CN106420260A - Rehabilitation seat for comprehensively autonomous training action capacity of upper limbs - Google Patents
Rehabilitation seat for comprehensively autonomous training action capacity of upper limbs Download PDFInfo
- Publication number
- CN106420260A CN106420260A CN201610882364.6A CN201610882364A CN106420260A CN 106420260 A CN106420260 A CN 106420260A CN 201610882364 A CN201610882364 A CN 201610882364A CN 106420260 A CN106420260 A CN 106420260A
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- Prior art keywords
- arm
- training
- bending
- palm
- motor
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- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- 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
Abstract
The invention discloses a rehabilitation seat for comprehensively autonomous training action capacity of upper limbs. The rehabilitation seat comprises a seat main body, a bracket and two rehabilitation trainers which are symmetrically arranged on the two sides of the seat main body, wherein one end of the bracket is arranged on the seat main body while the other end is connected with the rehabilitation trainers; each of the rehabilitation trainers comprises an arm training mechanism, a palm training mechanism, a shoulder joint training mechanism, an autonomous force measuring mechanism and a control system; the bracket is connected with the arm training mechanism through a universal connecting mechanism; the shoulder joint training mechanism is connected with the bottom of the arm training mechanism; the palm training mechanism is arranged at the tail end of the arm training mechanism. The rehabilitation seat provided by the invention can be used for training the upper limbs and can confirm the degree of assisting the patient according to the degree of initiative participation of the patient so as to fully utilize the initiative of the patient and increase the function recover speed of the patient. The rehabilitation seat has the advantages of large action scope, more action modes, and the like.
Description
Technical field
The present invention relates to human body recovery training equipment is and in particular to one kind can comprehensive autonomous training upper limb body mobility
Rehabilitation seat.
Background technology
For the patient of quadriplegia, be conducive to the motor function assisting patient to recapture paralyzed limbs by rehabilitation training.
Traditional method is that doctor carries out the training of teach-by-doing to patient, and this exists, and efficiency is low, patient can not independently arrange training time, one-tenth
This height, training effect depend on the deficiencies such as the experience level of doctor, then can solve this problem well using limb rehabilitating equipment.
Existing limb rehabilitating equipment generally passes through articulation structure provides related action training for limbs, for example, for
The training of arm, drives forearm to rotate around elbow joint using cradle head, with the bending training forearm and the function of stretching.Existing
Limb rehabilitating equipment have disclosed " the human upper limb rehabilitation machine of the application for a patent for invention of application publication number CN 102727360 A
People ", application publication number are application for a patent for invention disclosed " a kind of hemiparalysis recovery physiotherapy table " and the application of CN104352335 A
Publication No. is application for a patent for invention disclosed " a kind of intelligent upper-limb recovery training device " of CN 104983549 A etc..Existing
The deficiency that limb rehabilitating equipment exists is：
1st, can not comprehensive training arm well movement function.
2nd, human body limb is all to carry out training under the assistance of external force, is a kind of passive type training process, patient is not
Rehabilitation training can be actively engaged in some extent in the different phase of rehabilitation according to the rehabilitation situation of itself, thus being unfavorable for patient
The fast quick-recovery of function.
3rd, it is unable to the carpal mobility of opponent to be trained.
4th, comfortable seat can not be provided for patient, nor two arms be performed physical exercise simultaneously.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide one kind can comprehensive autonomous training upper limb body activity
The rehabilitation seat of ability.This rehabilitation seat can be trained to shoulder joint, arm, wrist, and can be according to the master of patient
Dynamic property degree of participation determines the assistance degree to patient, thus giving full play to the initiative of patient, improves what patient regained the function
Speed and effect；This device has the advantages that range of activity is big, action pattern is many.
The present invention solve above-mentioned technical problem technical scheme be：
A kind of can comprehensive autonomous training upper limb body mobility rehabilitation seat, including seat body, support and right
Claim to be located at two recovery training appliance for recovery of seat body both sides；Wherein, described support one end is arranged in seat body, the other end with
Described recovery training appliance for recovery connects；Described recovery training appliance for recovery include for train arm mobility arm training mechanism, training
The palm training institution of palm mobility, shoulder joint training institution, independently firmly survey for training shoulder mobility ability
Measuring mechanism and control system；Wherein, it is connected by universal connection structure between described support and arm training mechanism, described shoulder
Joint training institution is connected to the bottom of arm training mechanism；Described palm training institution is arranged on described arm training mechanism
End；Described measuring mechanism of independently exerting oneself is arranged on the side of described arm training mechanism；Wherein：
Described universal connection structure includes connecting rod and universal joint, and wherein, one end of described connecting rod is fixed on arm
In training institution, the other end is connected with support by described universal structure, and described universal joint includes the sphere being located at connecting rod
Recess and the spherical joint being located at pedestal upper end；
Described shoulder joint training institution includes swaying direction controlling organization, walking mechanism, the angle control mechanism that rotates to have
There is the support base of spherical groove, wherein, described swaying direction controlling organization includes weave control motor and and weave control
The rotation dish that electric machine main shaft connects, described weave control motor connection is in the bottom of arm training mechanism；Described walking mechanism bag
Include movable motor, link and be arranged on elastic rubber tire on movable motor main shaft, wherein, described link lower end and walking
Motor is fixedly connected, and upper end is hinged in described rotation dish, and described elastic gum wheel is pressed in the spherical groove of support base, should
Elastic rubber tire is compressed at the position being contacted with spherical groove；The described angle control mechanism that rotates is made up of cylinder, this cylinder
The upper end of cylinder body is hinged in described rotation dish, and the expansion link of this cylinder is hinged on described link；
Described arm training mechanism includes pedestal, arm fixing plate, drives arm fixing plate to make bending and unbending movement
Arm bending drive mechanism and drive arm fixing plate to make the rotating drive mechanism of reciprocating rotation；Wherein：Described arm bending
Drive mechanism includes arm bending and drives fixed seat, arm bending motor and arm bending drive transmission device, wherein,
One end of described arm fixing plate is connected to arm bending by first rotating shaft and drives in fixed seat, and described arm bending drives electricity
Machine is fixed on arm bending and drives in fixed seat, and described arm bending drive transmission device is connected to arm bending motor
Between main shaft and the first rotating shaft of arm fixing plate；Described rotating drive mechanism includes rotational drive motor and rotates driving transmission
Mechanism, wherein, described rotational drive motor is fixed on pedestal, and described arm bending drives fixed seat to pass through the second rotating shaft connection
On pedestal, described rotate that drive transmission device is connected to that the main shaft of rotational drive motor and arm bending drive fixed seat the
Between two rotating shafts；
Described palm training institution includes palm fixed plate and drives palm fixed plate to make the handss of bending and unbending movement
Palm bending drive mechanism；Described palm bending drive mechanism include palm bending drive fixed seat, palm bending motor with
And palm bending drive transmission device, wherein, described palm fixed plate is connected to the end of arm fixing plate by the 3rd rotating shaft,
The downside of the end that described palm bending drives fixed seat to be connected to arm fixing plate by the 4th rotating shaft, described palm bending is driven
Galvanic electricity machine is fixed on palm bending and drives in fixed seat, and described palm bending drive transmission device is connected to palm bending and drives electricity
Between the main shaft of machine and the 3rd rotating shaft of palm fixed plate；
Described measuring mechanism of independently exerting oneself includes arm and fixes bandage, photoelectric sensor, sensing chip, spring and Guiding machine
Structure, wherein, described guiding mechanism includes the guide holder being located on arm fixing plate side and is matched with the pilot hole of guide holder
Guide post, the upper end of described guide post is provided with upper junction plate, and lower end is provided with lower connecting plate；One end of the fixing bandage of described arm
It is connected on described upper junction plate, the other end is provided with link, described arm fixing plate sets on the side relative with guiding mechanism
There is hook, during work, described link is hooked on described hook；Described photoelectric sensor is multiple, along vertical array, this light
Electric transducer be arranged in arm fixing plate with guiding mechanism identical side on；Described sensing chip is connected to described lower connecting plate
On, and it is located at the induction channels corresponding position of described photoelectric sensor；Described spring housing on the guide bar, the upper and lower ends of this spring
It is respectively acting on upper junction plate and lower connecting plate；
Described control system includes central processing unit, and the signal input part of this central processing unit is with described photoelectric sensor even
Connect, signal output part is connected with described arm bending motor and rotational drive motor.
The operation principle of the rehabilitation seat of above-mentioned comprehensive autonomous training arm is：
During use, user is sitting on described rehabilitation seat, and its arm is fixed in arm training mechanism；Instructed by palm
Practice the mobility that mechanism trains wrist, trained the mobility of arm by this arm training mechanism, and by shoulder joint training airplane
Structure and universal connection structure are combined together the mobility training shoulder joint.
Specifically, when carrying out shoulder mobility ability training, it is divided into two actions, first element is training shoulder joint
The ability swinging, second action is the ability that training shoulder joint rotates.The training process of first element is：Carrying out first
During individual action training, described elasticity rubber tire is in erectility, that is, elastic rubber tire place plane is through the bottom of spherical groove；Work
When making, the movable motor in walking mechanism drives elastic gum wheel to rotate, because elastic rubber tire elastic compression is in the ball of support base
In the groove of face, therefore elastic rubber tire makees the walking of arc track (namely along latitude along certain plane in spherical groove
Walk in direction), under the cooperation of universal connection structure, whole arm training mechanism makees unidirectional swing, thus realizing to shoulder
The swing training in joint, the amplitude of swing is by movable motor control；When needing to change the direction swinging, described swaying direction control
Weave control motor in mechanism processed drives turn disc, thus driving whole walking mechanism to rotate, changes elastic rubber tire institute
In plane, and then change the direction swinging.The training process of second action is：The cylinder rotating in angle control mechanism passes through
Stretching motion, drives walking mechanism with respect to turn disc certain angle so that elastic rubber tire is oblique, now elastic gum
Wheel is pressed on a certain latitude of spherical groove that (deflection of elastic rubber tire should be guaranteed that and carries out rotation to any when elastic rubber tire
Position all can be contacted with spherical groove), subsequent elastic gum wheel rotates, and walks along longitudinal, universal in spherical groove
Under the cooperation of attachment structure, whole arm training mechanism rotates motion, thus realizing the training that rotates to shoulder joint, upper arm
Track is tapered, and the size of cone angle to be controlled by the angle control mechanism that rotates.
When carrying out the training of arm mobility, the forearm of patient is placed on arm fixing plate, and is tied up by arm fixation
Band is fixed.The effect of described bending drive mechanism is to drive arm fixing plate to bend and unbending movement, thus training forearm
Bending and the ability stretched, drive arm fixing plate around the particular by bending motor and bending drive transmission device
One axis of rotation；Described rotating drive mechanism is used for driving arm fixing plate to rotate around the axis of its length direction, thus training
The ability that forearm rotates, particular by rotational drive motor and rotate drive transmission device and drive arm fixing plate around second
Axis of rotation, thus realize stretching and bending training of arm.The effect that described palm bends drive mechanism is to drive palm
Fixed plate bends and unbending movement, thus training palm bending and the ability stretched, drives electricity particular by palm bending
Machine and palm bending drive transmission device drive palm fixed plate around the 3rd axis of rotation.
In the training carrying out little brachiocylloosis and the ability of stretching, patient can apply certain work according to the ability of oneself is autonomous
Firmly, by independently exerting oneself measuring mechanism and central processing unit jointly detects and calculates the size of autonomisation power, so by
Central processor controls the auxiliary driving force of arm bending motor output, and this auxiliary driving force is with the autonomous change firmly of patient
And change, autonomisation power is bigger, and auxiliary driving force is less, thus playing the autonomous Training Capability of patient as much as possible.Tool
Body ground, when the autonomous to apply active force of the forearm of patient makes little brachiocylloosis, the fixing bandage of arm can drive upper junction plate, guiding
Bar, lower connecting plate and sensing chip move together, and upper junction plate and lower connecting plate are compressed to spring, and described sensing chip enters
To in the induction channels of photoelectric sensor, described autonomisation power is bigger, and the displacement of sensing chip is bigger, and both are in line
Sexual intercourse (because the deformation of spring meets Hooke's law)；Due to being provided with multiple photoelectric sensors, sensing chip displacement
Size is detected by photoelectric sensor, and sensing chip reaches at different photoelectric sensors, correspondingly can determine that the movement of sensing chip away from
From；Photoelectric sensor sends the real-time position signal of sensing chip to central processing unit, and this position signalling is changed by central processing unit
It is counted as the described size from the main force, thus calculating the auxiliary driving force of arm bending motor output, by controlling arm
The mode of the output of bending motor realizes the regulation of auxiliary driving force.In the training process, patient can from the main force
Applied at any time with the ability according to itself, cancel at any time and random increase and reduction, no matter how patient's changes from the main force,
Central processing unit can calculate the size from the main force in real time, so that it is determined that the auxiliary driving force of arm bending motor output,
The active training of patient and passive exercise are organically combined together.After patient returns to preferable level from the main force, described
Arm bending motor can also export opposition so that patient from the main force except need to drive itself forearm and
Under the gravity of arm fixing plate is curved in addition it is also necessary to overcome the back action of arm bending motor, thus more effectively
The ability of independently exerting oneself of the patient of training.
One preferred version of this present invention, wherein, described palm bending drive transmission device is by lead-screw drive mechanism structure
Become, wherein, the main shaft that the leading screw in lead-screw drive mechanism bends motor with palm is connected, the leading screw in lead-screw drive mechanism
Nut is fixed on a contiguous block, and this contiguous block is connected with the downside of palm fixed plate by the 5th rotating shaft.Using lead screw transmission
Mechanism drives palm fixed plate to make curvature movement, and motion control accuracy is high, compact conformation.
One preferred version of the present invention, wherein, described bending drive transmission device is by Part I gear drive
Constitute, this Part I gear drive includes the first active part gear and the company being connected on bending motor main shaft
It is connected on the first secondary part gear in first rotating shaft；Described rotation drive transmission device is by Part II gear drive structure
Become, this Part II gear drive includes the second active part gear being connected on rotational drive motor main shaft and connection
The second secondary part gear in the second rotating shaft.It is advantageous in that using such scheme：Described gear drive adopts portion
The form of split gear can better assure that the safety of patient in training process；In training process, bend motor and rotation
Motor makees reciprocating rotation, and the stroke that it rotates should be limited in the range of setting, else if slewing area exceedes setting
Determine stroke and sprain it is possible to produce to patient's arm, or even serious security incident occurs；The rotational travel of two motors is usual
To be controlled by central processing unit；And after adopting above-mentioned operative gear drive mechanism, if rotational travel exceedes setting model because unexpected
Enclose, this operative gear drive mechanism will run out of steam transmission effect, thus cutting off power it is ensured that patient's arm safety.
Preferably, described first secondary part gear and the second secondary part gear are internal gear, and this makes structure more
Compact, and allow active part gear and the secondary part gear can be with rotating in same direction.
One preferred version of the present invention, wherein, described photoelectric sensor is three, when sensing chip is located at the light of bottom
When at electric transducer, described arm bending motor applies positive auxiliary driving force, when sensing chip is located at middle photoelectric transfer
When at sensor, the auxiliary driving force that described arm bending motor applies is zero, when sensing chip is located at the photoelectric transfer of the top
When at sensor, described arm bending motor applies reverse auxiliary driving force.This preferred version from structure, photoelectric sensing
Device negligible amounts, structure is simple, and from controlling, data processing amount is few, is easy to control.
One preferred version of the present invention, wherein, described arm fixing plate is provided with the positioning with forearm mating shapes
Groove, in order to the fixation of forearm.
One preferred version of the present invention, described seat body is provided with a backrest；Described support is symmetrically mounted on institute
State on two sides of backrest upper end.Setting said structure can conveniently install two recovery training appliance for recovery, and patient is in training
During can lean against on backrest.
One preferred version of the present invention, wherein, the cylinder body of described cylinder is connected with described rotation dish by connector, institute
The one end stating connector is fixed in rotation dish, and the other end extends obliquely to after the radially extending of rotation dish again, and is hinged on
On described cylinder body.
One preferred version of the present invention, wherein, the described quantity independently exerting oneself measuring mechanism is two or more, this
Measuring mechanism independently exert oneself a bit along the length direction arrangement of arm fixing plate.It is intended that according to lever principle, from primary
Power measuring mechanism is different apart from the distance of first rotating shaft, and patient will drive arm fixing plate to be bent upwards and rotate required power also not
With, distance is nearer, and required power is bigger, by arranging plural independently firmly measuring mechanism, can according to patient from
The size of the main force measuring mechanism that selects suitably independently to exert oneself is operated, and the suitability is more preferable.
The present invention compared with prior art has following beneficial effect：
1st, the swing training to shoulder joint and the training that rotates, the recovery of auxiliary patient's shoulder mobility ability are achieved.
2nd, the amplitude of fluctuation of shoulder joint and the cone angle rotating all can be adjusted, and range of activity is big, action pattern is many, thus
It is adapted to the training in the different rehabilitation stages for the different patients.
3rd, achieve to palm, the stretching, bend training of arm.
4th, it is not only able to realize common passive type training, but also the initiative of patient can be coordinated to train, according to trouble
The initiative degree of participation of person determines the assistance degree to patient, thus giving full play to the initiative of patient, improving patient and recovering
The speed of function and effect.
5th, being applied at any time according to the ability of itself from the main force of patient in training process, revocation at any time and random increase
Big and reduce, no matter how patient's changes from the main force, central processing unit can calculate the size from the main force in real time, so that it is determined that
The auxiliary driving force of arm bending motor output, the active training of patient and passive exercise are organically combined together.
6th, after patient returns to preferable level from the main force, described arm bending motor can also export reverse work
Firmly so that patient be curved from the main force except the gravity needing to drive itself forearm and arm fixing plate in addition it is also necessary to
Overcome under the back action of arm bending motor, thus the ability of independently exerting oneself of the patient more effectively training.
7th, provide comfortable seat for patient, two arms can be performed physical exercise simultaneously.
Brief description
Fig. 1 be the present invention can comprehensive training arm mobility a specific embodiment of rehabilitation seat vertical
Body structural representation.
Fig. 2～Fig. 4 is the perspective view of recovery training appliance for recovery in Fig. 1 illustrated embodiment.
Fig. 5 is the perspective view of shoulder joint training institution part in Fig. 2-Fig. 4 illustrated embodiment.
Fig. 6 is the structural representation (profile) of universal connection structure part in Fig. 2-Fig. 4 illustrated embodiment.
Fig. 7 and Fig. 8 is that the stereochemical structure of arm training machine and palm training institution in Fig. 3-Fig. 4 illustrated embodiment is illustrated
Figure.
Fig. 9 and Figure 10 is the blast of bending drive mechanism and rotating drive mechanism in arm training mechanism shown in Fig. 7 and Fig. 8
Figure, wherein, the blast position of Fig. 9 is Part I gear drive corresponding position, and the blast position of Figure 10 is Part II tooth
Wheel drive mechanism corresponding position.
Figure 11 is the structural representation of autonomous firmly measuring mechanism in Fig. 2～Fig. 4.
Figure 12 is the control flow chart of control system in Fig. 2～Fig. 4.
Figure 13 be the present invention can second of rehabilitation seat of comprehensive autonomous training upper limb body mobility specifically real
Apply the structural representation (profile) of universal connection structure part in mode.
Figure 14 be the present invention can the 3rd of rehabilitation seat of comprehensive autonomous training upper limb body mobility specifically real
Apply the perspective view of arm training mechanism in mode.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As Figure 1-Figure 4, the rehabilitation seat that can independently train arm mobility of the present invention, including seat body
40th, support 15 and two recovery training appliance for recovery being symmetrically arranged at seat body 40 both sides；Wherein, described seat body 40 is provided with
One backrest 40-1；Described support 15 is symmetrically mounted on two sides of described backrest 40-1 upper end, this support 15 with described
Recovery training appliance for recovery connects；Described recovery training appliance for recovery is included for training the arm training mechanism 13 of arm mobility, being used for instructing
Practice the shoulder joint training institution 14 of shoulder mobility ability, for training the palm training institution of palm mobility, from primary
Power measuring mechanism and control system, wherein, between described support 15 and arm training mechanism 13 by universal connection structure even
Connect, described shoulder joint training institution 14 is connected to the bottom of arm training mechanism 13, described palm training institution is arranged on arm
The end of training institution 13, described measuring mechanism of independently exerting oneself is arranged on the side of described arm training mechanism.
As shown in fig. 6, described universal connection structure includes connecting rod 16 and universal joint, wherein, described connecting rod 16
One end is fixed in arm training mechanism 13, and the other end is connected with the upper end of support 15 by described universal structure, described universal
Joint includes the sphere recess 16-1 being located in the connecting rod 16 and spherical joint 17-1 being located at support 15 upper end.Described support
15 upper end is provided with ball joint 17, and one end of this ball joint 17 is fixedly connected with support 15, and other end setting is described
Spherical joint 17-1.
Referring to Fig. 4, described shoulder joint training institution 14 include swaying direction controlling organization, walking mechanism, around gyration control
To have the support base 23 of spherical groove 23-1, wherein, described swaying direction controlling organization includes weave control electricity for mechanism processed
Machine 18 and the rotation dish 19 being connected with weave control motor 18 main shaft, described weave control motor 18 is connected to arm training machine
The bottom of structure 13；Described walking mechanism includes movable motor 21, link 20 and is arranged on the bullet on movable motor 21 main shaft
Property rubber tire 22, wherein, described link 20 lower end is fixedly connected with movable motor 21, and upper end is hinged in described rotation dish 19,
Described elasticity rubber tire 22 is pressed in the spherical groove 23-1 of support base 23, and this elastic rubber tire 22 is being connect with spherical groove 23-1
Tactile position is compressed；The described angle control mechanism that rotates is made up of cylinder 24, and the upper end of the cylinder body of this cylinder 24 is hinged on institute
State in rotation dish 19, the expansion link of this cylinder 24 is hinged on described link 20.
As shown in Fig. 7-Figure 10, described arm training mechanism 13 includes pedestal 8, arm fixing plate 1, is located at arm fixing plate
Arm on 1 is fixed bandage 9, drives arm fixing plate 1 to make the bending drive mechanism of bending and unbending movement and drive arm
Fixed plate 1 makees the rotating drive mechanism of reciprocating rotation.
As shown in Fig. 7-Figure 10, one end of the fixing bandage 9 of described arm is connected to one of edge of arm fixing plate 1
On, the other end is provided with link 11, and another edge of described arm fixing plate 1 is provided with hook 12, described link 11 during work
It is hooked on described hook 12；
As shown in Fig. 7-Figure 10, described bending drive mechanism include bending drive fixed seat 5, bending motor 2 and
Bending drive transmission device, wherein, one end of described arm fixing plate 1 is connected to bending by first rotating shaft 4 and drives fixed seat 5
On, described bending motor 2 is fixed on bending and drives in fixed seat 5, and described bending drive transmission device is connected to bending and drives
Between the first rotating shaft 4 of the main shaft of galvanic electricity machine 2 and arm fixing plate 1.
As shown in Fig. 7-Figure 10, described bending drive transmission device is made up of Part I gear drive 3, and this first
Operative gear drive mechanism 3 includes being connected to the first active part gear 3-1 on bending motor 2 main shaft and is connected to the
The first secondary part gear 3-2 in one rotating shaft 4；Described rotation drive transmission device is by Part II gear drive 7 structure
Become, this Part II gear drive 7 includes the second active part gear 7-1 being connected on rotational drive motor 6 main shaft
With the second secondary part gear 7-2 being connected in the second rotating shaft 10.Described first secondary part gear 3-2 and the second follower
Split gear 7-2 is internal gear.It is advantageous in that using said structure：Described gear drive energy in the form of operative gear
Enough better assure that the safety of patient in training process；In training process, bending motor 2 and rotational drive motor 6 make past
Multiple rotate, the stroke that it rotates should be limited in the range of setting, else if slewing area exceed setting stroke it is possible to
Patient's arm is produced and sprains, or even serious security incident occurs；The rotational travel of two motors is generally by central processing unit
To control；And after adopting above-mentioned operative gear drive mechanism, if rotational travel exceedes set point because unexpected, this operative gear
Drive mechanism will run out of steam transmission effect, thus cutting off power it is ensured that patient's arm safety.
Referring to Fig. 7～Figure 10, described palm training institution includes palm fixed plate 26 and to drive palm fixed plate to make curved
The bent palm with unbending movement bends drive mechanism；Described palm bending drive mechanism include palm bending drive fixed seat 27,
Palm bending motor 28 and palm bending drive transmission device, wherein, described palm fixed plate 26 passes through the 3rd rotating shaft
29 ends being connected to arm fixing plate, described palm bending drives fixed seat 27 to be connected to arm by the 4th rotating shaft 30 and fixes
The downside of the end of plate, described palm bending motor 28 is fixed on palm bending and drives in fixed seat 27, and described palm is curved
Bent drive transmission device is connected between main shaft and the 3rd rotating shaft 29 of palm fixed plate 26 that palm bends motor 28.
Referring to Fig. 7～Figure 10, described palm bending drive transmission device is made up of lead-screw drive mechanism 31, wherein, leading screw
The main shaft that leading screw 31-1 in drive mechanism 31 bends motor 28 with palm is connected, the leading screw spiral shell in lead-screw drive mechanism 31
Female 31-2 is fixed on a contiguous block 31-3, and this contiguous block 31-3 is connected by the downside of the 5th rotating shaft 32 and palm fixed plate 26
Connect.Palm fixed plate 26 is driven to make curvature movement using lead-screw drive mechanism 31, motion control accuracy is high, compact conformation.
Referring to Fig. 7～Figure 11, described measuring mechanism of independently exerting oneself includes arm and fixes bandage 9, photoelectric sensor 33, sensing
Piece 34, spring 39 and guiding mechanism, wherein, described guiding mechanism includes the guide holder 36 being located on arm fixing plate 1 side
With the guide post 35 in the pilot hole being matched with guide holder 36, the upper end of described guide post 35 is provided with upper junction plate 37, and lower end sets
There is lower connecting plate 38；One end of the fixing bandage 9 of described arm is connected on described upper junction plate 37, and the other end is provided with link 11,
Described arm fixing plate 1 is provided with hook 12 on the side relative with guiding mechanism, during work described link 11 be hooked on described
On hook 12；Described photoelectric sensor 33 is multiple, and along vertical array, this photoelectric sensor 33 is arranged on arm fixing plate 1
In with guiding mechanism identical side on；Described sensing chip 34 is connected on described lower connecting plate 38, and is located at described photoelectric transfer
The induction channels 33-1 corresponding position of sensor 33；Described spring 39 is enclosed within guide post 35, and the upper and lower ends of this spring 39 are made respectively
On upper junction plate 37 and lower connecting plate 38.
Referring to shown in Figure 11～Figure 12, described control system includes central processing unit, memorizer and drive circuit, in this
The signal input part of central processor is connected with described photoelectric sensor 33, and it is curved with described arm that signal output part passes through drive circuit
Bent motor 2 and rotational drive motor 6 connect.
As shown in figure 11, described photoelectric sensor 33 is three, when sensing chip 34 is located at the photoelectric sensor 33 of bottom
During place, described arm bending motor 2 applies positive auxiliary driving force, when sensing chip 34 is located at middle photoelectric sensor 33
During place, the auxiliary driving force that described arm bending motor 2 applies is zero, when sensing chip 34 is located at the photoelectric sensing of the top
When at device 33, described arm bending motor 2 applies reverse auxiliary driving force；And when when sensing chip 34 is positioned at the light of bottom
During the lower section of electric transducer 33, now patient does not actively exert oneself, and the power of arm bending all relies on described arm bending to drive
The positive auxiliary driving force that motor 2 applies.
As shown in Fig. 7-Figure 10, described arm fixing plate 1 is provided with the locating slot 1-1 with forearm mating shapes, so that
Fixation in forearm.
As shown in figure 11, described guide post 35 is two, and each guide post 35 is provided with a spring 39 so that stress is equal
Weighing apparatus is more accurate from the measurement result of the main force.
As shown in figure 5, the cylinder body of described cylinder 24 is connected with described rotation dish 19 by connector 25, described connector 25
One end be fixed in rotation dish 19, the other end extends obliquely to after the radially extending of rotation dish 19 again, and is hinged on described
On cylinder body.
Below in conjunction with the accompanying drawings to above-mentioned can comprehensive autonomous training upper limb body mobility rehabilitation seat operation principle
It is further described：
As shown in Fig. 1-Figure 12, during use, user is sitting in described seat body 40, and the arm of this user is fixed on
In arm training mechanism 13, trained the mobility of arm by this arm training mechanism 13, and by shoulder joint training institution 14 with
And universal connection structure is combined together the mobility of training shoulder joint.User can select single arm training, also may be used
To select two arms to train simultaneously.Specifically, when carrying out shoulder mobility ability training, it is divided into two actions, first
Action is the ability that training shoulder joint swings, and second action is the ability that training shoulder joint rotates.The training of first element
Process is：When carrying out first element training, described elasticity rubber tire 22 is in erectility, that is, elastic rubber tire 22 place plane
Bottom through spherical groove 23-1；During work, the movable motor 21 in walking mechanism drives elastic rubber tire 22 to rotate, due to bullet
Property rubber tire 22 elastic compression in the spherical groove 23-1 of support base 23, therefore elastic rubber tire 22 edge in spherical groove 23-1
The walking (namely walking, as shown by the arrows in Figure 1) that certain plane makees arc track along latitude direction, in universal connection
Under the cooperation of structure, whole arm training mechanism 13 makees unidirectional swing, thus realizing the swing training to shoulder joint, swings
Amplitude controlled by movable motor 21；When needing to change the direction swinging, the swing control in described swaying direction controlling organization
Motor 18 processed drives rotation dish 19 to rotate, thus driving whole walking mechanism to rotate, changes elastic rubber tire 22 place plane, and then
Change the direction swinging.The training process of second action is：The cylinder 24 rotating in angle control mechanism passes through stretching motion,
Walking mechanism is driven to turn an angle with respect to rotation dish 19 so that elastic rubber tire 22 is oblique, now elastic rubber tire 22
It is pressed on a certain latitude of spherical groove 23-1 that (deflection of elastic rubber tire 22 should be guaranteed that and carry out rotation when elastic rubber tire 22
All can contact with spherical groove 23-1 to any position), subsequently elastic rubber tire 22 rotates, along longitude in spherical groove 23-1
Walk (as shown in Fig. 4 joint) in direction, under the cooperation of universal connection structure, whole arm training mechanism 13 rotates motion,
Thus realizing the training that rotates to shoulder joint, the track of upper arm is tapered, and the size of cone angle to be controlled by the angle control mechanism that rotates
System.
When training arm, the forearm of user is placed on arm fixing plate 1, and solid by the fixing bandage 9 of arm
Fixed.The effect of described arm bending drive mechanism is to drive arm fixing plate 1 to bend and unbending movement, thus training forearm
Bending and the ability stretched, drive arm particular by arm bending motor 2 and arm bending drive transmission device
Fixed plate 1 rotates around first rotating shaft 4；Described rotating drive mechanism is used for driving arm fixing plate 1 around the axis of its length direction
Rotating, thus training the ability that forearm rotates, starting particular by rotational drive motor 6 and rotation drive transmission device band
Arm restraining board 1 rotates around the second rotating shaft 10；It is curved that the effect of described palm bending drive mechanism is that driving palm fixed plate 26 is made
Song and unbending movement, thus training palm bending and the ability stretched, bend motor 28 and handss particular by palm
Palm bending drive transmission device drives palm fixed plate 26 to rotate around the 3rd rotating shaft 29.
In the training carrying out little brachiocylloosis and the ability of stretching, patient can apply certain work according to the ability of oneself is autonomous
Firmly, by independently exerting oneself measuring mechanism and central processing unit jointly detects and calculates the size of autonomisation power, so by
Central processor controls the auxiliary driving force of arm bending motor 2 output, and this auxiliary driving force is with the autonomous change firmly of patient
Change and change, autonomisation power is bigger, and auxiliary driving force is less, thus playing the autonomous Training Capability of patient as much as possible.
Specifically, when the autonomous to apply active force of the forearm of patient makes little brachiocylloosis, the fixing bandage 9 of arm can drive upper junction plate 37,
Guide post 35, lower connecting plate 38 and sensing chip 34 move together, and upper junction plate 37 and lower connecting plate 38 are pressed to spring 39
Contracting, described sensing chip 34 enters in induction channels 33-1 of photoelectric sensor 33, and described autonomisation power is bigger, sensing chip 34
Displacement bigger, and both are linear (because the deformation of spring 39 meets Hooke's law)；Many due to being provided with
Individual photoelectric sensor 33, the size of sensing chip 34 displacement is detected by photoelectric sensor 33, sensing chip 34 reaches different light
At electric transducer 33, correspondingly can determine that the displacement of sensing chip 34；Photoelectric sensor 33 is by the real time position of sensing chip 34
Signal sends central processing unit to, and this position signalling is converted into the described size from the main force by central processing unit, thus calculating
The auxiliary driving force of arm bending motor 2 output, real by way of controlling the output of arm bending motor 2
The regulation of existing auxiliary driving force.In the training process, being applied at any time according to the ability of itself, remove at any time from the main force of patient
Pin and random increase and reduction, no matter how patient's changes from the main force, central processing unit can calculate from the main force in real time
Size, so that it is determined that the auxiliary driving force of arm bending motor 2 output, the active training of patient and passive exercise are organically
It is combined together.After patient returns to preferable level from the main force, described arm bending motor 2 can also export reversely
Active force so that patient from the main force except needing to drive itself forearm and the gravity of arm fixing plate 1 to be curved, also need
Overcome under the back action of arm bending motor 2, thus the ability of independently exerting oneself of the patient more effectively training.
Embodiment 2
As shown in figure 13, the present embodiment difference compared with Example 1 is, in the present embodiment, described connecting rod
16 are being provided with lock-screw with sphere recess 16-1 corresponding position, and this lock-screw is pressed on spherical joint 17-1.Its purpose exists
In making the locking between sphere recess 16-1 and spherical joint 17-1 more firm；During use, if recovery training appliance for recovery to be adjusted
20 position, unclamps described lock-screw, after the position adjustments of recovery training appliance for recovery 20 are good, then lock described lock-screw and is
Can.
Embodiment 3
As shown in figure 14, the present embodiment difference compared with Example 1 is, in the present embodiment, described from primary
The quantity of power measuring mechanism is three, and these measuring mechanisms of independently exerting oneself are along the length direction arrangement of arm fixing plate 1.Its mesh
Be, according to lever principle, independently firmly measuring mechanism is different apart from the distance of first rotating shaft 4, and patient will drive arm solid
The power that fixed board 1 is bent upwards needed for rotating is also different, and distance is nearer, and required power is bigger, plural autonomous by arranging
Firmly measuring mechanism, can be operated from the size of the main force measuring mechanism that selects suitably independently to exert oneself according to patient, fit
More preferable with property.
Embodiments of the present invention not limited to this, according to the above of the present invention, the ordinary skill using this area is known
Know and customary means, under the premise of without departing from the present invention above-mentioned basic fundamental thought, the present invention can also make other multiple shapes
The modification of formula, replacement or change, all fall within rights protection scope of the present invention.
Claims (9)
1. a kind of can comprehensive autonomous training upper limb body mobility rehabilitation seat it is characterised in that described rehabilitation seat bag
Include seat body, support and two recovery training appliance for recovery being symmetrically arranged at seat body both sides；Wherein, described support one end is installed
In described seat body, the other end is connected with described recovery training appliance for recovery；Described recovery training appliance for recovery is included for training arm to live
The arm training mechanism of kinetic force, the palm training institution of training palm mobility, for training shoulder mobility ability
Shoulder joint training institution, independently exert oneself measuring mechanism and control system；Wherein, logical between described support and arm training mechanism
Cross universal connection structure to connect, described shoulder joint training institution is connected to the bottom of arm training mechanism；Described palm training
Mechanism is arranged on the end of described arm training mechanism；Described measuring mechanism of independently exerting oneself is arranged on described arm training mechanism
End；Wherein：
Described universal connection structure includes connecting rod and universal joint, and wherein, one end of described connecting rod is fixed on arm training
In mechanism, the other end is connected with support by described universal structure, and described universal joint includes the sphere recess being located at connecting rod
And it is located at the spherical joint of pedestal upper end；
Described shoulder joint training institution includes swaying direction controlling organization, walking mechanism, the angle control mechanism that rotates to have ball
The support base of face groove, wherein, described swaying direction controlling organization include weave control motor and with weave control motor
The rotation dish that main shaft connects, described weave control motor connection is in the bottom of arm training mechanism；Described walking mechanism includes going
Walk motor, link and be arranged on elastic rubber tire on movable motor main shaft, wherein, described link lower end and movable motor
It is fixedly connected, upper end is hinged in described rotation dish, described elastic gum wheel is pressed in the spherical groove of support base, this elasticity
Rubber tire is compressed at the position being contacted with spherical groove；The described angle control mechanism that rotates is made up of cylinder, the cylinder body of this cylinder
Upper end be hinged in described rotation dish, the expansion link of this cylinder is hinged on described link；
Described arm training mechanism includes pedestal, arm fixing plate, drives arm fixing plate to make the arm of bending and unbending movement
Bend drive mechanism and drive arm fixing plate to make the rotating drive mechanism of reciprocating rotation；Wherein：Described arm bending drives
Mechanism includes arm bending and drives fixed seat, arm bending motor and arm bending drive transmission device, wherein, described
One end of arm fixing plate is connected to arm bending by first rotating shaft and drives in fixed seat, and described arm bending motor is solid
It is scheduled on arm bending to drive in fixed seat, described arm bending drive transmission device is connected to the main shaft of arm bending motor
And the first rotating shaft of arm fixing plate between；Described rotating drive mechanism includes rotational drive motor and rotates driving driver
Structure, wherein, described rotational drive motor is fixed on pedestal, and described arm bending drives fixed seat to be connected to by the second rotating shaft
On pedestal, the described drive transmission device that rotates is connected to the main shaft of rotational drive motor and the second of arm bending driving fixed seat
Between rotating shaft；
Described palm training institution includes palm fixed plate and drives the work bending of palm fixed plate curved with the palm of unbending movement
Bent drive mechanism；Described palm bending drive mechanism includes palm bending and drives fixed seat, palm bending motor and handss
Palm bending drive transmission device；Wherein, described palm fixed plate is connected to the end of arm fixing plate by the 3rd rotating shaft, described
Palm bending drives fixed seat to be connected to the downside of the end of arm fixing plate by the 4th rotating shaft, and described palm bending drives electricity
Machine is fixed on palm bending and drives in fixed seat, and described palm bends drive transmission device and is connected to palm bending motor
Between main shaft and the 3rd rotating shaft of palm fixed plate；
Described measuring mechanism of independently exerting oneself includes arm and fixes bandage, photoelectric sensor, sensing chip, spring and guiding mechanism,
Wherein, described guiding mechanism includes the guide holder being located on arm fixing plate side and is matched with leading in the pilot hole of guide holder
To bar, the upper end of described guide post is provided with upper junction plate, and lower end is provided with lower connecting plate；One end of the fixing bandage of described arm connects
On described upper junction plate, the other end is provided with link, and described arm fixing plate is provided with extension on the side relative with guiding mechanism
Hook, during work, described link is hooked on described hook；Described photoelectric sensor is multiple, along vertical array, this photoelectric transfer
Sensor be arranged in arm fixing plate with guiding mechanism identical side on；Described sensing chip is connected on described lower connecting plate,
And it is located at the induction channels corresponding position of described photoelectric sensor；Described spring housing on the guide bar, divide by the upper and lower ends of this spring
Do not act on upper junction plate and lower connecting plate；
Described control system includes central processing unit, and the signal input part of this central processing unit is connected with described photoelectric sensor,
Signal output part is connected with described arm bending motor and rotational drive motor.
2. according to claim 1 can comprehensive autonomous training upper limb body mobility convalescence device it is characterised in that
Described palm bending drive transmission device is made up of lead-screw drive mechanism, and wherein, the leading screw in lead-screw drive mechanism is curved with palm
The main shaft of bent motor connects, and the feed screw nut in lead-screw drive mechanism is fixed on a contiguous block, and this contiguous block passes through the
Five rotating shafts are connected with the downside of palm fixed plate.
3. according to claim 1 can comprehensive autonomous training upper limb body mobility convalescence device it is characterised in that
Described bending drive transmission device is made up of Part I gear drive, and this Part I gear drive includes connecting
The first active part gear on bending motor main shaft and the first secondary part gear being connected in first rotating shaft；Institute
State rotation drive transmission device to be made up of Part II gear drive, this Part II gear drive includes being connected to
The second active part gear on rotational drive motor main shaft and the second secondary part gear being connected in the second rotating shaft.
4. according to claim 3 can comprehensive autonomous training upper limb body mobility convalescence device it is characterised in that
Described first secondary part gear and the second secondary part gear are internal gear.
5. according to claim 1 can comprehensive autonomous training upper limb body mobility convalescence device it is characterised in that
Described photoelectric sensor is three, when sensing chip is located at the photoelectric sensor of bottom, described arm bending motor
Apply positive auxiliary driving force, when sensing chip is located at middle photoelectric sensor, described arm bending motor applies
Auxiliary driving force be zero, when sensing chip is located at the photoelectric sensor of the top, described arm bending motor applies
Reversely auxiliary driving force.
6. according to claim 1 can comprehensive autonomous training upper limb body mobility convalescence device it is characterised in that
Described arm fixing plate is provided with the locating slot with forearm mating shapes.
7. according to claim 1 can comprehensive autonomous training upper limb body mobility convalescence device, wherein, described lead
It is two to bar, each guide post is provided with a spring.
8. according to claim 1 can comprehensive autonomous training upper limb body mobility convalescence device it is characterised in that
The cylinder body of described cylinder is connected with described rotation dish by connector, and one end of described connector is fixed in rotation dish, another
Hold and extend obliquely again to after the radially extending of rotation dish, and be hinged on described cylinder body.
9. according to claim 1 can comprehensive autonomous training upper limb body mobility convalescence device it is characterised in that
The described quantity independently exerting oneself measuring mechanism is two or more, and these measuring mechanisms of independently exerting oneself are along arm fixing plate
Length direction arranges.
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| CN108078736A (en) * | 2017-12-29 | 2018-05-29 | 威海市妇幼保健院（威海市立第二医院、威海市妇女儿童医院） | A kind of shoulder sleeve training device |
| CN110013416A (en) * | 2019-04-01 | 2019-07-16 | 宜都市中医医院 | A kind of medical nursing vapour-pressure type limbs of patient device for healing and training |
| CN110916982A (en) * | 2019-12-24 | 2020-03-27 | 天水师范学院 | Disabled person shoulder joint rehabilitation training device |
| CN110946739A (en) * | 2019-12-13 | 2020-04-03 | 寿光市人民医院 | Neural hemiplegia rehabilitation daily exercise auxiliary device |
| CN110975236A (en) * | 2019-12-30 | 2020-04-10 | 颜开 | Upper limb active rehabilitation device based on electroencephalogram and functional electrical stimulation |
| CN111904794A (en) * | 2020-08-17 | 2020-11-10 | 大连理工江苏研究院有限公司金坛分公司 | Arm rehabilitation equipment for medical care and rehabilitation |
| CN113350750A (en) * | 2021-06-16 | 2021-09-07 | 浙江省肿瘤医院 | Nursing device suitable for breast cancer postoperative |
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| CN108078736A (en) * | 2017-12-29 | 2018-05-29 | 威海市妇幼保健院（威海市立第二医院、威海市妇女儿童医院） | A kind of shoulder sleeve training device |
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| CN111904794A (en) * | 2020-08-17 | 2020-11-10 | 大连理工江苏研究院有限公司金坛分公司 | Arm rehabilitation equipment for medical care and rehabilitation |
| CN113350750A (en) * | 2021-06-16 | 2021-09-07 | 浙江省肿瘤医院 | Nursing device suitable for breast cancer postoperative |
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