CN106924006A - Erect-position spinal rehabilitation robot and its control method - Google Patents

Erect-position spinal rehabilitation robot and its control method Download PDF

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Publication number
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
Authority
CN
China
Prior art keywords
riser
erect
rehabilitation robot
rotating shaft
spinal rehabilitation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201511008799.XA
Other languages
Chinese (zh)
Inventor
李丰堂
韩朝慧
刘晓宇
曹景艳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Diehe Technology (Hainan) Co.,Ltd.
Original Assignee
Beijing Delivering Inspiration & Health Technology Medical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Delivering Inspiration & Health Technology Medical Technology Co Ltd filed Critical Beijing Delivering Inspiration & Health Technology Medical Technology Co Ltd
Priority to CN201511008799.XA priority Critical patent/CN106924006A/en
Publication of CN106924006A publication Critical patent/CN106924006A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292Stretching or bending or torsioning apparatus for exercising for the spinal column
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0203Rotation of a body part around its longitudinal axis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/08Trunk
    • A61H2205/081Back

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

Erect-position spinal rehabilitation robot and its control method
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.
CN201511008799.XA 2015-12-29 2015-12-29 Erect-position spinal rehabilitation robot and its control method Pending CN106924006A (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
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

Citations (7)

* Cited by examiner, † Cited by third party
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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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