CN106924006A - Erect-position spinal rehabilitation robot and its control method - Google Patents
Erect-position spinal rehabilitation robot and its control method Download PDFInfo
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- CN106924006A CN106924006A CN201511008799.XA CN201511008799A CN106924006A CN 106924006 A CN106924006 A CN 106924006A CN 201511008799 A CN201511008799 A CN 201511008799A CN 106924006 A CN106924006 A CN 106924006A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 3
- 230000001225 therapeutic effect Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 26
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000012360 testing method Methods 0.000 abstract description 4
- 208000018650 Intervertebral disc disease Diseases 0.000 abstract description 3
- 230000002980 postoperative effect Effects 0.000 abstract description 3
- 208000008035 Back Pain Diseases 0.000 description 2
- 208000008930 Low Back Pain Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
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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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- 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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H2205/08—Trunk
- A61H2205/081—Back
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Neurology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a kind of erect-position spinal rehabilitation robot and its control method, the erect-position spinal rehabilitation robot includes：Riser；Chest and back clamping device, are hinged on the riser positioned at the lateral of the riser and by first rotating shaft, and the first rotating shaft is located at horizontal direction；First transmission device, connects the first rotating shaft；First driving means, connect first transmission device.The control method uses foregoing erect-position spinal rehabilitation robot.The present invention recovers and tests not only for spinal function, while for the postoperative rehabilitation of lumbar disc disease.The present invention using erect-position training as another training attitude arranged side by side with traditional seat training, while the present invention be integrated with it is anteflexion, after stretch, three motions in direction of left rotation and right rotation, small, the spaces compact of occupation of land.
Description
Technical field
The present invention relates to medical instruments field, and in particular to healing robot, especially a kind of erect-position spinal rehabilitation robot and
Its control method.
Background technology
Currently marketed spinal rehabilitation robot localization recovers and tests in spinal function, the DD such as lumbago, has
It is an equipment according to each functional independence, also there are the several functions of set and be together equipment, but these equipment wholes
It is seat training.
In sum, there is problems with the prior art：Existing spinal rehabilitation robot can only seat training, it is impossible to stand
Position training.
The content of the invention
The present invention provides a kind of erect-position spinal rehabilitation robot and its control method, to solve existing spinal rehabilitation robot only
Energy seat training, it is impossible to the problem of erect-position training.
Therefore, the present invention proposes a kind of erect-position spinal rehabilitation robot, the erect-position spinal rehabilitation robot includes：
Riser；
Chest and back clamping device, are hinged on the riser positioned at the lateral of the riser and by first rotating shaft, described
First rotating shaft is located at horizontal direction；
First transmission device, connects the first rotating shaft；
First driving means, connect first transmission device.
Further, the erect-position spinal rehabilitation robot also includes：First guide rail splice, is arranged on the riser simultaneously
Connect the first rotating shaft；First transmission device includes：First annular guide rail, the first synchronous pulley and the first Timing Belt,
Wherein, first annular guide rail is fixedly connected on the outer rim of first guide rail splice；First synchronous pulley is arranged on described vertical
On plate；First Timing Belt is connected between the first annular guide rail and first synchronous pulley.
Further, the erect-position spinal rehabilitation robot also includes：Be connected to the chest and back clamping device with it is described
Connecting rod between first rotating shaft, the connecting rod is bending.
Further, the plane where the first annular guide rail is perpendicular, and the first annular guide rail is located at the chest
Portion and back clamping device it is lateral.
Further, the angular range that the first annular guide rail is rotated is 70 degree to 30 degree backward forward.
Further, the erect-position spinal rehabilitation robot also includes：It is arranged on the riser and first Timing Belt is led
To the first directive wheel, first directive wheel is arranged on the outside of the first annular guide rail, first directive wheel and institute
State in first annular guide rail is generally aligned in the same plane.
Further, the chest and back clamping device are hinged in the connecting rod by the second rotating shaft, described second turn
Axle is vertically arranged；
The erect-position spinal rehabilitation robot also includes：
Second guide rail splice, is arranged in the connecting rod and connects second rotating shaft；
Second ring-shaped guide rail, is fixedly connected on the outer rim of second guide rail splice；
Second synchronous pulley, is arranged in the connecting rod；
Second motor, is arranged in the connecting rod；
Second Timing Belt, is connected on second synchronous pulley and the second ring-shaped guide rail.
Further, the erect-position spinal rehabilitation robot also includes：The display screen of therapeutic scheme is shown, the display screen connects
It is connected on the riser, the display screen is arranged on the chest and back clamping device front.
Further, the riser includes：First riser and the second riser being hinged on by riser hinge on the first riser,
The erect-position spinal rehabilitation robot also includes：The riser drive device between first riser and the second riser is connected to,
The riser drive device drives second riser to rotate, and the first rotating shaft is arranged on second riser.
Further, the riser drive device is electric pushrod, and described electric pushrod one end is connected on first riser,
The other end is connected on second riser.
The present invention also proposes a kind of control method of erect-position spinal rehabilitation robot, and the control method is using as elucidated before
Erect-position spinal rehabilitation robot, the control method includes：Rotated around first rotating shaft by driving chest and back clamping device,
Realize anteflexion under erect-position attitude of the chest and back clamping device or after stretch.
Further, the second riser is driven to rotate by electric pushrod so that the first rotating shaft rises or falls, and realizes institute
State anteflexion under different height of chest and back clamping device or after stretch.
The present invention is by chest and back clamping device is by the chest and back fixation of human body or clamps, so that fixed or clamping
The firmly top of human body, the first rotating shaft is located at horizontal direction, by the transmission of the first transmission device, first driving means band
Dynamic first rotating shaft is rotated, and first rotating shaft is connected with chest and back clamping device, so, chest and back clamping device are relative
In the motion of riser anterior flexion and rear stretching, thus, solving existing spinal rehabilitation robot can only seat training, it is impossible to erect-position training
Problem.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of erect-position spinal rehabilitation robot of the invention；
Fig. 2 is the attachment structure of the first Timing Belt of the invention and first annular guide rail；
Fig. 3 is the structure of the second ring-shaped guide rail of the invention；
Fig. 4 is the external structure schematic diagram of erect-position spinal rehabilitation robot of the invention；
Fig. 5 is the structural representation of riser drive device of the invention.
Drawing reference numeral explanation：
The chest of 1 riser, 2 motor, 3 display screen 4 and the guide plate 8 of 5 directive wheel of back clamping device, 6 first synchronizing wheel 7 first
The shell 17 of first 9 first Timing Belt of guide rail, 10 11 first riser of first rotating shaft, 12 13 second riser of riser hinge 15 stands
The Timing Belt of 19 protective cover of plate drive device, 41 connecting rod, 62 second synchronizing wheel, 72 second guide plate, 82 second guide rail 92 second
Specific embodiment
In order to be more clearly understood to technical characteristic of the invention, purpose and effect, now control brief description of the drawings is of the invention.
As shown in figure 1, erect-position spinal rehabilitation robot of the invention includes：
Riser 1, is arranged on floor or working face, and riser can be vertically arranged, and makes occupation of land smaller, and riser outside can wrap
It is covered with shell 15, shell 15 can be desk-top or be vertical box, to accomplish attractive in appearance and protect the patient will not when training
Encounter the associated components on riser；
Chest and back clamping device 4 (also referred to as cervical vertebra and brain supporting module, or be that back accommodates and rotary module), chest
Portion and back clamping device 4 can be fixed by bandage with the chest of human body, realize to the connection of human cervical spine or chest or
Clamping, and chest and back clamping device 4 can also have backed function simultaneously for the back of human body provides support, from
And rehabilitation training to cervical vertebra or chest is realized, chest and back clamping device 4 are located at the lateral of the riser or shell 15
And be hinged on the riser by first rotating shaft 10, the first rotating shaft 10 is located at horizontal direction；So, chest and the back of the body
Portion's clamping device 4 can just form anterior flexion and rear stretching action after rotating, the junction between first rotating shaft 10 and riser can be provided with guarantor
Shield 19, to protect the connection between first rotating shaft 10 and riser not expose, the cleaning inside protection riser；
First transmission device, connects the first rotating shaft；
First driving means, connect first transmission device.
The present invention is by chest and back clamping device is by the chest and back fixation of human body or clamps, so that fixed or clamping
The firmly top of human body, the first rotating shaft is located at horizontal direction, by the transmission of the first transmission device, first driving means band
Dynamic first rotating shaft is rotated, and first rotating shaft is connected with chest and back clamping device, so, chest and back clamping device are relative
In the motion of riser anterior flexion and rear stretching, thus, solving existing spinal rehabilitation robot can only seat training, it is impossible to erect-position training
Problem.In addition, the seat needed for seat training training need not be set under chest and back clamping device 4, without setting
Pedal or pedal needed for putting seat training training, whole erect-position spinal rehabilitation robot floor space are small, small volume, structure
It is compact.
Further, as shown in Figure 4 and Figure 5, the riser 1 includes：First riser 11 and cut with scissors by riser hinge 12
The second riser 13 on the first riser is connected on, the first riser 11 and the second riser 13 are arranged in shell 15, the station
Position spinal rehabilitation robot also includes：The riser drive device 17 between first riser and the second riser is connected to, it is described
Riser drive device 17 drives second riser 13 to rotate, so as to realize rising or falling for the second riser 13, described
One rotating shaft 10 is arranged on second riser 13, thus, first rotating shaft 10 can be with the rotation of the second riser 13 on
Rise or decline, realize rising or falling for chest and back clamping device 4, thus adjust chest and back clamping device 4 with
The position that human body is fixed, adapts to the human body of different heights.
Further, as shown in figure 4, the erect-position spinal rehabilitation robot also includes：First guide rail splice 7, is set
On the riser and connect the first rotating shaft 10, the first guide rail splice 7 drives the synchronous axial system of first rotating shaft 10；Institute
Stating the first transmission device includes：First annular guide rail 8, the first synchronous pulley 6 and the first Timing Belt 9, wherein, it is first annular
Guide rail 8 is fixedly connected on the outer rim of first guide rail splice 7；First synchronous pulley 6 is arranged on the riser 1；
First Timing Belt 9 is connected between the first annular guide rail 8 and first synchronous pulley 6.First guide rail splice with
First guide rail screw is coupled, and the first Timing Belt 9 is placed in guide rail external arc side, and drive connection is formed with the first synchronous pulley 6,
Drive chest and back clamping device 4 to be rotated around first rotating shaft 10 by the first Timing Belt, realize chest and back clamping device
Anterior flexion and rear stretching.The anterior flexion and rear stretching of chest and back clamping device is realized using the first Timing Belt, stable transmission is rapid, action
It is soft, with positive, reverse convenient conversion, and can occupy little space.
Further, as shown in figure 1, the erect-position spinal rehabilitation robot also includes：It is connected to the chest and back folder
The connecting rod 41 between device 4 and the first rotating shaft is held, so, weight can be mitigated, reduce volume, the connecting rod
41 is bending, it is possible to achieve the flexible setting of chest and back clamping device.
Further, as depicted in figs. 1 and 2, the plane where the first annular guide rail 8 is perpendicular, described the
One ring-shaped guide rail 8 is located at the lateral of the chest and back clamping device 4, so, spaces compact.
Further, the angular range that the first annular guide rail 8 is rotated is 70 degree to 30 degree backward forward, so, is fitted
Close rehabilitation training.It is semi-circular shape for example, first annular guide rail 8 is designed as into open loop Timing Belt, two is to disconnect fixing
, the arc angle of semi-circular shape is 100 degree, so that the range of movement of the first Timing Belt is 70 degree to 30 degree backward forward.
Further, as depicted in figs. 1 and 2, the erect-position spinal rehabilitation robot also includes：It is arranged on the riser
The first directive wheel 5 being oriented to first Timing Belt, first directive wheel 5 is arranged on the first annular guide rail 8
Outside, first directive wheel 5 is generally aligned in the same plane interior with the first annular guide rail 8.First directive wheel 5 be oriented to and
The effect of compression, it is ensured that the stability of the first toothed belt transmission.
Further, as shown in figure 3, the chest and back clamping device 4 are cut with scissors by the second rotating shaft (not shown)
It is connected in the connecting rod 41, second rotating shaft is vertically arranged, to realize the left-right rotation of chest and back clamping device 4；
The erect-position spinal rehabilitation robot also includes：
Second guide rail splice 72, is arranged in the connecting rod 41 and connects second rotating shaft；
Second ring-shaped guide rail 82, is fixedly connected on the outer rim of second guide rail splice 72；
Second synchronous pulley 62, is arranged in the connecting rod 41；
Second motor 2, is arranged in the connecting rod 41 and connects the second synchronous pulley 62；
Second Timing Belt 92, is connected on the ring-shaped guide rail 72 of second synchronous pulley 62 and second.
Chest and back clamping device 4 can realize a left side by the second motor, the second Timing Belt 92, the second ring-shaped guide rail 82
Turn right dynamic, for example, slewing area to the left and to the right is 45 degree, thus chest and back clamping device are in the work(of anterior flexion and rear stretching
Can on have the training function with left-right rotation, the DD health such as spinal function recovery and test, lumbago can be carried out
The training such as multiple, lumbar disc disease postoperative rehabilitation.Similarly, the left-right rotation of chest and back clamping device is completed by Timing Belt,
Stable transmission is rapid, and action is soft, with positive, reverse convenient conversion, and can occupy little space..
Further, as shown in Figure 1, Figure 4 and Figure 5, the erect-position spinal rehabilitation robot also includes：Display treatment side
The display screen 3 of case, the display screen 3 is connected on the riser 1, and the display screen 3 is arranged on the chest and back
The front of clamping device 4, is easy to patient that the therapeutic scheme including the information such as treatment time, intensity is understood in training.
Further, as shown in figure 5, the riser drive device 17 is electric pushrod, described electric pushrod one end is connected to
On first riser 11, the other end is connected on second riser 13, so, can fast and accurately adjust first
Rotating shaft 10 and the lifting of chest and back clamping device 4, and occupy little space.
The present invention also proposes a kind of control method of erect-position spinal rehabilitation robot, and the control method is using as elucidated before
Erect-position spinal rehabilitation robot, the control method includes：Patient stand, the bandage of chest and back clamping device is pinioned
The chest of patient and back, head rest on the back cushion of chest and back clamping device, by driving chest and back clamping device
Rotated around first rotating shaft, realize anteflexion under erect-position attitude of the chest and back clamping device or after stretch.
Further, the second riser is driven to rotate by electric pushrod so that the first rotating shaft rises or falls, and realizes institute
State anteflexion under different height of chest and back clamping device or after stretch, both can be for same patient under different situations
Training, can be directed to the training of the patient of different heights again.
The present invention recovers and tests not only for spinal function, while the postoperative rehabilitation of lumbar disc disease can also be directed to.The present invention will
Erect-position training trains attitude as with arranged side by side another of traditional seat training, at the same the present invention be integrated with it is anteflexion, after stretch,
Three motions in direction of left rotation and right rotation, take up an area small, spaces compact.
Schematical specific embodiment of the invention is the foregoing is only, the scope of the present invention is not limited to.It is the present invention
Each part can be mutually combined under conditions of not conflicting, any those skilled in the art is not departing from the present invention
Design and principle on the premise of done equivalent variations and modification, the scope of protection of the invention all should be belonged to.
Claims (10)
1. a kind of erect-position spinal rehabilitation robot, it is characterised in that the erect-position spinal rehabilitation robot includes：
Riser；
Chest and back clamping device, are hinged on the riser positioned at the lateral of the riser and by first rotating shaft,
The first rotating shaft is located at horizontal direction；
First transmission device, connects the first rotating shaft；
First driving means, connect first transmission device.
2. erect-position spinal rehabilitation robot as claimed in claim 1, it is characterised in that the erect-position spinal rehabilitation
Robot also includes：First guide rail splice, is arranged on the riser and connects the first rotating shaft；Described first
Transmission device includes：First annular guide rail, the first synchronous pulley and the first Timing Belt, wherein, first annular guide rail is consolidated
Surely it is connected to the outer rim of first guide rail splice；First synchronous pulley is arranged on the riser；First Timing Belt
It is connected between the first annular guide rail and first synchronous pulley.
3. erect-position spinal rehabilitation robot as claimed in claim 2, it is characterised in that the erect-position spinal rehabilitation
Robot also includes：The connecting rod between the chest and back clamping device and the first rotating shaft is connected to, it is described
Connecting rod is bending.
4. erect-position spinal rehabilitation robot as claimed in claim 2, it is characterised in that the erect-position spinal rehabilitation
Robot also includes：The first directive wheel being oriented to first Timing Belt is arranged on the riser, and described first leads
The outside of the first annular guide rail is arranged on to wheel, first directive wheel is located at same with the first annular guide rail
In plane.
5. erect-position spinal rehabilitation robot as claimed in claim 3, it is characterised in that the chest and back press from both sides
Hold device to be hinged in the connecting rod by the second rotating shaft, second rotating shaft is vertically arranged；
The erect-position spinal rehabilitation robot also includes：
Second guide rail splice, is arranged in the connecting rod and connects second rotating shaft；
Second ring-shaped guide rail, is fixedly connected on the outer rim of second guide rail splice；
Second synchronous pulley, is arranged in the connecting rod；
Second motor, is arranged in the connecting rod；
Second Timing Belt, is connected on second synchronous pulley and the second ring-shaped guide rail.
6. erect-position spinal rehabilitation robot as claimed in claim 1, it is characterised in that the erect-position spinal rehabilitation
Robot also includes：The display screen of therapeutic scheme is shown, the display screen is connected on the riser, the display screen
It is arranged on the chest and back clamping device front.
7. erect-position spinal rehabilitation robot as claimed in claim 1, it is characterised in that the riser includes：The
One riser and the second riser being hinged on by riser hinge on the first riser, the erect-position spinal rehabilitation robot is also wrapped
Include：The riser drive device between first riser and the second riser is connected to, the riser drive device drives institute
The rotation of the second riser is stated, the first rotating shaft is arranged on second riser.
8. erect-position spinal rehabilitation robot as claimed in claim 7, it is characterised in that the riser drive device
It is electric pushrod, described electric pushrod one end is connected on first riser, the other end is connected to second riser
On.
9. a kind of control method of erect-position spinal rehabilitation robot, it is characterised in that the control method is using as weighed
Profit requires the erect-position spinal rehabilitation robot described in 1, and the control method includes：Clamped by driving chest and back
Device is rotated around first rotating shaft, realize anteflexion under erect-position attitude of the chest and back clamping device or after stretch.
10. control method as claimed in claim 9, it is characterised in that
The riser includes：First riser and the second riser being hinged on by riser hinge on the first riser, it is described
Erect-position spinal rehabilitation robot also includes：The riser drive device between first riser and the second riser is connected to,
The riser drive device drives second riser to rotate, and the first rotating shaft is arranged on second riser；
The riser drive device is electric pushrod, and described electric pushrod one end is connected on first riser, separately
One end is connected on second riser；
The second riser is driven to rotate by electric pushrod so that the first rotating shaft rises or falls, and realizes the chest
Anteflexion under different height of portion and back clamping device or after stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008799.XA CN106924006A (en) | 2015-12-29 | 2015-12-29 | Erect-position spinal rehabilitation robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008799.XA CN106924006A (en) | 2015-12-29 | 2015-12-29 | Erect-position spinal rehabilitation robot and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN106924006A true CN106924006A (en) | 2017-07-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511008799.XA Pending CN106924006A (en) | 2015-12-29 | 2015-12-29 | Erect-position spinal rehabilitation robot and its control method |
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| Country | Link |
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| CN (1) | CN106924006A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742976A (en) * | 2018-05-07 | 2018-11-06 | 青岛海泰新光科技股份有限公司 | Lumbar vertebrae cervical traction system |
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| US5324247A (en) * | 1991-11-26 | 1994-06-28 | Alaska Research And Development, Inc. | Apparatus and method for multi-axial spinal testing and rehabilitation |
| CN101069669A (en) * | 2006-05-08 | 2007-11-14 | 李添华 | Cerebral palsy children recovering physical-treatment apparatus series |
| CN102133468A (en) * | 2010-01-21 | 2011-07-27 | 熊豹 | Exercise machine having abdominal and dorsal effects |
| WO2011102578A1 (en) * | 2010-02-18 | 2011-08-25 | 주식회사 휠백코리아 | Spine correcting wheel-back device |
| CN104055615A (en) * | 2014-07-18 | 2014-09-24 | 张军 | Spine traction rehabilitation system |
| CN204073246U (en) * | 2014-10-10 | 2015-01-07 | 安阳市翔宇医疗设备有限责任公司 | Constant speed back muscle force recovering training aids |
| CN205268507U (en) * | 2015-12-29 | 2016-06-01 | 北京蝶和医疗科技有限公司 | Recovered robot of a vertebra of standing |
-
2015
- 2015-12-29 CN CN201511008799.XA patent/CN106924006A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5324247A (en) * | 1991-11-26 | 1994-06-28 | Alaska Research And Development, Inc. | Apparatus and method for multi-axial spinal testing and rehabilitation |
| CN101069669A (en) * | 2006-05-08 | 2007-11-14 | 李添华 | Cerebral palsy children recovering physical-treatment apparatus series |
| CN102133468A (en) * | 2010-01-21 | 2011-07-27 | 熊豹 | Exercise machine having abdominal and dorsal effects |
| WO2011102578A1 (en) * | 2010-02-18 | 2011-08-25 | 주식회사 휠백코리아 | Spine correcting wheel-back device |
| CN104055615A (en) * | 2014-07-18 | 2014-09-24 | 张军 | Spine traction rehabilitation system |
| CN204073246U (en) * | 2014-10-10 | 2015-01-07 | 安阳市翔宇医疗设备有限责任公司 | Constant speed back muscle force recovering training aids |
| CN205268507U (en) * | 2015-12-29 | 2016-06-01 | 北京蝶和医疗科技有限公司 | Recovered robot of a vertebra of standing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742976A (en) * | 2018-05-07 | 2018-11-06 | 青岛海泰新光科技股份有限公司 | Lumbar vertebrae cervical traction system |
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