CN108652803A - A kind of multidimensional lumbar traction rehabilitation robot - Google Patents
A kind of multidimensional lumbar traction rehabilitation robot Download PDFInfo
- Publication number
- CN108652803A CN108652803A CN201810238188.1A CN201810238188A CN108652803A CN 108652803 A CN108652803 A CN 108652803A CN 201810238188 A CN201810238188 A CN 201810238188A CN 108652803 A CN108652803 A CN 108652803A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- bed body
- robot
- upper bed
- lumbar
- 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.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of multidimensional lumbar traction rehabilitation robots, including the control of upper bed body and its attachment, lower bed body and its attachment, elevation mount, lateral bending device, turnover device, longitudinal tensile fixture, support component, physical therapy component, computer and acquisition system；It can be controlled under the control with acquisition system in computer, the lumbar traction of pitching, lateral bending, overturning and longitudinal stretching four dimensions is realized respectively, comprehensive rehabilitation can be carried out to lumbar disc disease patient, coordinate a variety of rehabilitation treatment procedures, the present invention that can greatly shorten the rehabilitation duration of lumbar disc disease.
Description
【Technical field】
The present invention relates to rehabilitation medical robot field more particularly to a kind of multidimensional lumbar traction rehabilitation robots.
【Background technology】
Lumbar muscle strain, also known as functional pain in the back, chronic lower lumbar injury, lumbar and breech myofacia inflammation etc., actually waist muscle and its
The chronic traumatic inflammation of attachment point fascia or periosteum, is one of common cause of pain in the back, and cardinal symptom is that waist or lumbosacral region are swollen
Bitterly, ache, recurrent exerbation, pain can change with climate change or tired degree, such as tired in the daytime to aggravate, and can mitigate after rest
When it is light when weight, be common clinical, frequently-occurring disease, pathogenic factors is more.It accumulates over a long period, and can make myofibrosis, even on a small quantity
Tearing forms scar, fiber rope item or adhesion, leaves long-term chronic lumbago.Currently, clinical primary treatments have drug
Treatment, drawing method, massage, Physical, minimally-invasive treatment.The treatment of traction treatment be by pelvic traction come increase intervertenral space it
Between width to for lumber ertebral disc internal pressure it is cumulative, have good effect to the compressing and stimulation that slow down nerve root.
But this kind of therapy has to carry out under the guidance of regular doctor, is otherwise easy to that the state of an illness is allowed to aggravate.However, doctor's quantity has
Limit and patient it is more when be just not easy that all patients is made all to obtain timely rehabilitation training, at this time if by medical machinery carry out health
It is multiple just to have the very big efficiency and effect for wishing to improve rehabilitation.With the continuous development of medical machinery, Many researchers utilize machinery
The achievement in research of the subjects such as, mechanics, electromagnetism, robotics, integrative medicine Theoretical Design go out new recovery training method.Health
Multiple medical robot can help patient to carry out science as a kind of automation rehabilitation medicine equipment and effective rehabilitation training comes
Restore the motion function of its damage location.Some patent achievements that have for lumbar vertebra rehabilitation treatment domestic at present, and these at
Fruit has definitely limitation, and the degree of freedom that can such as move is less, simulation doctor's therapeutic process scarce capacity, fixes and not enough puts down
Surely, it dresses not comfortable etc. enough.
【Invention content】
Present invention is generally directed to degenerate in lumbar sprain patient, lumbar function, lumbar vertebral injury restores, lumbar vertebrae or waist are postoperative
Restore, carries out Machine Design in conjunction with robotics, human cinology, ergonomics scheduling theory, it is proposed that a kind of multidimensional lumbar vertebrae
Traction recovering robot, the robot be first international full posture based on lumbar traction physiotherapy theory development, multi-angle,
The robot of the lumbar vertebra disease rehabilitation of accurate gentle force control traction.
In order to achieve the above object, technical solution proposed by the present invention is as follows：
A kind of multidimensional lumbar traction rehabilitation robot, which is characterized in that the robot includes upper bed body, lower bed body, support
Component, lateral bending device, elevation mount, longitudinal tensile fixture, physical therapy component, computer control and acquisition system, wherein
The upper bed body and lower bed body are respectively used to the chest and the lower part of the body of immobilized patients, and the support component is used to support institute
State robot；
The upper bed body bottom is fixed on one end of a rotatable shaft, and the other end of the rotatable shaft passes through axle sleeve machine
Structure, the lateral bending device include a cylinder, and one end of the cylinder is fixed on by pin framework in support component, and the other end passes through pin
Axis mechanism is connected to the other end of rotatable shaft, to which the lateral bending device is transported by the lateral bending of the flexible drive upper bed body of cylinder
It is dynamic；
The axle sleeve mechanism includes an axis for stretching to lower bed body direction, and the axle sleeve can cover in a sleeve
Rotation, the sleeve are hinged in support component in cylinder；
The turnover device includes a cylinder, which goes to bed for driving the axis of the axle sleeve mechanism to rotate to drive
The flip-flop movement of body；
The elevation mount includes a cylinder, which is used for band moving sleeve and is rotated around its hinge joint, gone to bed to drive
The pitching movement of body；
The longitudinal tensile fixture includes a cylinder, and the cylinder is for pulling the lower bed body in the supporting rod of support component
Longitudinal sliding motion；
The physical therapy component includes upper bed body component and lower bed body component, for realizing the physical therapy auxiliary treatment to patient；
Computer control and acquisition system can active control aforementioned four cylinder it is flexible, also can passive acquisition and recording four
The motion process of a cylinder later can be according to the database by collected motion process archival of information to database file
Four cylinders of document control stretch, to reappear the motion process of cylinder.
Preferably, it is assembled with a displacement sensor on each cylinder, the stroke of each cylinder, computer control can be detected
System controls the maximum displacement that each cylinder is stretched or contracts with acquisition system according to institute's displacement sensors.
Preferably, computer control can be according to lateral bending device, 3 cylinders of turnover device, elevation mount with acquisition system
Telescopic level, rotation angle A of the calculating patient's lumbar vertebrae in corresponding three directions1、A2、A3；Computer control with acquisition system into
Row real time monitoring, and judge whether following 4 formula true, i.e.,
A1<N1
A2<N2
A3<N3
(A1+A2+A3)<N4
Wherein, N1、N2、N3、N4All it is the threshold value being previously set, once finding above-mentioned 4 formula, there are one invalid, meters
Calculation machine control system resets entire robot immediately, and robot is restored to initial non-traction state.
Preferably, the threshold value is by factory settings default value, and can be by user's sets itself.
The solution have the advantages that：The movement of four degree of freedom may be implemented in the robot of the present invention, to lumbar disc disease
Patient can carry out comprehensive rehabilitation, coordinate a variety of rehabilitation treatment procedures, the present invention that can greatly shorten lumbar disc disease
Rehabilitation duration.
【Description of the drawings】
Attached drawing described herein is to be used to provide further understanding of the present invention, and is constituted part of this application, but
It does not constitute improper limitations of the present invention, in the accompanying drawings：
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is lateral bending schematic device of the present invention；
Fig. 3 and Fig. 4 is turnover device schematic diagram of the present invention；
Fig. 5 and Fig. 6 is elevation mount schematic diagram of the present invention；
Fig. 7 is longitudinal tensile fixture schematic diagram of the present invention.
【Specific implementation mode】
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says
It is bright to be only used for explaining the present invention, but it is not intended as inappropriate limitation of the present invention.
Referring to attached drawing 1, multidimensional lumbar traction rehabilitation robot of the invention includes upper bed body and its attached in overall structure
Part, lower bed body and its attachment, support component, lateral bending device, turnover device, elevation mount, longitudinal tensile fixture, physical therapy component,
Computer controls and acquisition system.In general, patient by the attachment (i.e. a kind of wearing formula device) of upper bed body by upper body chest
Portion is fixed on upper bed body, while being fixed on patient's lower part of the body by the attachment of lower bed body (and a kind of wearing formula device) and being left the bed
On body, support component is used to support entire robot (including upper bed body and lower bed body).Upper bed body is connected to elevation mount, lateral bending
Device and turnover device, for realizing that the pitching traction of patient's lumbar vertebrae stretches, lateral bending traction stretches and overturning traction stretches respectively；
Lower bed body connects longitudinal tensile fixture, is stretched for realizing the longitudinal traction of patient's lumbar vertebrae.Physical therapy component is divided into upper bed body component
With lower bed body component, the physical therapy auxiliary treatment to patient back is realized.Computer is controlled passes through human-machine operation circle with acquisition system
It is respectively controlled in face of lateral bending device, turnover device, elevation mount, longitudinal tensile fixture and motion pick.
Referring to attached drawing 2, the bottom of the upper bed body is fixed on a rotatable shaft, and rotatable shaft one end connection is gone to bed
Body, the other end pass through an axle sleeve mechanism, the axle sleeve mechanism to be fixed in support component.The lateral bending device includes one
Cylinder is mounted on the lower section of upper bed body, and cylinder barrel one end of cylinder is fixed on by pin framework in support component, and piston rod one end is logical
The lower section that pin framework is connected to rotatable shaft is crossed, when the cylinder of lateral bending device is flexible, by pin framework to rotatable shaft
Apply eccentric force so that rotatable shaft rotates, to drive the rotation (i.e. upper bed body lateral bending motions) of upper bed body.
Attached drawing 3 and attached drawing 4 show the turnover device and axle sleeve mechanism of the present invention, from attached drawing 4 as can be seen that the axis
Mechanism is covered in addition to the cube across above-mentioned rotatable shaft, and the also downward bed body direction of the cube has been fixedly connected with an axis, should
Axis is to be sleeved in a sleeve, and can be rotated in sleeve, and the sleeve is hinged in support component.The turnover device includes
Cylinder barrel one end of one cylinder, cylinder is fixed on by pin framework in support component, and piston rod one end is connected to by pin framework
On the axis of axle sleeve mechanism, therefore when the cylinder of turnover device is flexible, eccentric force is applied to above-mentioned axis by pin framework, to
So that above-mentioned axis rotation, drives the cube rotation of axle sleeve mechanism, since upper bed body is fixedly attached to rotatable shaft, rotatable shaft
Again through the cube, therefore the cubical rotation will drive the flip-flop movement of upper bed body.
Attached drawing 5 and attached drawing 6 show that the elevation mount of the present invention, the elevation mount include a cylinder and a connection
Part, the connector are fixedly attached on the sleeve of axle sleeve mechanism, and cylinder barrel one end of the cylinder of the elevation mount passes through pin machine
Structure is connected in support component, and piston rod one end is connected to by pin framework on the connector.When the cylinder of elevation mount is stretched
, will be with moving sleeve when contracting, since sleeve is hinged in support component, sleeve will be rotated centered on hinge joint, from
And make entire axle sleeve mechanism rotation, the final pitching movement for driving upper bed body.
Attached drawing 7 shows that the longitudinal tensile fixture of the present invention, the longitudinal tensile fixture include a cylinder, the cylinder of the cylinder
Cylinder one end is fixed on by pin framework in support component, and piston rod one end is connected to by pin framework in lower bed body, and under
Bed body is mounted on the supporting rod of support component by sliding bearing connection.Therefore, when the cylinder of longitudinal tensile fixture is flexible,
It pulls on lower bed body to slide on supporting rod, to carry out longitudinal movement.
The physical therapy component of the present invention is divided into upper bed body component and lower bed body component, is separately positioned on upper bed body and lower bed body
Surface, physical therapy component have heating function, can be carried out to body positions such as the backs of patient when patient carries out lumbar traction
Heat physical therapy.
In addition, the robot of the present invention further includes video player and music player, rehabilitation can be carried out in patient and controlled
When treatment, video and music are played, to help patient to loosen.
On the one hand computer control can be used in active control robot of the present invention four cylinders with acquisition system
It is flexible, it on the other hand can also be by the motion process of passive four cylinders of acquisition and recording of corresponding sensor, by collected fortune
Dynamic procedural information is archived in database file, later can be according to the flexible of the database file master cylinder, to reappear
The motion process of cylinder.
Flexible controlled by computer of four cylinders is controlled with acquisition system by man machine operation interface, can be completed pair
The flexible active Loading Control (directly controlling the movement of cylinder to draw patient's lumbar vertebrae) of cylinder, passive load information acquire (i.e.
When first being rotated to the patient's lumbar vertebrae being fixed in robot of the present invention by doctor, computer records being moved through for each cylinder
Journey), actively reproduction control is carried out to the information of acquisition, and (motion process for each cylinder that i.e. reproduction is recorded is to simulate controlling for doctor
Treatment process).
The course of work of the present invention is as follows：
When using healing robot of the invention, patient need to lie down on recovery bed, after position adjustment is suitable, will first suffer from
Person's chest is fixed on upper bed body, and waist and the lower part of the body are fixed in lower bed body, is rotated according to lumbar vertebra rehabilitation medical procedure by doctor
Patient, 4 cylinders of healing robot keep being servo-actuated state, and by computer acquisition and store the motion process of each cylinder.It will
After whole process acquisition finishes, active load is carried out according to 4 cylinders of collected information pair, reappears the rotation of healing robot
Process realizes the simulation to doctor's rehabilitation medical process.Loading frequency by adjusting cylinder can adjust rotation speed in medical treatment excessively
The speed of degree.When reusing, can rehabilitation medical directly directly be carried out according to the file achieved.
But for the sake of security, the hyper-traction for preventing user is assembled with a displacement sensing on each cylinder
Device, can detect the stroke of each cylinder, and computer control can control the maximum that each cylinder is stretched or contracts accordingly with acquisition system
Displacement, so as to control the amplitude of lumbar traction.Further, computer control can be filled with acquisition system according to lateral bending
Set, the telescopic level of 3 cylinders of turnover device, elevation mount, calculate patient's lumbar vertebrae corresponding three directions rotation angle
Degree, is set as A1、A2、A3；In order to ensure that safety, computer control system need to ensure that following 4 formula are set up jointly, i.e.,
A1<N1
A2<N2
A3<N3
(A1+A2+A3)<N4
Wherein, N1、N2、N3、N4All it is the threshold value being previously set, which can be by factory settings default value, can also be by
User's sets itself.Computer control system is monitored in real time, once it is invalid there are one above-mentioned 4 formula of discovery, then it stands
Entire robot is reset, robot is restored to initial non-traction state.
The above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application range,
The equivalent change or modification that feature and principle are done, is included within the scope of present patent application.
Claims (4)
1. a kind of multidimensional lumbar traction rehabilitation robot, which is characterized in that the robot includes upper bed body, lower bed body, support group
Part, lateral bending device, elevation mount, longitudinal tensile fixture, physical therapy component, computer control and acquisition system, wherein
The upper bed body and lower bed body are respectively used to the chest and the lower part of the body of immobilized patients, and the support component is used to support the machine
Device people；
The upper bed body bottom is fixed on one end of a rotatable shaft, and the other end of the rotatable shaft passes through axle sleeve mechanism.
The lateral bending device includes a cylinder, and one end of the cylinder is fixed on by pin framework in support component, and the other end passes through axis pin
Mechanism is connected to the other end of rotatable shaft, the lateral bending motions for passing through the flexible drive upper bed body of cylinder to the lateral bending device；
The axle sleeve mechanism includes an axis for stretching to lower bed body direction, and the axle sleeve, and can be in sleeve in a sleeve
Rotation, the sleeve are hinged in support component；
The turnover device includes a cylinder, and the cylinder is for driving the axis of the axle sleeve mechanism to rotate, to drive upper bed body
Flip-flop movement；
The elevation mount includes a cylinder, which is used for band moving sleeve and is rotated around its hinge joint, to drive upper bed body
Pitching movement；
The longitudinal tensile fixture includes a cylinder, and the cylinder is for pulling the lower bed body longitudinal on the supporting rod of support component
Sliding；
The physical therapy component includes upper bed body component and lower bed body component, for realizing the physical therapy auxiliary treatment to patient；
Computer control and acquisition system can active control aforementioned four cylinder it is flexible, also can four cylinders of passive acquisition and recording
Motion process later can be according to the database file by collected motion process archival of information to database file
Four cylinders of control stretch, to reappear the motion process of cylinder.
2. multidimensional lumbar traction rehabilitation according to claim 1 robot, which is characterized in that be assembled with one on each cylinder
A displacement sensor can detect the stroke of each cylinder, and computer control is with acquisition system according to institute's displacement sensors control
Make the maximum displacement that each cylinder is stretched or contracts.
3. the multidimensional lumbar traction rehabilitation robot according to claim 1-2, which is characterized in that computer controls and acquisition
System can according to lateral bending device, turnover device, elevation mount 3 cylinders telescopic level, calculate patient's lumbar vertebrae corresponding three
The rotation angle A in a direction1、A2、A3；Computer control is monitored in real time with acquisition system, and judges that following 4 formula are
No establishment, i.e.,
A1<N1
A2<N2
A3<N3
(A1+A2+A3)<N4
Wherein, N1、N2、N3、N4All it is the threshold value being previously set, once finding above-mentioned 4 formula, there are one invalid, computer controls
System processed resets entire robot immediately, and robot is restored to initial non-traction state.
4. multidimensional lumbar traction rehabilitation according to claim 3 robot, which is characterized in that the threshold value is by factory settings
Default value, and can be by user's sets itself.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810238188.1A CN108652803B (en) | 2018-03-22 | 2018-03-22 | Multi-dimensional lumbar traction rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810238188.1A CN108652803B (en) | 2018-03-22 | 2018-03-22 | Multi-dimensional lumbar traction rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108652803A true CN108652803A (en) | 2018-10-16 |
| CN108652803B CN108652803B (en) | 2020-11-13 |
Family
ID=63782004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810238188.1A Active CN108652803B (en) | 2018-03-22 | 2018-03-22 | Multi-dimensional lumbar traction rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108652803B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110859694A (en) * | 2019-08-30 | 2020-03-06 | 常州尚衡科技有限公司 | Intelligent physiotherapy equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2064224U (en) * | 1990-02-24 | 1990-10-24 | 杭州市中医院 | Multifunction treatment bed for massage and traction |
| CN2142710Y (en) * | 1993-01-06 | 1993-09-29 | 山东省医疗器械研究所 | Multi-orientation traction table |
| CN2309815Y (en) * | 1997-10-05 | 1999-03-10 | 宋根祥 | Tractor for traction bed |
| CN107296675A (en) * | 2017-06-12 | 2017-10-27 | 中山天愈医疗科技有限公司 | A kind of spine recovering machine people |
-
2018
- 2018-03-22 CN CN201810238188.1A patent/CN108652803B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2064224U (en) * | 1990-02-24 | 1990-10-24 | 杭州市中医院 | Multifunction treatment bed for massage and traction |
| CN2142710Y (en) * | 1993-01-06 | 1993-09-29 | 山东省医疗器械研究所 | Multi-orientation traction table |
| CN2309815Y (en) * | 1997-10-05 | 1999-03-10 | 宋根祥 | Tractor for traction bed |
| CN107296675A (en) * | 2017-06-12 | 2017-10-27 | 中山天愈医疗科技有限公司 | A kind of spine recovering machine people |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110859694A (en) * | 2019-08-30 | 2020-03-06 | 常州尚衡科技有限公司 | Intelligent physiotherapy equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108652803B (en) | 2020-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Chen et al. | State-of-the-art research in robotic hip exoskeletons: A general review | |
| CN101433491B (en) | Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof | |
| CN203861522U (en) | Wearable ankle rehabilitation training robot device | |
| CN106264987B (en) | It is a kind of to temper the convalescence device of shoulder mobility ability and arm independently firmly | |
| CN106618830A (en) | Single-lower-limb exoskeleton orthopedic apparatus and orthopedic control method | |
| CN104887456B (en) | A kind of wearing type upper limb recovery training device of Pneumatic artificial muscle driving | |
| CN103211694B (en) | Cervical vertebra recovery robot based on head self-weight traction principle | |
| CN106420260B (en) | It is a kind of can comprehensive autonomous trained upper limb body mobility rehabilitation seat | |
| Sui et al. | Design of a wearable upper-limb exoskeleton for activities assistance of daily living | |
| CN107296675B (en) | A kind of spine recovering machine people | |
| CN107507503B (en) | It is a kind of for train rotation handle method mechanical simulation apparatus | |
| CN105250113B (en) | A kind of wearable ankle rehabilitation medical robot of six degree of freedom | |
| CN106074071B (en) | A kind of patella ulnaris joint traction recovering robot and its traction angle adjustment mechanism | |
| CN104983547A (en) | Three-degree-of-freedom wearable ankle rehabilitation medical robot | |
| WO2018165413A1 (en) | Cable operated motion augmentation system and method | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| Lagoda et al. | Human-robot interfaces in exoskeletons for gait training after stroke: State of the art and challenges | |
| CN108852740A (en) | A kind of pneumatic upper limb rehabilitation robot | |
| CN104983544B (en) | A kind of wearable cervical vertebra rehabilitation medical robot | |
| CN109011404A (en) | Healing and training shoulder joint Medical Devices | |
| CN101181175B (en) | Device for healing and training elbow joint | |
| CN107753242A (en) | A kind of mirroring apparatus for alleviating wrist joint spasm | |
| CN111643789B (en) | Collaborative rehabilitation training device for sensory and motor dysfunction of upper limbs | |
| CN108652803A (en) | A kind of multidimensional lumbar traction rehabilitation robot | |
| CN209564377U (en) | A kind of care stand of Disease Control and Prevention Center's nursing with massage effect |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |