mobile terminal transmits
Carry out data prediction with personal information, turn to comprise use by Monitoring Data and personal information data standard
Person's height, body weight, the basic physiological data at age and comprise the user process medical treatment device that every time stands up and carry
The physical function data of the support force size of confession.Data process the expert knowledge library of cloud terminal according to user
The stage is resumed training, simultaneously to residing residing for the different demarcation user of physiological data and physical function data
The user of different restoration processes provide different rising and sit training recommendation plan.Wherein, seat training meter is played
Draw and include that single plays the duration of seat training, the size of medical treatment device offer support force, completed needed for every day
Sit the number of times of training and act the interval duration sitting training every time.Two is the real-time adjustment of rehabilitation training plans.
Gathering data monitoring user recovery situation according to medical treatment device sensing module, if persistently occurring, user is certainly
Body firmly increases situation, then moderate reduction medical treatment device support force, and by the support force data of medical treatment device
Update and play seat training plan to user.Using same method, data process cloud terminal and can play single
Sit the duration of training, completed to sit the number of times of training or every time rise needed for every day and sit the duration that is spaced of training
Data are updated.Three is to utilize the methods such as machine learning to carry out personalized rising to sit training renewal.At data
Reason cloud terminal has the rehabilitation training state of each user, is collecting the rehabilitation training of large-scale crowd
After data, for the rehabilitation training data of all user, use machine learning algorithm that crowd is gathered
Alanysis, wherein the method for measuring similarity that used of cluster mainly by the height of patient, body weight, the age,
Training burden, train the variablees such as the percentage ratio exerted oneself to be calculated every time.By by people's clustering of similarity
Class, carries out fine user individual character rehabilitation training plans and formulates.Individual character rehabilitation training plans includes list
The duration of training, the size of medical treatment device offer support force are provided, have completed needed for every day to sit training for secondary
Number of times and the interval duration of a seat training every time.
Embodiment 3
Illustrate that the medical treatment device of the present invention combines with mobile terminal and realize what data process cloud terminal was recommended
Training plan.Mobile terminal can accept the recommendation training plan that data process the feedback of cloud terminal, and root
According to this feedback data motor 7 by Single-chip Controlling medical treatment device, thus control user single and play seat
Training duration, medical treatment device provide support force size, completed needed for every day sit train number of times and
Act interval time and the natural law of this stage-training sitting training every time.User training during,
Whether the training plan of mobile terminal every day the most good at managing is performed, and can monitor training each time
Situation.After training terminates every time, mobile terminal can process cloud terminal to data and send message, at data
The training data of analysis user the training to today are provided overall scoring, mobile terminal by reason cloud terminal
The result that data process the return of cloud terminal shows on screen.
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can be at this
Find out various solution under the inspiration of disclosure of the invention content, and these solutions also belong to the present invention
Open scope and fall under the scope of the present invention.It will be understood by those skilled in the art that this
Bright description and accompanying drawing thereof are illustrative and not constitute limitations on claims.The protection of the present invention
Scope is limited by claim and equivalent thereof.
Claims (10)
1. the medical treatment device of an aiding upright, it is characterised in that the medical treatment device of described aiding upright
There is the first crank and rocker mechanism being distributed in backrest (4) at least side, described first crank rocker machine
Structure includes the first crank (1a), triangle load-bearing frame and the first rocking bar (3a)；
Described first crank (1a) drives load-bearing frame reciprocatory movement generally upwards or generally downward
In be connected with the first crank (1a) and be contained in the second follower link in described triangle load-bearing frame
(2b) angle and between described first crank (1a) is consistently less than 90 °, thus result in connection
Backrest (4) in the second follower link (2b) is always layback state, it is possible to additionally carry for human body
Support force for diagonal upward direction.
2. medical treatment device as claimed in claim 1, it is characterised in that described first crank rocker machine
Structure includes: the first crank (1a), by the first follower link (2a), the second follower link (2b) and
Three follower link (2c) form for assist support user rise sit training triangle load-bearing frame with
And first rocking bar (3a)；
Described triangle load-bearing frame is acute triangle structure, wherein the first follower link (2a) and the
The angle of two follower link (2b) is 40 °；Wherein the first follower link (2a) and the 3rd driven company
The angle of bar (2c) is 60 °；Second follower link (2b) and the folder of the 3rd follower link (2c)
Angle is 80 °.
3. medical treatment device as claimed in claim 2, it is characterised in that at described first crank rocker
In mechanism, the length of the first follower link (2a) more than the length of the second follower link (2b), second
The length of follower link (2b) is more than the length of the first rocking bar (3a), the length of the first rocking bar (3a)
More than the length of the 3rd follower link (2c), the length of the 3rd follower link (2c) is more than the first crank
(1a) length.
4. medical treatment device as claimed in claim 1, it is characterised in that described backrest (4) is parallel
In described second follower link (2b), and it is rigidly connected with described second follower link (2b), described
Two junction points that backrest (4) is connected with described second follower link (2b) are close to described second driven
Connecting rod (2b) and the connection end of the 3rd follower link (2c).
5. medical treatment device as claimed in claim 4, it is characterised in that described backrest (4) both sides
It is respectively provided with the shoulder belt for providing pulling force in crank and rocker mechanism mechanism operation process to shoulders of human body,
Described backrest (4) bottom also has the belt for providing pulling force to human body waist.
6. medical treatment device as claimed in claim 3, it is characterised in that described triangle load-bearing frame
In, described first follower link (2a) one end is by rigidly connected mode and described second follower link
(2b) be connected, described first follower link (2a) other end by rigidly connected mode with the 3rd from
Dynamic connecting rod (2c) is connected；Described second follower link (2b) other end by rigidly connected mode with
3rd follower link (2c) is connected.
7. medical treatment device as claimed in claim 3, it is characterised in that described triangle load-bearing frame
At the place that is rigidly connected of the first follower link (2a) and the second follower link (2b) by hinged connection
Mode is connected with the first crank (1a)；Described triangle become vertical frame the first follower link (2a) with
The place that is rigidly connected of the 3rd follower link (2c) is by hinged connected mode and the first rocking bar (3a) phase
Even.
8. medical treatment device as claimed in claim 1, it is characterised in that described first crank rocker machine
In structure, the first crank (1a) is also connected with axis (18), and wherein the first crank (1a) passes through axis
(18) kinetic energy that motor (7) provides is received；First crank (1a) with axis (18) junction point
For the center of circle, drive crank and rocker mechanism operating with the first crank (1a) a length of radius；Described first is bent
Handle (1a) can realize counterclockwise or rotating clockwise around axis (18) under the drive of axis (18),
Thus realize driving whole load-bearing frame to be moved upwardly or downwardly.
9. medical treatment device as claimed in claim 1, it is characterised in that the medical treatment of described aiding upright
Device also includes moving for providing the motor of crank and rocker mechanism power (7) and being used for realize motor (7)
The drive mechanism of function can be transmitted；
Described drive mechanism includes: one-level chain-drive mechanism (8), major axis (9), two-stage chain drive mechanism
And axis (18) (10).
10. medical treatment device as claimed in claim 1, it is characterised in that the doctor of described aiding upright
Treatment device can combine with data process cloud terminal and realize the Intelligent treatment of data, the intelligence of described data
Process includes: utilize the expert knowledge library being in cloud terminal to carry out rehabilitation training plans recommendation；Based on use
The rehabilitation situation of person completes the real-time adjustment of rehabilitation training plans；The methods such as machine learning are utilized to carry out individual character
Change seat training to update.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810216234.8A CN108309695B (en) | 2016-06-21 | 2016-06-21 | Rehabilitation training method and medical device for assisting standing for training method |
| CN201610459691.0A CN105997432B (en) | 2016-06-21 | 2016-06-21 | A kind of medical treatment device of aiding upright |
| US15/627,256 US10085906B2 (en) | 2016-06-21 | 2017-06-19 | Medical apparatus for standing aid |
| US16/118,196 US10881569B2 (en) | 2016-06-21 | 2018-08-30 | Method of assisting a subject to stand using a medical apparatus |
| US16/118,181 US10874568B2 (en) | 2016-06-21 | 2018-08-30 | Method of using a medical apparatus with a crank mechanism for standing aid |
| US16/118,188 US11116682B2 (en) | 2016-06-21 | 2018-08-30 | Apparatus for evaluating standing-aid training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610459691.0A CN105997432B (en) | 2016-06-21 | 2016-06-21 | A kind of medical treatment device of aiding upright |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810216234.8A Division CN108309695B (en) | 2016-06-21 | 2016-06-21 | Rehabilitation training method and medical device for assisting standing for training method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105997432A true CN105997432A (en) | 2016-10-12 |
| CN105997432B CN105997432B (en) | 2018-06-26 |
Family
ID=57087177
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810216234.8A Active CN108309695B (en) | 2016-06-21 | 2016-06-21 | Rehabilitation training method and medical device for assisting standing for training method |
| CN201610459691.0A Active CN105997432B (en) | 2016-06-21 | 2016-06-21 | A kind of medical treatment device of aiding upright |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810216234.8A Active CN108309695B (en) | 2016-06-21 | 2016-06-21 | Rehabilitation training method and medical device for assisting standing for training method |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108309695B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106491309A (en) * | 2016-11-17 | 2017-03-15 | 合肥工业大学 | A kind of limb rehabilitation training system |
| CN106778042A (en) * | 2017-01-26 | 2017-05-31 | 中电科软件信息服务有限公司 | Cardio-cerebral vascular disease patient similarity analysis method and system |
| CN108652927A (en) * | 2018-05-24 | 2018-10-16 | 王小华 | A kind of paediatrics is used for the therapeutic device of children's standing rehabilitation |
| CN112891153A (en) * | 2021-01-25 | 2021-06-04 | 武汉理工大学 | Indoor standing-assisting device for old people |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108938333A (en) * | 2018-08-27 | 2018-12-07 | 江苏苏云医疗器材有限公司 | A kind of seat station conversion rehabilitation training equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0146660A1 (en) * | 1983-12-22 | 1985-07-03 | Société à Responsabilité Limitée : INTERNATIONAL DIFFUSION CONSOMMATEUR IDC | Stand-up apparatus for a wheel chair, and wheel chair provided therewith |
| US5096008A (en) * | 1990-09-24 | 1992-03-17 | Jericho Corporation | Stand-up wheelchair |
| CN2614073Y (en) * | 2003-03-01 | 2004-05-05 | 杨华睿 | Multifunctional leisure and health building chair |
| JP2007098082A (en) * | 2005-10-04 | 2007-04-19 | Hiroyuki Hattori | Chair facilitating standing |
| JP2010279396A (en) * | 2009-06-02 | 2010-12-16 | Koa Co Ltd | Transfer implement for care |
| CN203370074U (en) * | 2013-07-08 | 2014-01-01 | 吴景华 | Massaging chair rack with adjustable shank frame |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103156739B (en) * | 2013-04-08 | 2016-03-30 | 昆山安明泰机电科技有限公司 | Wheelchair Qi Zuo mechanism and comprise the wheelchair of this mechanism |
| WO2014172700A1 (en) * | 2013-04-19 | 2014-10-23 | The Research Foundation For The State University Of New York | Four bar apparatus and method for lifting, lowering, exercise and self-propelled transit |
| CN103263336B (en) * | 2013-05-31 | 2015-10-07 | 四川旭康医疗电器有限公司 | Based on the electrodynamic type joint rehabilitation training system of Long-distance Control |
| CN203341951U (en) * | 2013-07-12 | 2013-12-18 | 山东科技大学 | Chair for assisting users in standing up and sitting down |
| CN105455979B (en) * | 2015-11-20 | 2017-09-29 | 合肥工业大学 | The control system and control method of a kind of intelligent wheel chair |
| CN105342767B (en) * | 2015-11-20 | 2017-10-27 | 合肥工业大学 | A kind of intelligent wheel chair controlled based on mobile terminal |
-
2016
- 2016-06-21 CN CN201810216234.8A patent/CN108309695B/en active Active
- 2016-06-21 CN CN201610459691.0A patent/CN105997432B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0146660A1 (en) * | 1983-12-22 | 1985-07-03 | Société à Responsabilité Limitée : INTERNATIONAL DIFFUSION CONSOMMATEUR IDC | Stand-up apparatus for a wheel chair, and wheel chair provided therewith |
| US5096008A (en) * | 1990-09-24 | 1992-03-17 | Jericho Corporation | Stand-up wheelchair |
| CN2614073Y (en) * | 2003-03-01 | 2004-05-05 | 杨华睿 | Multifunctional leisure and health building chair |
| JP2007098082A (en) * | 2005-10-04 | 2007-04-19 | Hiroyuki Hattori | Chair facilitating standing |
| JP2010279396A (en) * | 2009-06-02 | 2010-12-16 | Koa Co Ltd | Transfer implement for care |
| CN203370074U (en) * | 2013-07-08 | 2014-01-01 | 吴景华 | Massaging chair rack with adjustable shank frame |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106491309A (en) * | 2016-11-17 | 2017-03-15 | 合肥工业大学 | A kind of limb rehabilitation training system |
| CN106778042A (en) * | 2017-01-26 | 2017-05-31 | 中电科软件信息服务有限公司 | Cardio-cerebral vascular disease patient similarity analysis method and system |
| CN108652927A (en) * | 2018-05-24 | 2018-10-16 | 王小华 | A kind of paediatrics is used for the therapeutic device of children's standing rehabilitation |
| CN112891153A (en) * | 2021-01-25 | 2021-06-04 | 武汉理工大学 | Indoor standing-assisting device for old people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105997432B (en) | 2018-06-26 |
| CN108309695A (en) | 2018-07-24 |
| CN108309695B (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105997432A (en) | Medical device for assisting in standing | |
| CN105455976A (en) | Intelligent rehabilitation wheelchair | |
| CN204319198U (en) | Postoperative ankle recovery chair | |
| CN209075963U (en) | A kind of medical treatment and nursing leg exercises equipment | |
| CN207101489U (en) | A kind of Physiotherapy chair | |
| CN105342767A (en) | Intelligent wheelchair based on control of mobile terminal | |
| CN104826270B (en) | A kind of multi-faceted intelligent lacing-bar device | |
| CN106726401A (en) | A kind of Physiotherapy chair and its application method | |
| CN111467179A (en) | Intelligent repairing robot capable of making spirit and body healthy together | |
| CN112043564A (en) | Multifunctional medical rehabilitation equipment | |
| CN208130339U (en) | A kind of leg exerciser | |
| CN206837342U (en) | A kind of safety and stability type elliptical machine | |
| CN201235167Y (en) | Power generation type indoor body building apparatus | |
| CN104490564A (en) | Cervical vertebra and lumbar vertebra body-building device | |
| CN105030439B (en) | Recovery training wheel chair | |
| CN208943375U (en) | A kind of neurology department's recovery training appliance for recovery | |
| CN103908393A (en) | Training apparatus for restoring leg movement ability | |
| CN106109182A (en) | A kind of intelligent apparatus of aiding upright | |
| CN203436735U (en) | Full-automatic speed adjusting fitness rehabilitative instrument | |
| CN206080978U (en) | Recovered exerciser is pointed to to recovered branch of academic or vocational study | |
| CN206372446U (en) | A kind of body-building apparatus | |
| CN202218953U (en) | Shoulder joint functional training machine | |
| CN215025761U (en) | Limb rehabilitation training device for nursing of children burn plastic surgery | |
| CN201320274Y (en) | Health promotion vibration machine | |
| CN204468367U (en) | Cervical vertebrae tracting conditioner |
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 |