CN108125731A - Ankle-joint artificial ligament - Google Patents

Ankle-joint artificial ligament Download PDF

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Publication number
CN108125731A
CN108125731A CN201711435957.9A CN201711435957A CN108125731A CN 108125731 A CN108125731 A CN 108125731A CN 201711435957 A CN201711435957 A CN 201711435957A CN 108125731 A CN108125731 A CN 108125731A
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CN
China
Prior art keywords
ligament
bifurcated
ligaments
ankle
furcation
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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
CN201711435957.9A
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Chinese (zh)
Inventor
陈世益
张鹏
吴子英
陈俊
陈天午
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Huashan Hospital of Fudan University
Original Assignee
Huashan Hospital of Fudan University
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 Huashan Hospital of Fudan University filed Critical Huashan Hospital of Fudan University
Priority to CN201711435957.9A priority Critical patent/CN108125731A/en
Publication of CN108125731A publication Critical patent/CN108125731A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02Prostheses implantable into the body
    • A61F2/08Muscles; Tendons; Ligaments

Abstract

The present invention provides a kind of ankle-joint artificial ligaments, it includes cardinal ligament (1), cardinal ligament (1) is in axial direction at least provided with furcation (2) on one end in both ends, and the furcation (2) includes multiple bifurcated ligaments (3);Multiple bifurcated ligaments (3) are separated from each other;It can be converted between state both states in detached position and making a match alternatively, at least there are two bifurcated ligaments (3) in multiple bifurcated ligaments (3):Under the detached position, multiple bifurcated ligaments (3) are kept completely separate or are partially separated on length extending direction;Described to make a match under state, multiple bifurcated ligaments (3) are connected with each other on length extending direction.Ankle-joint artificial ligament provided by the invention draws more furcation area ligaments from cardinal ligament, can adapt to the reconstruction of multiple ligaments on ankle-joint, while can also select the bifurcated ligament of different in width according to demand by the setting of furcation.

Description

Ankle-joint artificial ligament
Technical field
The present invention relates to medical instruments fields, and in particular, to a kind of ankle-joint artificial ligament.
Background technology
Ankle from sprains (Ankle sprains) would generally involve lateral ligament of ankle joint complex (the lateral Ligament complex), this is a kind of very common injury gained in sports.Ankle from sprains more afterwards be also it is very good, greatly Most of patients can be fully returned to that the ankle joint function before spraining is horizontal, but about have more than 25% strain patient because of processing It is not good at slowly developing into chronic ankle-joint shakiness.Research shows that astragalus can be sent out when anterior talofibular ligament and calcaneofibular ligament are broken Raw displacement, and then it is bad ankle-joint contraposition occur, and walk for a long time in ankle-joint subluxation state, articular cartilage is easy to wear And destroy, lead to ankle joint wound arthritis, reduce the life quality of patient.The chronic instability of ankle-joint and the cartilage of astragalus Damage is related, and astragalus cartilage damage is an early prediction index of ankle osteoarthritis.Hand is considered as when expectant treatment is invalid Art is treated.It can increase the risk of complication in view of non-anatomical form reconstruction and bring changing for ankle and metapedes biomethanics Become, so mainstream processing at present is more recommended to carry out anatomical form reconstruction.
The ligament of ankle-joint both sides helps to maintain the connection between bone, and Lateral collateral ligament of ankle joint is by three ligament groups Into, i.e., anterior talofibular ligament (ATFL), calcaneofibular ligament (CFL) and posterior talofibular ligament (PTFL), this three ligaments are risen from external malleolus, Respectively forwardly, astragalus and root bone are terminated in downwards, backward, and lateral collateral ligament is the most weak ligament of ankle-joint.It is secondary on the inside of ankle-joint Ligament is ligament most tough and tensile in ankle-joint, is risen from internal malleolus point, downward fan out is placed in navicular bone, astragalus, calcaneum, main It wants to prevent ankle-joint from turning up during function.Ankle Ligaments Injury is one of most commonly seen soft tissue injury, with outside pair Ligament injury is the most common, if dealing with improperly can cause ankle-joint unstable, can sprain repeatedly, repeatedly pain, the later stage is due to closing , there is osteoarthritis in the unevenness of nodal section stress, seriously affects walking function.Lateral collateral ligament is damaged:II degree of ligament injury Expectant treatment is invalid, considers that II stage operation rebuilds lateral collateral ligament.For III degree of ligament injury, to restore the stabilization of ankle-joint, It should actively perform the operation and repair lateral collateral ligament.What medial collateral ligament was broken completely, should perform the operation reparation.
A kind of reconstruction operations of LARS artificial ligaments for ligament of ankle joint exist in the prior art:One is used first Anterior talofibular ligament is fixed on the stop position that is connected of its distal end with astragalus, from here, ligament by the suture anchor of 4.75-mm Move towards fibula channel in capsular ligament.Calcaneofibular ligament is fixed on the outside of its calcaneum at stop using same holdfast, ligament from this In move towards to be deep to peroneal tendon and capsular ligament outside capsular ligament, also move towards fibula channel.From fibula anterior talofibular ligament and calcaneofibular ligament Overlapping place starts to bore the channel of a diameter 5mm to fibula, pays attention to the traveling of fibula channel to be moved towards afterwards upwards by lower section fibula axis Cortex on rear side of fibula, depth 25mm penetrate the cortexs of bone of both sides.LARS ligaments (are formed cyclic annular) above fibula channel and are worn It crosses, has been both needed to stress tension, be then fixed with third root 4.75mm holdfasts.It is cut away from fibula rear side surface extra tough Band.Using absorbable suture reconstruction lateral ligament complex, restore its imbricated texture, finally layering is closed operation and cut Mouthful.Fig. 1 is the final fixed position of LARS artificial ligaments.
In a practical situation, Lateral collateral ligament of ankle joint is likely to occur three and is required to repair, it is also possible to occur there was only it In one or two ligaments needs situation about repairing, different ligament different crowds repair the width of ligaments there is also difference, and The ligament that these may need to be carried out at the same time reconstruction in the ankle also diseased forward and backward ligament of such as shin, LARS artificial ligaments pair There is very big deficiency in the applicability of these situations.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of ankle-joint artificial ligaments.
According to ankle-joint artificial ligament provided by the invention, comprising cardinal ligament, cardinal ligament in axial direction in both ends at least Furcation is provided on one end, the furcation includes multiple bifurcated ligaments;
Multiple bifurcated ligaments are separated from each other;Alternatively,
At least there are two bifurcated ligaments in multiple bifurcated ligaments in detached position and to make a match state both states Between convert:
Under the detached position, multiple bifurcated ligaments are kept completely separate or are partially separated on length extending direction;
Described to make a match under state, multiple bifurcated ligaments are connected with each other on length extending direction.
Preferably, multiple furcations form single order furcation and second order furcation;
Single order furcation includes multiple single order bifurcated ligaments, and the second order bifurcation is in any one or appoints multiple single orders point Ligament is pitched along length extending direction both ends, on the other end with respect to end where cardinal ligament.
Preferably, furcation is also comprising engaging portion, the Y-shaped structure of furcation;
Multiple bifurcated ligaments form the first bifurcated ligament and the second bifurcated ligament, the first bifurcated ligament and the second bifurcated ligament One end in an axial direction is connected with engaging portion.
Preferably, also comprising drawing line, drawing line is threaded through on multiple bifurcated ligaments the furcation;
Described to make a match under state, multiple bifurcated ligaments are stitched together by drawing line;
Under the disassembly status, drawing line completely or partially disconnects, and is separated from each other between multiple bifurcated ligaments.
Preferably, elastomer is additionally provided on furcation, the elastomer passes sequentially through first on length extending direction Bifurcated ligament, engaging portion, the second bifurcated ligament;
After the drawing line is all off, elastomer is in release conditions.
Preferably, sliding slot is additionally provided on the furcation, the elastomer slip is threaded through in sliding slot;
Described to make a match under state, sliding slot shape is U-shaped;Elastomer shape matches with sliding slot shape.
Preferably, shape is flat;Flat ankle-joint artificial ligament is solid construction or hollow-core construction;
The ankle-joint artificial ligament of hollow-core construction it is hollow in be provided with self tendon.
Preferably, the cardinal ligament is provided with holes with the end of bifurcated ligament along its length;
It is described it is with holes in be equipped with draught line.
Preferably, at least there are two bifurcated ligament width are unequal;
Furcation also comprising being buckled, is connected by a snap between the bifurcated ligament, real by the fastening and dismounting of buckle Existing bifurcated ligament is converted in detached position and making a match between state both states.
Preferably, it is made of following any or multiple material:
--PET;
-- nylon;
-- ultra-high molecular weight polyethylene;
-- silk-fibroin.
Compared with prior art, the present invention has following advantageous effect:
1st, it is tough to draw more furcation areas by the setting of furcation from cardinal ligament for ankle-joint artificial ligament provided by the invention Band can adapt to the reconstruction of multiple ligaments on ankle-joint, while can also select the bifurcated ligament of different in width according to demand.
2nd, bifurcated ligament is banded structure under state of making a match, convenient to be penetrated from osseous tunnel, can under detached position Multiple ligaments are repaired.
3rd, elastomer and sliding slot are provided on ankle-joint artificial ligament, after cutting drawing line, bifurcated ligament is in elastomer It is automatically separated under effect;In addition elastomer can be slided along sliding slot, and ankle-joint artificial ligament is therefore with more adjustment spaces.
4th, for the ankle-joint artificial ligament of flat, hollow shape, you can be used alone and possess enough mechanical strengths with Porosity can also wrap up self tendon in hollow the inside, promote merging between ankle-joint artificial ligament and tissue.
5th, the fork degree in the present invention between bifurcated ligament can be adjusted quickly;Ligament overall surface is smooth, prevents from cutting Hinder perienchyma.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention, Objects and advantages will become more apparent upon:
Fig. 1 is LARS artificial ligament scheme of installation;
Fig. 2 is a kind of structure diagram of pattern of ankle-joint artificial ligament provided by the invention;
Fig. 3 is the structure diagram of ankle-joint artificial ligament another kind pattern provided by the invention;
Bifurcated ligament is all stitched together schematic diagram by Fig. 4 for drawing line;
Fig. 5 is cut rear ankle-joint artificial ligament schematic diagram for drawing line part;
Fig. 6 is all cut rear ankle-joint artificial ligament schematic diagram for drawing line;
Fig. 7 is elastomer and sliding groove structure schematic diagram;
When Fig. 8 is that elastic ankle-joint artificial ligament is stretched, elastomer slides schematic diagram in sliding slot;
Fig. 9 is the ankle-joint artificial ligament schematic diagram comprising single order furcation Yu second order furcation.
It is shown in figure:
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this field For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention Protection domain.
In the description of the present invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " perpendicular Directly ", the orientation of the instructions such as " level ", " top ", " bottom ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position Relationship is put, be for only for ease of the description present invention and simplifies description rather than instruction or implies that signified device or element are necessary With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Ankle-joint artificial ligament provided by the invention includes cardinal ligament 1, the in axial direction at least one end in both ends of cardinal ligament 1 On be provided with furcation 2, the furcation 2 includes multiple bifurcated ligaments 3.As shown in Figure 2 and Figure 3, in embodiment, in the present invention Cardinal ligament 1 is provided with furcation 2 in one end of length direction, and furcation 2 is again comprising the first bifurcated ligament 4 and the second bifurcated ligament 5 the two bifurcated ligaments 3, the first bifurcated ligament 4 are separated from each other with the second bifurcated ligament 5, that is to say, that the whole present invention is in Y Shape.With holes 10 are both provided in the end of cardinal ligament 1, the first bifurcated ligament 4 and the second bifurcated ligament 5, is worn in holes 10 There is a draught line 11, in surgical procedure, 11 one side of draught line can involve the present invention from osseous tunnel, on the other hand by Y shape It draws to surgery location each end of ankle-joint artificial ligament.
As shown in Figures 4 to 6, in change case, also comprising engaging portion 6, engaging portion 6 is connected furcation 2 with cardinal ligament 1, point Fork 2 itself be Y-shaped structure, the one end of 4 and second bifurcated ligament 5 of the first bifurcated ligament in an axial direction with engaging portion 6 It is connected.Stitched together by drawing line 7 between first bifurcated ligament 4 and the second bifurcated ligament 5, which can be common Suture or flexible line, in use, drawing line 7 needs part to cut or all cut according to operation.Drawing line 7 setting so that can be converted between state both states in detached position and making a match between the bifurcated ligament 3 of furcation 2: Under the detached position, two bifurcated ligaments 3 are stitched together by drawing line 7, that is to say, that bifurcated ligament 3 is in length extension side It is connected with each other upwards, the whole present invention is in "-" type structure;Under the disassembly status, drawing line 7 is all or part of by tip, and two A bifurcated ligament 3 is partially separated or is totally separated on length extending direction.In general, shearing operation is carried out to drawing line 7 When, first cut off the drawing line 7 positioned at 3 end of bifurcated ligament so that 3 end of bifurcated ligament is separated from each other.Preferably, bifurcated ligament It is can also be between 3 using what is snapped connection, bifurcated ligament 3 is completed in detached position with leading with dismounting by the fastening of buckle Conversion between both states of conjunction state.
To cause 3 end of bifurcated ligament natural separation after drawing line 7 is cut, elasticity is additionally provided on furcation 2 Body 8, the elastomer 8 pass sequentially through the first bifurcated ligament 4, engaging portion 6, the second bifurcated ligament 5 on length extending direction, such as Shown in Fig. 4, when drawing line 7 is not cut, elastomer 8 takes the shape of the letter U, and in elastic deformation;As shown in figure 5, when drawing line 7 When part is cut, two ends of elastomer 8 are relatively distant under the action of screen resilience and so that two bifurcated ligaments 3 are opposite It opens;As shown in fig. 6, drawing line 7 is all cut, elastomer 8 is also automatic to be restored to release conditions, at this point, elastomer 8 is into V Shape, entire ankle-joint artificial ligament become Y shape.Additionally by the setting of elastomer 8, stress is avoided all to concentrate on what is do not cut On drawing line 7.Preferably, the elastomer 8 is integrally located at the inside of furcation 2, and 2 outer surface of furcation is smooth structure, is prevented Only hurt perienchyma.In actual use, if be fixedly connected between bifurcated ligament 3 and elastomer 8, elastomer 8 It deforms, bifurcated ligament 3 will will appear corrugated defect, therefore, sliding slot 9, elastomer 8 are additionally provided on furcation 2 Slip is threaded through in sliding slot 9, described to make a match under state, and 9 shape of sliding slot is U-shaped, and 8 shape of elastomer matches with 9 shape of sliding slot. As shown in Figure 7, Figure 8, the setting of sliding slot 9, on the one hand enable to elastomer 8 deform when, prevent bifurcated ligament 3 involved and Corrugation;On the other hand, there are certain elasticity in itself for ankle-joint artificial ligament, will not when ankle-joint artificial ligament is axially stretched By the constraint of elastomer 8.
As shown in figure 9, due at model of human ankle ligament quantity it is more, there is also differences for size, tough in order to enhance ankle-joint Applicable surface with reconstruction operations, present invention employs the structures of multistage furcation 2:Multiple furcations 2 form single order furcation 12 With second order furcation 13, single order furcation 12 includes multiple single order bifurcated ligaments 14, and the second order furcation 13 is located at any one Or appoint multiple single order bifurcated ligaments 14 along length extending direction both ends, on the other end with respect to 1 place end of cardinal ligament.In addition, For existing multiple bifurcated ligaments 3, at least there are two 3 width of bifurcated ligament are unequal.Either need in this way to one, Two or more root ligaments are rebuild, and the present invention can separate the ligament bifurcated of respective numbers;It and can be according to ligament weight Required width is built to select suitable ligament bifurcated, for extra ligament bifurcated, is wiped out.Preferably for one A furcation 2 can also separate the bifurcated ligament 3 of three or more.Preferably, multiple furcations 2 can also continue to form three ranks Furcation, quadravalence furcation etc., convenient for more ligaments are carried out with reconstruction reparation simultaneously, but manufacture difficulty can accordingly increase. Preferably, 3 width of bifurcated ligament on same furcation 2 can also be equal.
As shown in Figure 2 and Figure 3, integrally in flat pattern, the ankle of flat pattern closes ankle-joint artificial ligament provided by the invention It can be solid or hollow to save artificial ligament:For solid construction, mechanical strength can be protected adequately Card;And for hollow-core construction, it is sutured convenient for cutting, while mechanical strength is ensured, also with certain porosity, Er Qiekong It can be coated with self tendon inside core structure, be conducive to growing into for tissue, increase ankle-joint artificial ligament fusion speed With syncretizing effect.The present invention is sewed by yarn, and the material of yarn is following any or appoints a variety of:PET;Nylon;It is super High molecular weight polyethylene;Silk-fibroin.Advantage using ankle-joint artificial ligament made of multiple material is, the drop of multiple material It solves rate and there is difference, when the relatively fast material of one of which degradation rate is degraded, tissue is stayed after growing into degradation Under gap in, and the relatively slow material of another degradation rate then still can effectively provide intensity support.Preferably, originally The length for inventing each ligament bifurcated in the ankle-joint artificial ligament provided is determined according to human body ligament Morphologic Parameters, right In the Morphologic Parameters of preceding ligament of talocrural joint and calcaneofibular ligament (unit as shown in the table:mm):
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase Mutually combination.

Claims (10)

1. a kind of ankle-joint artificial ligament, which is characterized in that comprising cardinal ligament (1), cardinal ligament (1) in axial direction in both ends extremely Furcation (2) is provided on few one end, the furcation (2) includes multiple bifurcated ligaments (3);
Multiple bifurcated ligaments (3) are separated from each other;Alternatively,
At least there are two bifurcated ligaments (3) in multiple bifurcated ligaments (3) in detached position and to make a match state both shapes It is converted between state:
Under the detached position, multiple bifurcated ligaments (3) are kept completely separate or are partially separated on length extending direction;
Described to make a match under state, multiple bifurcated ligaments (3) are connected with each other on length extending direction.
2. ankle-joint artificial ligament according to claim 1, which is characterized in that multiple furcations (2) form single order bifurcated Portion (12) and second order furcation (13);
Single order furcation (12) includes multiple single order bifurcated ligaments (14), and the second order furcation (13) is positioned at any one or appoints more A single order bifurcated ligament (14) is along length extending direction both ends, on the other end with respect to end where cardinal ligament (1).
3. ankle-joint artificial ligament according to claim 1, which is characterized in that furcation (2) also includes engaging portion (6), The Y-shaped structure of the furcation (2);
Multiple bifurcated ligaments (3) form the first bifurcated ligament (4) and the second bifurcated ligament (5), the first bifurcated ligament (4) and second The one end of bifurcated ligament (5) in an axial direction is connected with engaging portion (6).
4. ankle-joint artificial ligament according to claim 3, which is characterized in that the furcation (2) also includes drawing line (7), drawing line (7) is threaded through on multiple bifurcated ligaments (3);
Described to make a match under state, multiple bifurcated ligaments (3) are stitched together by drawing line (7);
Under the disassembly status, drawing line (7) completely or partially disconnects, and is separated from each other between multiple bifurcated ligaments (3).
5. ankle-joint artificial ligament according to claim 4, which is characterized in that furcation is additionally provided with elastomer on (2) (8), it is tough to pass sequentially through the first bifurcated ligament (4), engaging portion (6), the second bifurcated on length extending direction for the elastomer (8) Band (5);
After the drawing line (7) is all off, elastomer (8) is in release conditions.
6. ankle-joint artificial ligament according to claim 5, which is characterized in that be additionally provided with cunning on the furcation (2) Slot (9), the elastomer (8) are slided and are threaded through in sliding slot (9);
Described to make a match under state, sliding slot (9) shape is U-shaped;Elastomer (8) shape matches with sliding slot (9) shape.
7. ankle-joint artificial ligament according to claim 1, which is characterized in that shape is flat;Flat ankle closes It is solid construction or hollow-core construction to save artificial ligament;
The ankle-joint artificial ligament of hollow-core construction it is hollow in be provided with self tendon.
8. ankle-joint artificial ligament according to claim 7, which is characterized in that the cardinal ligament (1) and bifurcated ligament (3) End along its length is provided with (10) with holes;
Draught line (11) is equipped in (10) with holes.
9. ankle-joint artificial ligament according to claim 1, which is characterized in that at least wide there are two bifurcated ligaments (3) It spends unequal;
Furcation (2) also comprising being buckled, is connected by a snap, fastening and dismounting by buckle between the bifurcated ligament (3) Realize that bifurcated ligament (3) is converted in detached position and making a match between state both states.
10. ankle-joint artificial ligament according to claim 1, which is characterized in that by following any or multiple material It is made:
--PET;
-- nylon;
-- ultra-high molecular weight polyethylene;
-- silk-fibroin.
CN201711435957.9A 2017-12-26 2017-12-26 Ankle-joint artificial ligament Pending CN108125731A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112168439A (en) * 2020-08-17 2021-01-05 吉林大学 Rigid-flexible coupling bionic passive compliance ankle-foot prosthesis

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CN106726006A (en) * 2016-12-28 2017-05-31 广州迈普再生医学科技有限公司 Bionical ligament and bionical ligamentary system
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US4950293A (en) * 1988-09-02 1990-08-21 Beacon Jonathan P Prosthetic ligamentary device
EP1707127A1 (en) * 2005-03-30 2006-10-04 Arthrex Inc Looped high strength suture chain for knotless fixation
US20080200992A1 (en) * 2007-02-20 2008-08-21 Shriners Hospitals For Children In vivo hydraulic fixation including bio-rivets using biocompatible expandable fibers
CN101332134A (en) * 2008-07-15 2008-12-31 许和平 Preparation and use of I -type collagen artificial tendon, ligaments
CN102908211A (en) * 2012-10-15 2013-02-06 复旦大学附属华山医院 Integral annular suspension artificial ligament
CN104337590A (en) * 2013-07-31 2015-02-11 美多斯国际有限公司 Adjustable graft fixation device
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US20180014865A1 (en) * 2015-03-25 2018-01-18 Coracoid Solutions, Llc Joint repair system
CN105235302A (en) * 2015-11-06 2016-01-13 青岛阿斯顿工程技术转移有限公司 Bi-stable fusion carbon fiber enhanced composite material
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CN208864572U (en) * 2017-12-26 2019-05-17 复旦大学附属华山医院 Ankle-joint artificial ligament

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112168439A (en) * 2020-08-17 2021-01-05 吉林大学 Rigid-flexible coupling bionic passive compliance ankle-foot prosthesis

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