CN108113846A - Intelligent jaw support movement locus and its driving parameter designing instrument - Google Patents
Intelligent jaw support movement locus and its driving parameter designing instrument Download PDFInfo
- Publication number
- CN108113846A CN108113846A CN201711264681.2A CN201711264681A CN108113846A CN 108113846 A CN108113846 A CN 108113846A CN 201711264681 A CN201711264681 A CN 201711264681A CN 108113846 A CN108113846 A CN 108113846A
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- China
- Prior art keywords
- elevating lever
- displacement sensor
- anterior
- platform
- displacement
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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
-
- 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
- A61H2205/02—Head
- A61H2205/026—Mandible
-
- 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
- A61H2205/04—Devices for specific parts of the body neck
Abstract
The invention discloses a kind of intelligent jaw support movement locus and its driving parameter designing instrument, including lifting rod mechanism, turntable, anterior-posterior translation platform, left and right translation stage, pedestal, data acquisition circuit plate, computer；The data acquisition circuit plate is mounted on pedestal, computer is connected by standard data interface with data acquisition circuit plate, lifting rod mechanism includes left, preceding, right three elevating levers, it can be slid with independent-lifting, it all installs on a spinstand, turntable is rotatably mounted on anterior-posterior translation platform, and anterior-posterior translation platform is slipped on the translation stage of left and right, left and right translation stage is slipped on pedestal, and lifting rod mechanism further includes elastic head-shield；Patient's jaw portion is placed in elevating lever top and puts on head-shield, the treatment action of massage doctor has also driven above each movement parts, the rotation angle or slippage of all movement parts are all measured with sensor and pass to data acquisition circuit plate and computer, form the jaw support movement locus of health-care appliance and its actuator underlying parameter.
Description
Patent of the present invention is related to health care instrument field, and dynamic rail is consigned more particularly to a kind of intelligent jaw of electromechanical integration
Mark and its driving parameter designing instrument and multifunctional cervical vertebra intelligent health-care instrument.
Background technology
Cervical vertebra strain property disease is easily lead to long lasting for bending over one's desk working, routine work mode, posture should be improved
And self-massage health care or professional medical.The present inventor has invented multifunctional cervical vertebra intelligent health-care instrument therefore.Described is multi-functional
The jaw support of cervical vertebra intelligent health-care instrument can carry out 6DOF spatial movement, can realize various movement locus and posture, it is specific
Realize that, although mechanism is simple and reliable, track is set by five translations along three axes direction and a rotation around reference axis
The calculating of meter is complex, and total operand is big.Traditional mechanism spatial movement design method be the computing of integrated use space geometry,
Mechanical drawing technology hand-designed, therefore, jaw support space motion path calculation is relatively complicated, and the design cycle is long, and by
In the limitation of operational capability, TRAJECTORY CONTROL point is few, and design result inevitably has larger difference with the massage manipulation of Medical Technologist.Always
It, the efficiency and effect of design are all undesirable.
The content of the invention
The present invention is based on the demands in the exploitation design of multifunctional cervical vertebra intelligent health-care instrument, it is therefore an objective to invent a set of intelligent jaw
Space motion path and its corresponding kinematic parameter design instrument of actuator are held in the palm, it is comprehensive to realize following three aspects requirement：1, directly
Into jaw support space motion path, velocity variations and health-care appliance, the displacement parameter of each actuator, greatly improves design efficiency；2,
The action emulation of massage Medical Technologist is carried out, high-precision imitates expert's gimmick；3, with the multiple of computer technology editor's jaw support
Segment is acted, with reference to the function of other patterns of health-care appliance, more set expert's medical scheme storehouses is formed, is stored in the intelligence of health-care appliance
It is selected in mobile phone for user.
In order to achieve the above object, the overall plan of patent of the present invention is：
The present invention is a kind of intelligent jaw support movement locus and its driving parameter designing instrument, including lifting rod mechanism, turntable, preceding
Translation stage, left and right translation stage, pedestal, data acquisition circuit plate, computer afterwards；The lifting rod mechanism is mounted on turntable
On, turntable is rotatably mounted on anterior-posterior translation platform, and anterior-posterior translation platform is slipped on the translation stage of left and right, and left and right translation stage is slided
It is connected on pedestal.
The lifting rod mechanism includes head-shield, left elevating lever, preceding elevating lever, right elevating lever；The head-shield is by elasticity
Knitted grid be made, it has three pairs（The six roots of sensation）Elastic restraining, left side a pair of restraining be fixed on left elevating lever top,
Elevating lever top, the right a pair of restraining are fixed on right elevating lever top before intermediate a pair of restraining is fixed on；It is left elevating lever, preceding
Elevating lever, right elevating lever can be respectively along Z-direction independent-liftings, and butterfly made of a rubber is respectively installed on each elevating lever top
Shape jaw pad.
The turntable includes left elevating lever displacement sensor, preceding elevating lever displacement sensor, right elevating lever displacement biography
Sensor, rotating seat；The left elevating lever, preceding elevating lever, right elevating lever are all slipped on the rotating seat；The left liter
Drop bar displacement sensor, preceding elevating lever displacement sensor, right elevating lever displacement sensor are fixedly arranged on rotating seat and divide
It is not opposite with left elevating lever, preceding elevating lever, right elevating lever, the displacement of the left left elevating lever of elevating lever displacement sensor, preceding liter
Displacement, the displacement of the right right elevating lever of elevating lever displacement sensor of elevating lever before drop bar displacement sensor.
The anterior-posterior translation platform includes turntable rotary angle transmitter, front and rear platform base；The rotating seat of the turntable
It is rotatably mounted on front and rear platform base, can rotate about the z axis；The turntable rotary angle transmitter is fixedly mounted on front and rear flat
It is on pedestal and opposite with the rotating seat of turntable, measure the corner of turntable.
The left and right translation stage includes anterior-posterior translation platform displacement sensor, left and right platform base；The anterior-posterior translation platform
Front and rear platform base slip on the platform base of left and right, can be along Y-direction or so translation；The anterior-posterior translation platform displacement sensor is consolidated
Dingan County is on the platform base of left and right and opposite with the front and rear platform base of anterior-posterior translation platform, measures the displacement of anterior-posterior translation platform.
The pedestal includes left and right translation stage displacement sensor, pony sill；The left and right platform of the left and right translation stage
Seat is slipped on pony sill, can left and right translation in X direction；The left and right translation stage displacement sensor is fixedly mounted on pony sill
It is upper and opposite with the left and right platform base of left and right translation stage, measure the displacement of left and right translation stage.
Elevating lever displacement sensor, left elevating lever displacement sensor, right lifting before the data acquisition circuit plate receives
Bar displacement sensor, turntable rotary angle transmitter, anterior-posterior translation platform displacement sensor, left and right translation stage displacement sensor gather
Displacement or angle data are sent to the computer by standard data interface.
Using the above program, the present invention innovatively propose jaw support movement locus and actuator kinematic parameter design
Instrument and method, advantage are：
1, due to elevating lever displacement sensor before the present invention, left elevating lever displacement sensor, right elevating lever displacement sensor, front and rear
Translation stage displacement sensor, left and right translation stage displacement sensor respectively with preceding elevating lever, left elevating lever, right elevating lever, front and rear flat
Moving stage, left and right translation stage are opposite, and data acquisition circuit plate is passed by feeder line and preceding elevating lever displacement sensor, left elevating lever displacement
Sensor, right elevating lever displacement sensor, anterior-posterior translation platform displacement sensor, left and right translation stage displacement sensor, turntable corner
Sensor connects and elevating lever displacement sensor before receiving, left elevating lever displacement sensor, right elevating lever displacement sensor, front and rear
Corner amount of translation stage displacement sensor, the displacement of left and right translation stage displacement sensor acquisition and turntable rotary angle transmitter etc.
Data, data acquisition circuit plate are sent the data to the computer by standard data interface, significantly reduce jaw support rail
Mark design-calculated workload, jaw support Trajectory Design and the motion design of other actuators are carried out at the same time, high efficiency.
2, the accurate gimmick for using Medical Technologist, design result and the preferable massage manipulation of Medical Technologist are highly consistent, and
Data acquisition realizes automation.
3, the sampling period can be adjusted, and be easily processed between mechanism simulation precision and system response speed, data storage capacity
Contradiction.
4, it received using computer, store the data that data collecting card obtains, convenient for editing, combining, optimizing；It develops accordingly
User's operation control system of multifunctional cervical vertebra intelligent health-care instrument, it is also possible to reference to other healthcare model functions of health-care appliance, shape
Into the better professional treatment scheme base of performance, selected for user.
Description of the drawings
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the kinematic scheme of the present invention；
Fig. 3 is the data acquisition circuit plate wiring diagram of the present invention.
Specific invention mode
1, intelligent jaw support movement locus and its drive parameter designing instrument structure
As shown in Figure 1 and Figure 2, the present invention is a kind of intelligent jaw support movement locus and its driving parameter designing instrument, including elevating lever
Mechanism 1, turntable 2, anterior-posterior translation platform 3, left and right translation stage 4, pedestal 5, data acquisition circuit plate 6, computer 7；The liter
It drops linkage 1 to be mounted on turntable 2, turntable 2 is rotatably mounted on anterior-posterior translation platform 3, and anterior-posterior translation platform 3 slips
On left and right translation stage 4, left and right translation stage 4 is slipped on pedestal 5.
The lifting rod mechanism 1 includes head-shield 11, left elevating lever 12, preceding elevating lever 13, right elevating lever 14；The head
Cover 11 is made of the knitted grid of elasticity, it has three pairs（The six roots of sensation）Elastic restraining, left side a pair of restraining are fixed on a left side
13 top of elevating lever, the right a pair of restraining are fixed on right elevating lever before 12 top of elevating lever, intermediate a pair of of restraining are fixed on
14 tops；Left elevating lever 12, preceding elevating lever 13, right elevating lever 14 can be respectively along Z-direction independent-liftings, and left elevating lever 12 pushes up
Butterfly jaw pad 15 made of one rubber of end installation, butterfly jaw pad 16 made of a rubber is installed on preceding 13 top of elevating lever, right
14 top of elevating lever is installed by butterfly jaw pad 17 made of one rubber.
The turntable 2 includes preceding elevating lever displacement sensor 22, left elevating lever displacement sensor 21, right elevating lever position
Displacement sensor 23, rotating seat 24；The left elevating lever 12, preceding elevating lever 13, right elevating lever 14 are all slipped in the rotation
On seat 24；The all fixed peace of preceding elevating lever displacement sensor 22, left elevating lever displacement sensor 21, right elevating lever displacement sensor 23
It is on rotating seat 24 and opposite with preceding elevating lever 13, left elevating lever 12, right elevating lever 14 respectively, preceding elevating lever displacement sensor
The displacement of elevating lever 13, left elevating lever displacement sensor 21 measure the displacement of left elevating lever 12, right elevating lever displacement before 22 measurements
Sensor 23 measures the displacement of right elevating lever 14.
The anterior-posterior translation platform 3 includes turntable rotary angle transmitter 31, front and rear platform base 32；The turntable 2
Rotating seat 24 is rotatably mounted on front and rear platform base 32, can be rotated about the z axis；The turntable rotary angle transmitter 31 is fixed
It is on front and rear platform base 32 and opposite with the rotating seat 24 of turntable 2, measure the corner of turntable 2.
The left and right translation stage 4 includes anterior-posterior translation platform displacement sensor 41, left and right platform base 42；Described is front and rear flat
The front and rear platform base 32 of moving stage 3 is slipped on left and right platform base 42, can be along Y-direction or so translation；The anterior-posterior translation platform position
Displacement sensor 41 is fixedly mounted on left and right platform base 42 and opposite with the front and rear platform base 32 of anterior-posterior translation platform 3, before and after measurement
The displacement of translation stage 3.
The pedestal 5 includes left and right translation stage displacement sensor 51, pony sill 52；A left side for the left and right translation stage 4
Right platform base 42 is slipped on pony sill 52, can left and right translation in X direction；The left and right translation stage displacement sensor 51 is fixed
It is on pony sill 52 and opposite with the left and right platform base 42 of left and right translation stage 4, measure the displacement of left and right translation stage 4.
As shown in figure 3, the data acquisition circuit plate 6 passes through feeder line and preceding elevating lever displacement sensor 22, left lifting
Bar displacement sensor 21, right elevating lever displacement sensor 23, anterior-posterior translation platform displacement sensor 41, left and right translation stage displacement sensing
Elevating lever displacement sensor 22, left elevating lever displacement sensor 21, the right side before device 51, turntable rotary angle transmitter 31 are connected and received
Elevating lever displacement sensor 23, anterior-posterior translation platform displacement sensor 41, left and right translation stage displacement sensor 51, turntable corner pass
The translation or angle data that sensor 31 gathers, data acquisition circuit plate 6 are sent the data to described by standard data interface
Computer 7.
The computer 7 receives each displacement or the angle data of 6 acquisition of data acquisition circuit plate, and it is dynamic to form jaw delivery
Track；Then edited, handled, and the driving parameter of each driving motor in the health-care appliance is calculated with this, formed and protected
More set health care massage schemes that strong instrument can be used directly, recently enter in the smart mobile phone of health-care appliance for users to use.
2, intelligent jaw support movement locus and its drive parameter designing instrument method of work
In order to imitate the case that massage Medical Technologist cures cervical spondylopathy patient, intelligent jaw support movement locus and its driving can be used
Parameter designing instrument gathers the data of jaw support movement locus model：By patient's chin pendulum on the rubber pad on preceding 13 top of elevating lever,
Left cheek side pendulum is on the rubber pad on left 12 top of elevating lever, and right cheek side pendulum is on the rubber pad on right 14 top of elevating lever, by described in
Head-shield 1 be worn on the patient crown, and make the restraining of head-shield 1 and three elevating lever roof stabilisations constraint correlations.
Then, massage Medical Technologist starts demonstration treatment cervical spondylopathy patient case, and patient's neck is medical specially in massage
The movement of 6DOF is carried out under the massaging action of family.Head movement track passes through head-shield and its restraining, 13 top of preceding elevating lever
Rubber pad 16, rubber pad 15, the rubber pad 17 on 14 top of right elevating lever on 12 top of left elevating lever be transferred to this intelligent jaw
Movement locus and its driving parameter designing instrument are held in the palm, drives left elevating lever 12, preceding elevating lever 13, right elevating lever 14, turntable 2, preceding
The moving components such as translation stage 3, left and right translation stage 4 afterwards;The rotation angle or slippage of all movement parts are all measured simultaneously with sensor
Data acquisition circuit plate 6 and computer 7 are passed to, forms the jaw support movement locus of health-care appliance and its actuator underlying parameter.
As shown in figure 3, during massage Medical Technologist demonstrates and cures cervical spondylopathy patient case, left elevating lever displacement sensing
Device 21, preceding elevating lever displacement sensor 22, right elevating lever displacement sensor 23, turntable rotary angle transmitter 31, anterior-posterior translation platform
The displacement collected or angle data are passed to data acquisition circuit plate by displacement sensor 41, left and right translation stage displacement sensor 51
6；With 0.5 second for data sampling period, relative displacement --- timetable is formed：The position of patient's chin and left and right cheek side ---
Time data table reflects track and the roll attitude of patient's head and neck motion；The displacement of left and right translation stage 4 --- time data table
Reflect the health-care appliance left and right directions actuator（That is the first stepper motor nut）Relative displacement requirement；Anterior-posterior translation platform
3 displacement --- time data table reflects health-care appliance front-rear direction actuator（That is the second stepper motor nut）Relative displacement
It is required that；The corner of turntable 2 --- time data table reflects the actuator of health-care appliance Z-direction rotation（That is the 3rd stepping electricity
Machine）Relative rotation requirement；The displacement of left elevating lever 12 --- time data table reflects the left lifting actuator of health-care appliance（It is i.e. left
Stepper motor screw）Relative displacement requirement；The displacement of preceding elevating lever 13 --- time data table lifts before reflecting health-care appliance
Actuator（I.e. preceding stepper motor screw）Relative displacement requirement；The displacement of right elevating lever 14 --- time data table reflects guarantor
The right lifting actuator of strong instrument（I.e. right stepper motor screw）Relative displacement requirement；Massage therapist demonstrate kinds of schemes, gather with
Upper each displacement --- timetable and corner --- timetable can be that health-care appliance constructs head and neck massage expert solution database, deposit
In the smart mobile phone APP for storing up health-care appliance, used when waving relaxed mode using the neck of health-care appliance for ordinary user.
To sum up, the instrument of jaw support movement locus and actuator kinematic parameter design proposed by the present invention, directly using use
The gimmick of Medical Technologist is massaged, the jaw support Trajectory Design of health-care appliance and the motion design of other actuators is carried out, significantly reduces
Design-calculated workload, improves high efficiency.
The present invention emphasis be：The technology point that this patent should most be protected is the General layout Plan of system, i.e.,：It is accurate imitative
True expert's action, jaw support Trajectory Design are carried out at the same time with other actuator motion designs, can also be tied in computer subsequent processing
The function of other healthcare models of health-care appliance is closed, efficient, exploitation is convenient, intelligent.
For those of ordinary skill in the art, according to the thought of patent of the present invention, in specific embodiment and using model
There will be changes are placed, in conclusion this specification content should not be construed as the limitation to patent of the present invention.
Claims (6)
1. a kind of intelligent jaw support movement locus and its driving parameter designing instrument, it is characterised in that：Including lifting rod mechanism, rotation
Platform, anterior-posterior translation platform, left and right translation stage, pedestal；The lifting rod mechanism is installed on a spinstand, the rotatable peace of turntable
On anterior-posterior translation platform, anterior-posterior translation platform is slipped on the translation stage of left and right, and left and right translation stage is slipped on pedestal；The liter
Dropping linkage includes head-shield, left elevating lever, preceding elevating lever, right elevating lever；The head-shield has three pairs of elastic restrainings, the left side one
Left elevating lever top is fixed on to restraining, intermediate a pair of of restraining is fixed on preceding elevating lever top, the right a pair of restraining is consolidated
It is scheduled on right elevating lever top；Left elevating lever, preceding elevating lever, right elevating lever can be each to lift respectively along Z-direction independent-lifting
Bar top is respectively installed by butterfly jaw pad made of one rubber;The turntable includes left elevating lever displacement sensor, preceding lifting
Bar displacement sensor, right elevating lever displacement sensor, rotating seat；The left elevating lever, preceding elevating lever, right elevating lever are all sliding
On the rotating seat；The left elevating lever displacement sensor, preceding elevating lever displacement sensor, right elevating lever displacement sensing
Device is fixedly arranged on rotating seat and opposite with left elevating lever, preceding elevating lever, right elevating lever respectively, left elevating lever displacement sensing
Device measures the displacement of elevating lever, right elevating lever displacement sensor before the displacement of left elevating lever, preceding elevating lever displacement sensor
Measure the displacement of right elevating lever.
2. intelligent jaw support movement locus according to claim 1 and its driving parameter designing instrument, it is characterised in that：Also wrap
Include data acquisition circuit plate, computer；The data acquisition circuit plate is mounted on the pedestal, and the computer leads to
Standard data interface is crossed to be connected with data acquisition circuit plate.
3. intelligent jaw support movement locus according to claim 1 and its driving parameter designing instrument, it is characterised in that：It is described
Anterior-posterior translation platform include turntable rotary angle transmitter, front and rear platform base；The rotatable installation of rotating seat of the turntable
On front and rear platform base, it can rotate about the z axis；The turntable rotary angle transmitter be fixedly mounted on front and rear platform base and with rotation
The rotating seat of turntable is opposite, measures the corner of turntable.
4. intelligent jaw support movement locus according to claim 1 and its driving parameter designing instrument, it is characterised in that：It is described
Left and right translation stage include anterior-posterior translation platform displacement sensor, left and right platform base；The front and rear platform base of the anterior-posterior translation platform
It slips on the platform base of left and right, it can be along Y-direction or so translation；The anterior-posterior translation platform displacement sensor is fixedly mounted on left and right
It is on platform base and opposite with the front and rear platform base of anterior-posterior translation platform, measure the displacement of anterior-posterior translation platform.
5. intelligent jaw support movement locus according to claim 1 and its driving parameter designing instrument, it is characterised in that：It is described
Pedestal include left and right translation stage displacement sensor, pony sill；The left and right platform base of the left and right translation stage is slipped in pedestal
It, can left and right translation in X direction on frame；The left and right translation stage displacement sensor is fixedly mounted on pony sill and is put down with left and right
The left and right platform base of moving stage is opposite, measures the displacement of left and right translation stage.
6. intelligent jaw support movement locus according to claim 2 and its driving parameter designing instrument, it is characterised in that：It is described
Data acquisition circuit plate pass through feeder line and preceding elevating lever displacement sensor, left elevating lever displacement sensor, right elevating lever displacement
Before sensor, anterior-posterior translation platform displacement sensor, left and right translation stage displacement sensor, turntable rotary angle transmitter are connected and received
Elevating lever displacement sensor, left elevating lever displacement sensor, right elevating lever displacement sensor, anterior-posterior translation platform displacement sensor,
The data such as the displacement of left and right translation stage displacement sensor acquisition and the corner amount of turntable rotary angle transmitter, data acquisition circuit
Plate sends the data to the computer by standard data interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264681.2A CN108113846B (en) | 2017-12-05 | 2017-12-05 | Intelligent jaw support motion track and driving parameter design instrument thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264681.2A CN108113846B (en) | 2017-12-05 | 2017-12-05 | Intelligent jaw support motion track and driving parameter design instrument thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN108113846A true CN108113846A (en) | 2018-06-05 |
| CN108113846B CN108113846B (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711264681.2A Expired - Fee Related CN108113846B (en) | 2017-12-05 | 2017-12-05 | Intelligent jaw support motion track and driving parameter design instrument thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109157399A (en) * | 2018-06-25 | 2019-01-08 | 朱森标 | The robot of imitative Chinese traditional massage |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2163625Y (en) * | 1993-06-12 | 1994-05-04 | 刘新河 | Multi-functional cervical reduction orthopaedic device |
| CN104983544A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable cervical vertebra rehabilitation medical robot |
-
2017
- 2017-12-05 CN CN201711264681.2A patent/CN108113846B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2163625Y (en) * | 1993-06-12 | 1994-05-04 | 刘新河 | Multi-functional cervical reduction orthopaedic device |
| CN104983544A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable cervical vertebra rehabilitation medical robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109157399A (en) * | 2018-06-25 | 2019-01-08 | 朱森标 | The robot of imitative Chinese traditional massage |
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| CN108113846B (en) | 2020-02-21 |
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Granted publication date: 20200221 Termination date: 20211205 |