CN108433979A - Moxibustion device - Google Patents
Moxibustion device Download PDFInfo
- Publication number
- CN108433979A CN108433979A CN201810593872.1A CN201810593872A CN108433979A CN 108433979 A CN108433979 A CN 108433979A CN 201810593872 A CN201810593872 A CN 201810593872A CN 108433979 A CN108433979 A CN 108433979A
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- driver
- arm section
- rotary joint
- controller
- moxibustion
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- 206010053615 Thermal burn Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- 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
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a kind of moxibustion device, including manipulator, the manipulator includes sequentially connected pedestal, support tube, positioning plate and mechanical arm from the bottom up；The driver IV for driving positioning plate to be rotated as shaft using the axis of support tube is equipped in support tube；Mechanical arm includes the first arm section, the second arm section, third arm section and the grabbing device for capturing moxa stick；It is connected by rotary joint I between first arm section and the second arm section, the driver I for driving the second arm section to rotate is equipped in rotary joint I；It is connected by rotary joint II between second arm section and third arm section, the driver II for driving third arm section to rotate is equipped in rotary joint II；It is connected by rotary joint III between third arm section and grabbing device, the driver III for driving grabbing device to rotate is equipped in rotary joint III.The present invention can replace human hand to carry out moxa-moxibustion operation, and more moxa sticks can once be clamped and carry out moxa-moxibustion, while be treated to each keypoint part of patient.
Description
Technical field
The present invention relates to medical field more particularly to a kind of moxibustion devices.
Background technology
Moxa-moxibustion is widely used a kind of therapy in traditional medical, it is however generally that, when the position of moxa-moxibustion is in human body front
When, it can be carried out by hand-held moxa stick, or carried out by moxa-moxibustion box；But when moxa-moxibustion position is at the human body back side, a people is not
Oneself good operation, needs one people of neck to help to operate.For the first situation, positive moxa-moxibustion, oneself holds moxa stick moxa-moxibustion, is
One very arduous thing, or by the moxa-moxibustion of moxa-moxibustion box fixed position, moxa-moxibustion position is needed to bear the weight of moxa-moxibustion box, and
Because temperature is easy excessively high, needs the position for adjusting moxa-moxibustion box frequently or shield below moxa-moxibustion box.For the second situation,
It needs to add people's help moxa-moxibustion, a people can not do, and another person also easily scalds moxa-moxibustion person's in moxa-moxibustion
Skin.Therefore, above two moxa-moxibustion mode, it is all inconvenient.Moreover, a famous physician doctor, if taken time in moxa-moxibustion, just
The efficiency seen a doctor can be slowed down, cannot be more Case treatments.Manipulator is then a kind of certain actions that can imitate human hand and arm
Function, the automatic pilot of moxa stick or operation instrument is captured, carried by fixed routine, its main feature is that programming can be passed through
Completing various expected operations, constructing and having the advantage of people and machine respectively concurrently in performance.
Invention content
In order to solve the above-mentioned technical problem, the purpose of the present invention is to provide a kind of moxibustion devices, human hand can be replaced to carry out
Moxa-moxibustion operates, and more moxa sticks can once be clamped and carry out moxa-moxibustion, while being treated to each keypoint part of patient, and raising is controlled
Curative effect rate.
Moxibustion device provided by the invention, including manipulator, the manipulator include from the bottom up sequentially connected pedestal,
The quantity of support tube, positioning plate and mechanical arm, the mechanical arm is at least two and is set to positioning plate side by side；In the support tube
Equipped with the driver IV for driving positioning plate to be rotated as shaft using the axis of support tube；The mechanical arm includes the first arm
Section, the second arm section, third arm section and the grabbing device for capturing moxa stick, the first arm section are fixedly connected on positioning plate；Institute
It states and is connected by rotary joint I between the first arm section and the second arm section, is equipped in the rotary joint I for driving the second arm section
The driver I of rotation；It is connected by rotary joint II between the second arm section and third arm section, is set in the rotary joint II
It is useful for the driver II for driving third arm section to rotate；Pass through III phase of rotary joint between the third arm section and grabbing device
Even, the driver III for driving grabbing device to rotate is equipped in the rotary joint III；The driver I, it driver II, drives
Dynamic device III and driver IV are connected to controller and are controlled by controller and opened and closed.
The grabbing device includes connecting cylinder, mounting bracket and two pieces of clamping plates being actively installed on the outside of mounting bracket, the connection
Cylinder is connected with rotary joint III, and the mounting bracket is connected with connecting cylinder；Two clamping plates are oppositely arranged and can be fixed on installation
It is moved toward one another under the driving of the driver V of frame and treats crawl moxa stick and be clamped, the driver V is connected to controller simultaneously
It is controlled and is opened and closed by controller.
The driver VI for driving mounting bracket to rotate is equipped in the connecting cylinder, the driver VI is connected to controller
And it is controlled and is opened and closed by controller.
Preferably, the driver I, driver II and driver III are steering engine structure.
Preferably, the mounting bracket is equipped with the camera for real-time image acquisition information, the camera and control
Device is connected.
Preferably, the clamping plate is equipped with for acquiring clamping plate in real time and being crawled the pressure biography of relative pressure between moxa stick
Sensor, the pressure sensor are connected with controller.
Preferably, further include a host computer, the controller is communicated by transmitter and host computer.
Preferably, further include a host computer, the controller is communicated by transmitter and host computer.
Preferably, the host computer is computer；The computer includes host, display and fixation equipped with processor
Seat；The control device is electrically connected with processor；The front side of the display is equipped with display screen, and the fixed seat includes bottom
Seat and the strut for being vertical at pedestal, the top surface of the strut upwardly extend to form extension rod, and the bar diameter of the extension rod is less than
The bar diameter of strut, the extension rod are arranged with a bearing outside, and the bearing outside is equipped with a turntable, and the lateral surface of the turntable is solid
Surely it is connected with " L " the shape bar for being connect with display；The rear side of the display is equipped with the slot being adapted to " L " shape bar,
" L " the shape bar is inserted into from slot and is connected with display.
Preferably, further include limited block, the vessel of indent is equipped in the middle part of the bottom surface of the limited block, the extension rod is coaxial
It stretches into vessel and is axially movable；The bottom surface of the limited block is located at four side of vessel and is additionally provided with circumferential equally distributed limit
Bar, is equipped in the turntable and each gag lever post is correspondingly for gag lever post is inserted into altogether limit duct.
Preferably, the gag lever post is equipped with hoodle, and the arc groove being adapted to hoodle is equipped in the limit duct；It is described
Compression spring is equipped between the top and vessel closed end of gag lever post.
The present invention has following advantageous effects：
First, moxibustion device of the invention, grabbing device captures moxa stick, then by the rotation of positioning plate and each arm section,
The upper and lower position all around of grabbing device can arbitrarily be adjusted, you can be arbitrarily adjusted on a large scale needed for suitable patient
Position can replace human hand to carry out moxa-moxibustion operation, save vast resources and the time of medical worker, changed after lighting moxa stick
Existing manual or simple device carries out the present situation of moxa stick burning, is not easy moxa-moxibustion especially suitable for patient positions, it is necessary to cure
The case where position of the hand-held moxa-moxibustion of shield personnel or patient cannot keep a kind of posture for a long time；
Second, moxibustion device of the invention, mechanical arm can be arranged multiple, therefore more moxa sticks can once be clamped, and adjust
The position of different moxa sticks carries out moxa-moxibustion, so as to be treated simultaneously to each keypoint part of patient, effectively increases treatment effect
Rate.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the structural schematic diagram of the manipulator of the present invention；
Fig. 3 is the structural schematic diagram of the host computer of the present invention.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1 to Figure 3：The moxibustion device of the present embodiment, including manipulator, the manipulator include from the bottom up according to
The quantity of pedestal 1, support tube 2, positioning plate 3 and the mechanical arm of secondary connection, the mechanical arm is at least two and side by side set on fixed
Position plate 3；The driver IV for driving positioning plate 3 to be rotated as shaft using the axis of support tube 2 is equipped in the support tube 2
44；The mechanical arm includes the first arm section 51, the second arm section 52, third arm section 53 and the grabbing device for capturing moxa stick, institute
It states the first arm section 51 and is fixedly connected on positioning plate 3；Pass through rotary joint I61 phases between the first arm section 51 and the second arm section 52
Even, the driver I41 for driving the second arm section 52 to rotate is equipped in the rotary joint I61；The second arm section 52 and
It is connected by rotary joint II 62 between three arm sections 53, is equipped in the rotary joint II 62 for driving third arm section 53 to rotate
Driver II 42；It is connected by rotary joint III 63 between the third arm section 53 and grabbing device, the rotary joint III
The driver III 43 for driving grabbing device to rotate is equipped in 63；The driver I41, driver II 42, driver III 43
And driver IV 44 is connected to a controller 7 and is controlled by controller 7 and opened and closed.
Pedestal 1 can be rosette structure, this manipulator can be connected to other mobile devices or fixation by pedestal 1
In equipment；Support tube 2 is connected perpendicular to pedestal 1, top with positioning plate 3；Driver IV 44 may be, for example, electric rotating machine, rotation
The output end of motor is connected with the center of positioning plate 3, the rotation in surface that positioning plate 3 can be driven to be parallel to horizontal plane one；It is fixed
Position plate 3 can be long plate structure, and two mechanical arms are symmetrically set in positioning plate 3；Certainly, the quantity of mechanical arm can also increase as needed
If but at least two；First arm section 51, the second arm section 52 and third arm section 53 are hinged successively, in the effect of respective actuator
Under can occur fold, stretching, extension, grabbing device is moved to moxa stick position to be captured；Controller 7 may be, for example, microcontroller, such as
STM32 SCM systems；Driver I41, driver II 42 and driver III 43 are both preferably steering engine structure.
Grabbing device captures moxa stick, then by the rotation of positioning plate and each arm section, grabbing device all around up and down
Position can arbitrarily be adjusted, you can arbitrarily be adjusted to suitable patient desired position on a large scale, lighting can generation after moxa stick
Moxa-moxibustion operation is carried out for human hand, has saved vast resources and the time of medical worker, change existing manual or is simply set
The standby present situation for carrying out moxa stick burning, is not easy moxa-moxibustion especially suitable for patient positions, it is necessary to which medical staff holds the position of moxa-moxibustion
Or patient cannot keep a kind of the case where posture for a long time；Mechanical arm can be arranged multiple, therefore more moxa sticks can once be clamped, and
The position for adjusting different moxa sticks carries out moxa-moxibustion, so as to be treated simultaneously to each keypoint part of patient, effectively increases and controls
Curative effect rate.
In the present embodiment, the grabbing device includes that connecting cylinder 81, mounting bracket 82 and two pieces are actively installed on outside mounting bracket 82
The clamping plate 83 of side, the connecting cylinder 81 are connected with rotary joint III 63, and the mounting bracket 82 is connected with connecting cylinder 81；Two folders
Plate 83 is oppositely arranged and can be moved toward one another under the driving for the driver V for being fixed on mounting bracket 82 and treat crawl moxa stick and carry out
Clamping, the driver V 45 are connected to controller 7 and are controlled by controller 7 and opened and closed；Driver V 45 can be electric machine structure,
It drives two clamping plates 83 to move synchronously by transmission component, clamping force, counter motion is formed to moxa stick when two clamping plates 83 move toward one another
When unclamp clamping to moxa stick；In addition, the driver VI 46 for driving mounting bracket 82 to rotate is equipped in the connecting cylinder 81,
The driver VI 46 is connected to controller 7 and is controlled by controller 7 and opened and closed；Driver VI 46 can be electric rotating machine, output
End is connected with mounting bracket 82, and driving mounting bracket 82 is rotated along the axis of connecting cylinder 81, is thus adjusted the angle of clamping plate 83, is suitable for
Moxa stick is clamped.
In the present embodiment, the mounting bracket 82 is equipped with the camera 91 for real-time image acquisition information, the camera shooting
Head is connected with controller 7, the case where camera 91 carries out moxa-moxibustion information feed back to controller 7, be easy to implement to grabbing device
Remote control or automatically control；In addition, the clamping plate 83 be equipped in real time acquire clamping plate 83 and be crawled moxa stick it
Between relative pressure pressure sensor 92, the pressure sensor 92 is connected with controller 7, to judge the clamping shape of clamping plate 83
State.
Further include the host computer of a peripheral hardware to realize remotely monitor and the control to each driver in the present embodiment, it is described
Controller 7 is communicated by transmitter 93 with host computer, and transmitter 93 is preferably wireless communication system；Host computer is computer；
The computer includes host 1010, display 1001 and fixed seat 1002 equipped with processor 1011；Transmitter 93 can pass through I/O
Interface is connected to processor 1011；The front side of the display 1001 is equipped with display screen 1003, and the fixed seat 1002 includes
Pedestal 1004 and the strut 1005 for being vertical at pedestal 1004, the top surface of the strut 1005 upwardly extend to form extension rod
1006, the bar diameter of the extension rod 1006 is less than the bar diameter of strut 1005, and a bearing 1007 is arranged with outside the extension rod 1006,
It is arranged with a turntable 1008 outside the bearing 1007, the lateral surface of the turntable 1008 is fixedly connected with one and is used for and display
" L " the shape bar 1009 of 1001 connections.Strut 1005 is arranged perpendicular to horizontal plane, preferably rod structure；Extension rod 1006 it is straight
Diameter can be the 1/3 of strut 1005；Bearing 1007 is cylinder rolling bearing；Display 1001 passes through " L " shapes bar 1009 be connected to turn
Disk 1008, turntable 1008 can be rotated using the axis of extension rod 1006 as shaft, so that display 1001 can rotate left and right
And adjusting position as needed.
In the present embodiment, the rear side of the display 1001 is equipped with the slot 1012 being adapted to " L " shape bar 1009, described
" L " shape bar 1009 is inserted into from slot 1012 and is connected with display 1001；Using this structure, convenient for display 1001 and admittedly
The connection of reservation 1002, convenient disassembly；Using this structure, be conducive to the stability for improving pedestal 1004.
In the present embodiment, further includes limited block 1014, the vessel 15 of indent is equipped in the middle part of the bottom surface of the limited block 1014,
The extension rod 1006 coaxially stretches into vessel 1015 and is axially movable；The bottom surface of the limited block 1014 is located at vessel 1,015 4
Side is additionally provided with circumferential equally distributed gag lever post 1016, is equipped in the turntable 1008 one-to-one with each gag lever post 1016
The limit duct 1017 being inserted into for total gag lever post 1016；The quantity of gag lever post 1016 can be 4-8 roots；Extension rod 1006, which is inserted into, to be held
Chamber 1015 forms positioning and guiding role to limited block 1014；After gag lever post 1016 is inserted into limit duct 1017, turntable 1008
It sets and fixes, to limit the position of display 1001；When needing to rotate turntable 1008, pulling up out gag lever post 1016 is
Can, it is easy to adjust reliable.
In the present embodiment, the gag lever post 1016 is equipped with hoodle 1018, is equipped in the limit duct 1017 and hoodle
The arc groove 1019 of 1018 adaptations；1018 part of hoodle is set in gag lever post 1016, and limit hole is gradually inserted in gag lever post 1016
During road 1017, hoodle 1018 by limit 1017 inner wall of duct extruding and it is radially contracted enter gag lever post 1016 in,
After gag lever post 1016 moves in place, the stretching of hoodle 1018 is placed into arc groove 1019, is limited to be formed to gag lever post 1016
Position effect, gag lever post 1016 needs larger upward pulling force that could pull out at this time；In addition, top and the appearance of the gag lever post 1016
It is equipped with compression spring 820 between 1015 closed end of chamber, reset response when gag lever post 1016 pulls out can be improved.
Finally illustrate, applying specific case herein, principle and implementation of the present invention are described, with
The explanation of upper embodiment is merely used to help understand the core idea of the present invention, without departing from the principles of the present invention, also
Can several improvements and modifications are made to the present invention, these improvement and modification are also fallen within the scope of the present invention.
Claims (8)
1. a kind of moxibustion device, it is characterised in that：Including manipulator, the manipulator includes sequentially connected base from the bottom up
The quantity of seat, support tube, positioning plate and mechanical arm, the mechanical arm is at least two and is set to positioning plate side by side；The support
The driver IV for driving positioning plate to be rotated as shaft using the axis of support tube is equipped in cylinder；The mechanical arm includes the
One arm section, the second arm section, third arm section and the grabbing device for capturing moxa stick, the first arm section are fixedly connected on positioning
Plate；It is connected by rotary joint I between the first arm section and the second arm section, is equipped in the rotary joint I for driving the
The driver I of two arm sections rotation；It is connected by rotary joint II between the second arm section and third arm section, the rotary joint
The driver II for driving third arm section to rotate is equipped in II；Pass through rotary joint between the third arm section and grabbing device
III is connected, and the driver III for driving grabbing device to rotate is equipped in the rotary joint III；The driver I, driver
II, driver III and driver IV are connected to controller and are controlled by controller and opened and closed；
The grabbing device includes connecting cylinder, mounting bracket and two pieces of clamping plates being actively installed on the outside of mounting bracket, the connecting cylinder with
Rotary joint III is connected, and the mounting bracket is connected with connecting cylinder；Two clamping plates are oppositely arranged and can be fixed on mounting bracket
It is moved toward one another under the driving of driver V and treats crawl moxa stick and be clamped, the driver V is connected to controller and by controlling
Device control processed opens and closes；
In the connecting cylinder be equipped with for drive mounting bracket rotate driver VI, the driver VI be connected to controller and by
Controller control opens and closes.
2. moxibustion device according to claim 1, it is characterised in that：The driver I, driver II and driver III are equal
For steering engine structure.
3. moxibustion device according to claim 2, it is characterised in that：The mounting bracket, which is equipped with, is used for real-time image acquisition
The camera of information, the camera are connected with controller.
4. moxibustion device according to claim 3, it is characterised in that：The clamping plate be equipped in real time acquire clamping plate with
It is crawled the pressure sensor of relative pressure between moxa stick, the pressure sensor is connected with controller.
5. moxibustion device according to claim 4, it is characterised in that：Further include a host computer, the controller passes through biography
Defeated device is communicated with host computer.
6. moxibustion device according to claim 5, it is characterised in that：The host computer is computer；The computer includes
Host, display equipped with processor and fixed seat；The control device is electrically connected with processor；The front side of the display
Equipped with display screen, the fixed seat includes pedestal and is vertical at the strut of pedestal, and the top surface of the strut upwardly extends shape
At extension rod, the bar diameter of the extension rod is less than the bar diameter of strut, and a bearing, the bearing outside are arranged with outside the extension rod
Equipped with a turntable, the lateral surface of the turntable is fixedly connected with " L " the shape bar for being connect with display；The display
Rear side is equipped with the slot being adapted to " L " shape bar, and " L " the shape bar is inserted into from slot and is connected with display.
7. moxibustion device according to claim 6, it is characterised in that：Further include limited block, in the bottom surface of the limited block
Portion is equipped with the vessel of indent, and the extension rod coaxially stretches into vessel and is axially movable；The bottom surface of the limited block is located at vessel
Four sides are additionally provided with circumferential equally distributed gag lever post, are equipped in the turntable with each gag lever post correspondingly for limiting altogether
The limit duct that bar is inserted into.
8. moxibustion device according to claim 7, it is characterised in that：The gag lever post is equipped with hoodle, the limit hole
The arc groove being adapted to hoodle is equipped in road；Compression spring is equipped between the top and vessel closed end of the gag lever post.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810593872.1A CN108433979B (en) | 2018-06-11 | 2018-06-11 | Moxibustion device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810593872.1A CN108433979B (en) | 2018-06-11 | 2018-06-11 | Moxibustion device |
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| CN108433979A true CN108433979A (en) | 2018-08-24 |
| CN108433979B CN108433979B (en) | 2021-02-02 |
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| CN201810593872.1A Active CN108433979B (en) | 2018-06-11 | 2018-06-11 | Moxibustion device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109431790A (en) * | 2018-09-24 | 2019-03-08 | 广州简随堂养生科技有限公司 | A kind of moxa-moxibustion mechanical arm and its moxibustion method |
| CN110339045A (en) * | 2019-08-09 | 2019-10-18 | 武汉芮海医疗科技有限公司 | A kind of vibration massage function and moxibustion robot device |
| CN110974686A (en) * | 2019-12-12 | 2020-04-10 | 中国科学院重庆绿色智能技术研究院 | Moxibustion robot system and control method of moxibustion robot system |
| CN112773982A (en) * | 2021-01-31 | 2021-05-11 | 浙江省中医院、浙江中医药大学附属第一医院（浙江省东方医院） | Crissum fumigation, washing and moxibustion integrated device |
| CN112957251A (en) * | 2021-02-01 | 2021-06-15 | 贵阳市云岩区人民医院 | Acupoint massage medicine stick for traditional Chinese medicine department |
| CN113648215A (en) * | 2021-07-08 | 2021-11-16 | 康民智美(成都)健康科技有限公司 | Physical therapy instrument |
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| CN109431790A (en) * | 2018-09-24 | 2019-03-08 | 广州简随堂养生科技有限公司 | A kind of moxa-moxibustion mechanical arm and its moxibustion method |
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| CN110974686A (en) * | 2019-12-12 | 2020-04-10 | 中国科学院重庆绿色智能技术研究院 | Moxibustion robot system and control method of moxibustion robot system |
| CN112773982A (en) * | 2021-01-31 | 2021-05-11 | 浙江省中医院、浙江中医药大学附属第一医院（浙江省东方医院） | Crissum fumigation, washing and moxibustion integrated device |
| CN112957251A (en) * | 2021-02-01 | 2021-06-15 | 贵阳市云岩区人民医院 | Acupoint massage medicine stick for traditional Chinese medicine department |
| CN112957251B (en) * | 2021-02-01 | 2022-06-24 | 贵阳市云岩区人民医院 | Acupoint massage medicinal stick for traditional Chinese medicine department |
| CN113648215A (en) * | 2021-07-08 | 2021-11-16 | 康民智美(成都)健康科技有限公司 | Physical therapy instrument |
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