CN109044727A - The bionical arm of healing and training shoulder joint Medical Robot and the Medical Robot including it - Google Patents
The bionical arm of healing and training shoulder joint Medical Robot and the Medical Robot including it Download PDFInfo
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- CN109044727A CN109044727A CN201810836931.3A CN201810836931A CN109044727A CN 109044727 A CN109044727 A CN 109044727A CN 201810836931 A CN201810836931 A CN 201810836931A CN 109044727 A CN109044727 A CN 109044727A
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- arm
- arm axle
- healing
- shoulder joint
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- 238000012549 training Methods 0.000 title claims abstract description 138
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 80
- 230000035876 healing Effects 0.000 title claims abstract description 49
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 24
- 210000000707 wrist Anatomy 0.000 claims description 19
- 230000000694 effects Effects 0.000 abstract description 5
- 210000002310 elbow joint Anatomy 0.000 abstract description 3
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 17
- 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 description 14
- 238000011084 recovery Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 8
- 210000003205 muscle Anatomy 0.000 description 6
- 238000010009 beating Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007472 neurodevelopment Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
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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
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1245—Primarily by articulating the shoulder joint
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of bionical arm of healing and training shoulder joint Medical Robot is disclosed, the bionical arm of healing and training shoulder joint Medical Robot includes: driving arm axle, including big arm axle and small arm axle, the second end of small arm axle are slidably inserted in the first end of big arm axle；Training institution, including the scissor pair being set on small arm axle, it stretches and draws device and bidirectional electric push rod, scissor pair includes that two scissors being used cooperatively refer to, stretch the musculature for drawing device to be equivalent to elbow joint, it is provided for the elbow joint structure that big arm axle and small arm axle are formed and stretches motive force, driven arm axle and training institution to combine and form entire bionical arm configuration, bionical human body upper arm carries out healing and training shoulder joint to patient.The upper arm that the robot bionic arm can imitate human body carries out the training of various modes and mode to patient, and applied widely, training effect is good, improves Patient Experience.The present invention also provides a kind of healing and training shoulder joint Medical Robots with the bionical arm.
Description
Technical field
The present invention relates to intelligent rehabilitation technical field of medical equipment, cure more particularly, to a kind of healing and training shoulder joint
With robot bionic arm and including its Medical Robot.
Background technique
Rehabilitation training is an important means of medical science of recovery therapy, mainly restores patient's suffering limb by this method of training
Normal self-care function, makes the rehabilitation of handicapped person's physiology and psychology as far as possible with trained method, reaches therapeutic effect.With
The development of social progress and medicine, rehabilitation engineering receive universal attention.In current method of rehabilitation, health is moved
Refreshment white silk is one of effective method.Upper limb is important bodily fuctions' unit of people's production and living, and upper limb disorder, especially
It is that the dysfunction of shoulder joint takes place frequently, since shoulder joint carries the movement of entire human body arm, so that shoulder joint is for people
Movable and its important, and the quick recovery of the multiple Shoulder joint of modern society of body, needs by related recovery training appliance for recovery
It could effectively carry out.
Flexibility ratio is not good enough in structure design for existing shoulder joint rehabilitation trainer, and structure function is more single, so that instruction
Practice more single in the selection of mode and training method, can not be according to different patients the case where, and the different rehabilitation stages into
The suitable training of row, so that existing training aids trains smaller scope of application, undertrained training effect is not good enough comprehensively, and
And intelligence degree is not high, affects the usage experience of patient.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of bionical arm of healing and training shoulder joint Medical Robot, energy
The training that human body upper arm carries out various modes and mode to patient is enough imitated, it is applied widely, greatly improve shoulder rehabilitation instruction
Experienced level and effect, to solve problems of the prior art.
According to the first aspect of the invention, a kind of bionical arm of healing and training shoulder joint Medical Robot is provided, comprising:
Arm axle, including big arm axle and small arm axle, the second end of the small arm axle is driven to be rotationally connected with the big arm axle
First end on；
Training institution, including scissor it is secondary, stretch and draw device and bidirectional electric push rod, the scissor pair include first be used cooperatively
Scissor refers to be referred to the second scissor, and first scissor, which refers to, refers to that being shared shaft is rotatably set to the small arm axle with the second scissor
On the end of first end, first scissor, which refers to, to be referred to the second scissor and is respectively equipped with sliding slot in respective first end, described two-way
The outer cylinder of electric pushrod is fixed on the second end of the small arm axle, divides on the end of two telescopic rods of the bidirectional electric push rod
Not She You threaded hole, threaded, each threaded turn up and down, to be inserted into correspondence have been screwed on each threaded hole
Sliding slot in or be detached from sliding slot, be fixedly connected with the first connecting plate in the big arm axle first end, the first of the small arm axle
The end at end is equipped with the second connecting plate, and the first end of second connecting plate is rotationally connected with the first end of the small arm axle
On end,
Described stretch draws one end of device to be rotationally connected on first connecting plate, and described stretch draws the other end of device can be rotated
It is connected in the second end of second connecting plate, described stretch draws device that the relatively described big arm axle of small arm axle is driven to stretch drawing cunning
It is dynamic,
First scissor, which refers to, refers to that respective second end is equipped with wrist fixing sleeve with the second scissor, and the wrist fixing sleeve can
Rotation is set on corresponding scissor refers to,
Wherein, the driving arm axle and training institution are used cooperatively, and form the bionical arm configuration of human body.
Preferably, first connecting plate is L-shaped structure, including the first plate, and the be connected on first plate
Two plates,
Wherein, first plate is equipped with flange portion, for the large arm axis connection, and for the big arm axle the
One end end passes through,
Second plate is equipped with the first articulated section, for drawing one end of device to be rotatably connected with described stretch.
Preferably, second connecting plate is L-shaped structure, including the first plate, and is connected on first plate
The second plate,
Wherein, first plate is equipped with the second articulated section, for the large arm axis connection, on second plate
Equipped with third articulated section, for drawing the other end of device to be rotatably connected with described stretch.
Preferably, the big arm axle includes the first cylindrical portion, boss portion, the second cylindrical portion and the first articulated joint,
First cylindrical portion, boss portion, the second cylindrical portion and the first articulated joint are along the axial from the of the big arm axle
Two ends are set gradually to first end.
Preferably, the small arm axle includes the second articulated joint, mounting portion and third articulated joint,
Second articulated joint, mounting portion and third articulated joint are along the axial from second end to first end of the small arm axle
It sets gradually.
Preferably, second articulated joint with first articulated joint for being rotatably connected, and the mounting portion is for pacifying
Fill the scissor pair and bidirectional electric push rod.
Preferably, the threaded rod includes the body of rod and screws handwheel, and the body of rod includes axially from first end direction
The threaded portion and polished rod portion that second end is set gradually, the handwheel that screws is on the end of the threaded portion.
Preferably, the threaded portion is for screwing the threaded rod in the spiral shell of the corresponding telescopic rod of the bidirectional electric push rod
In pit, the polished rod portion refers in sliding slot for being inserted into corresponding scissor.
According to the second aspect of the invention, a kind of healing and training shoulder joint Medical Robot, Medical Robot tool are provided
There is the bionical arm of healing and training shoulder joint Medical Robot.
The utility model has the advantages that
The healing and training shoulder joint Medical Robot with bionical arm in the present invention, can imitate the upper arm of human body to trouble
Person carries out the training of various modes and mode, and patient can select patient's sitting and lying formula training mode and patient according to different training requirements
Vertical training mode both of which, and selection carry out passive exercise or active training, can make a variety of training in training
Movement, to carry out the comprehensive training of a variety of training methods to patient.The recovery exercising robot is applied widely, intelligent
Degree is high, can the comprehensive rehabilitation training of carry out such as muscle to shoulder joint and nerve, to greatly improve shoulder rehabilitation instruction
Experienced level and effect, and substantially increase Patient Experience.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present invention, above-mentioned and other purposes of the invention, feature and
Advantage will be apparent from.
Fig. 1-2 shows the bionical arm of healing and training shoulder joint Medical Robot according to an embodiment of the present invention with different view
Schematic perspective view.
Fig. 3 shows the top view of the bionical arm of healing and training shoulder joint Medical Robot according to an embodiment of the present invention.
It is medical that Fig. 4-5 shows the healing and training shoulder joint according to an embodiment of the present invention with bionical arm with different view
The schematic perspective view of robot.
Fig. 6 shows the vertical view of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
Figure.
It is medical that Fig. 7-8 shows the healing and training shoulder joint according to an embodiment of the present invention with bionical arm with different view
The schematic perspective view of the base assembly of robot.
Fig. 9 shows the hinged of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
The schematic perspective view of frame.
Figure 10-11 shows the healing and training shoulder joint doctor according to an embodiment of the present invention with bionical arm with different view
With the schematic perspective view of the mounting bracket of robot.
Figure 12-13 shows the healing and training shoulder joint doctor according to an embodiment of the present invention with bionical arm with different view
With the schematic perspective view of the rotating box of robot.
Figure 14-15 shows the healing and training shoulder joint doctor according to an embodiment of the present invention with bionical arm with different view
With the schematic perspective view of the big arm axle of the driving arm axle of robot.
Figure 16-17 shows the healing and training shoulder joint doctor according to an embodiment of the present invention with bionical arm with different view
With the schematic perspective view of the small arm axle of the driving arm axle of robot.
Figure 18-19 shows the healing and training shoulder joint doctor according to an embodiment of the present invention with bionical arm with different view
The schematic perspective view referred to the first scissor of the driving arm axle of robot.
Figure 20-21 shows the healing and training shoulder joint doctor according to an embodiment of the present invention with bionical arm with different view
The schematic perspective view referred to the second scissor of the driving arm axle of robot.
Figure 22 shows the of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
The schematic perspective view of one connecting plate.
Figure 23 shows the of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
The schematic perspective view of two connecting plates.
Figure 24-25 shows the healing and training shoulder joint doctor according to an embodiment of the present invention with bionical arm with different view
With the schematic perspective view of the bidirectional electric push rod of robot.
Figure 26 shows the spiral shell of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
The schematic perspective view of rasp bar.
Figure 27 shows the hand of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
The schematic perspective view of arm fixing sleeve.
Figure 28 shows the control of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
The schematic diagram of system processed.
In figure: base assembly 1, pedestal 11, support component 12, expansion bend 121, adjustable support leg 122, height adjustment electricity
Dynamic push rod 21, body cradle 22, pitching electric pushrod 23, it is rotating box 3, camera 31, perforation axis hole 32, mounting bracket 33, hinged
Plate 34, big arm axle 41, the first cylindrical portion 411, boss portion 412, the second cylindrical portion 413, the first articulated joint 414, small arm axle 42,
Two articulated joints 421, mounting portion 422, third articulated joint 423, training institution 5, the first scissor refer to that the 51, second scissor refers to 52, driving
Bar portion 501, connection bar portion 502, executes bar portion 503, pats bar portion 504, cushion 505, bidirectional electric push rod sliding slot 5011
53, push and pull motor 531, share shaft 54, wrist fixing sleeve 55, supporting bracket 551, binding strip 552, elastic component 56, threaded 57,
Threaded portion 571, polished rod portion 572 screw handle 573, stretch and draw device 58, the first connecting plate 581, the second connecting plate 582, driving motor
63, drive clutch 64, the first encoder 71, second encoder 72, processor 74, wireless data transmission module 75, without line number
According to receiving module 76, exterior terminal 100, bionical arm 1000.
Specific embodiment
The various embodiments that the present invention will be described in more detail that hereinafter reference will be made to the drawings.In various figures, identical element
It is indicated using same or similar appended drawing reference.For the sake of clarity, the various pieces in attached drawing are not necessarily to scale.
As shown in Figure 1 to Figure 3, the present invention provides a kind of bionical arm of healing and training shoulder joint Medical Robot, the bionical arm
Human body upper arm can be imitated, healing and training shoulder joint is carried out to patient.
It describes in detail below with reference to the concrete application of the bionical arm to the bionical arm, introduces to have first below and imitate
The healing and training shoulder joint Medical Robot of raw arm.
As shown in Fig. 1 to Figure 28, this has a healing and training shoulder joint Medical Robot of bionical arm, including pedestal 11, bows
Face upward mechanism, rotating box 3, driving arm axle and training institution 5.Driving arm axle is rotatably arranged on rotating box 3, and luffing mechanism is set to
On pedestal 11, it is used to support rotating box 3, and whole height adjustment and pitch angle adjusting are made to rotating box 3.Training institution 5 sets
In driving on arm axle, for carrying out the training of various modes and form to patient.
In the embodiment, drives arm axle and training institution to combine and form entire bionical arm configuration, the upper of human body can be imitated
Arm carries out the training of various modes and mode to patient, introduces in detail below.
With reference to Fig. 7 and Fig. 8, in order to increase stability when robot operation, the main part of pedestal 11 can be by cast iron
The bigger material of isodensity is made, and certainly, can also increase the weight of pedestal 11 by way of clump weight is arranged.Pedestal 11
Multiple universal wheels are equipped with, the universal wheel is the universal wheel with latch functions, in this way, may make the recovery exercising robot
It is easy to remove.Further, in order to increase the stability of pedestal 11, support component 12 is equipped on four end faces of pedestal 11,
Each support component 12 includes expansion bend 121 and adjustable support leg 122.Pedestal 11 and support component 12 form 11 assembly of pedestal
1.Each expansion bend 121 is horizontally disposed, and outer cylinder is fixed on 11 end face of pedestal, and adjustable support leg 122 is vertically arranged and revolves
It twists on the end of the telescopic rod of expansion bend 121, and can upper and lower turn.The robot is before use, by four support components 12
Expansion bend 121 stretches out, and 122 backspin of adjustable support leg is formed support construction to pedestal 11, to guarantee that the robot transports
Stability when row.
Luffing mechanism, including height adjustment electric pushrod 21, body cradle 22 and pitching electric pushrod 23, the height adjustment
The outer cylinder tail end of electric pushrod 21 is fixed on 11 assembly 1 of pedestal, and the body cradle 22 is U-shaped structure, the height
The end for adjusting the telescopic rod of electric pushrod 21 is fixedly connected with the body cradle 22, the outer cylinder tail of the pitching electric pushrod 23
End is rotationally connected on 11 assembly 1 of pedestal.The height adjustment electric pushrod 21 is for the whole high of the rotating box 3
Degree is adjusted, and the pitching electric pushrod 23 is used to adjust the pitch angle of the rotating box 3.The body cradle 22 is equipped with connection
Bar, one end of the connecting rod are connect with the body cradle 22, and the other end is equipped with attaching nut, described in the body cradle 22 warp
Attaching nut connect with the end of the telescopic rod of the height adjustment electric pushrod 21.
With reference to Figure 12 and Figure 13, rotating box 3 is rectangular parallelepiped structure, and two support arms of the open side of the body cradle 22 are distinguished
It is rotationally connected in the first side and second side of the rotating box 3, the first side and second side are oppositely arranged, and are turned
The bottom wall of dynamic case 3 is equipped with articulated slab 34, and it is hinged that the end of the telescopic rod of the pitching electric pushrod 23 is rotationally connected with this
On plate 34.Wherein, body cradle 22 is arranged close to the 4th side wall of rotating box 3, and the third side wall that articulated slab 34 is abutted against rotating box 3 is set
It sets.Perforation axis hole 32 is offered on rotating box 33, perforation axis hole 32 is through hole, the third of the 32 autorotation case 3 of perforation axis hole
Side is penetrated through to the 4th side.The both ends of perforation axis hole 32 are separately installed with bearing, form bearing pair, drive the big arm axle of arm axle
41 are supported in the bearing to upper and rotatable to case 3 is relatively rotated through the bearing.The roof of the rotating box 3 is equipped with camera shooting
First 31, for acquiring the image information of patient's training, and acquired image signal is transmitted to exterior terminal 100, thus real
Now to the monitoring of patient's training, such as realize the real time monitoring to patient's training, or long-range monitoring.
In the embodiment, human patient shoulder joint biomimetic features are formed between big arm axle 41 and rotating box 3.
Arm axle, including big arm axle 41 and small arm axle 42, the big arm axle 41 is driven rotatably to be arranged in the rotating box 3
On, the first end of the big arm axle 41 exposes the third side of the rotating box 3, described in the second end of the big arm axle 41 is exposed
4th side of rotating box 3, the third side and the 4th side are oppositely arranged and parallel to each other, the first side, third
Successively adjacent enclose is set as openning shape structure for side, second side and the 4th side, and the second end of the small arm axle 42 is slidably inserted
In the first end of the big arm axle 41.
Training institution 5, including scissor it is secondary, stretch and draw device 58 and bidirectional electric push rod 53, the scissor pair includes being used cooperatively
The first scissor refer to 51 and second scissor refer to 52, first scissor refer to 51 and second scissor refer to that 52 can be rotated through sharing shaft 54
On the end of the first end of the small arm axle 42, first scissor refer to 51 and second scissor refer in 52 respective first ends
It is respectively equipped with sliding slot 5011, the outer cylinder of the bidirectional electric push rod 53 is fixed on the second end of the small arm axle 42, described two-way
It is respectively equipped with threaded hole on the end of two telescopic rods of electric pushrod 53, has screwed threaded 57 on each threaded hole,
Each about 57 turn of the threaded, to be inserted into corresponding sliding slot 5011 or be detached from sliding slot 5011.
The first connecting plate 581, the end of the first end of the small arm axle 42 are fixedly connected in 41 first end of big arm axle
Head is equipped with the second connecting plate 582, and the first end of second connecting plate 582 is rotationally connected with the first of the small arm axle 42
It holds on end.Described stretch draws the first end of device 58 to be rotationally connected on first connecting plate 581, and described stretch draws the of device 58
Two ends are rotationally connected in the second end of second connecting plate 582, and described stretch draws device 58 to drive the small arm axle 42 opposite
It is dynamic that the big arm axle 41 stretches roping.
In the embodiment, stretches and device 58 is drawn to be selected as electric pushrod, be equivalent to the muscle groups of elbow joint between the big forearm of human body
It knits, roping is dynamic provides power for stretching between big arm axle 41 and small arm axle 42.First connecting plate 581 is L-shaped structure, including
First plate, and the second plate being connected on first plate, wherein first plate be equipped with flange portion, for it is described
Big arm axle 41 connects, and passing through for the big 41 first end end of arm axle, and second plate is equipped with the first articulated section,
For drawing the first end of device 58 to be rotatably connected with described stretch.Second connecting plate 582 is L-shaped structure, including the first plate,
And it is connected to the second plate on first plate, wherein first plate is equipped with the second articulated section, is used for and institute
Big arm axle 41 is stated to be rotatably connected, second plate be equipped with third articulated section, for it is described stretch draw device 58 second end
It is rotatably connected.The outer cylinder tail end of the electric pushrod and the first articulated section are hinged, the end of the telescopic rod of electric pushrod and third
Articulated section is hinged, and the second connecting plate 582 is articulated in the third articulated joint 423 of small arm axle 42 through its second articulated section.Described
One scissor refer to 51 and second scissor refer to that 52 respective second ends are equipped with wrist fixing sleeve 55, the wrist fixing sleeve 55 rotatably sets
On corresponding scissor refers to.Threaded 57 is arranged in parallel with shared shaft 54.
Referring to figs. 18 to Figure 21, specifically, the first scissor refer to 51 and second scissor refer to 52 substantially symmetrical structures.Two are cut
The interdigital driving bar portion 501 respectively included each other in same plane, connection bar portion 502 and execution bar portion 503, the connection
The connection with the driving bar portion 501 and execution bar portion 503 respectively of the both ends of bar portion 502, the driving bar portion 501 and execution bar
Portion 503 is set parallel to each other.The sliding slot 5011 is set in the driving bar portion 501, and along the length of the driving bar portion 501
Direction is spent to extend.Wherein, it is described execute bar portion 503 end on be additionally provided with pat bar portion 504, the beating bar portion 504 for pair
The shoulder joint of patient carries out beating massage, and described one end for patting bar portion 504 is connected in the execution bar portion 503, the other end
The relatively described execution bar portion 503 is bent, the relatively described driving bar portion 501 of the beating bar portion 504, connection bar portion 502 and execution
Common plane inclination predetermined angle setting where bar portion 503.The sliding slot 5011 is set in the driving bar portion 501, and edge
It is described driving bar portion 501 length direction extend.
In the embodiment, the opposite sides for drawing device 58 and bidirectional electric push rod 53 to be located at small arm axle 42 is stretched, pats bar
Portion 504, which is directed away from, stretches the direction bending for drawing device 58.Wherein, beating bar portion 504 and the angle α executed between bar portion 503 are
120 ° -155 °, it is selected as 150 ° herein.Further, the bottom for patting bar portion 504 is equipped with cushion 505, which can
It is made of such as medical grade rubber material, for realizing the shoulder joint flexible contact with patient.Wrist fixing sleeve 55, which is set to, pats bar
In portion 504.
Further, first scissor refer to 51 and second scissor refer to be separately connected in 52 execution bar portion 503 it is flexible
Part 56, the both ends of the elastic component 56 be connected to first scissor refer to 51 and second scissor refer on 52.The elastic component 56
For stretch cord, for providing load force when patient's active training.Distinguish quick-detachable connection in the both ends of the stretch cord
In first scissor refer to 51 and second scissor refer on 52 that specific quick release connection type can be to snap connection, can also
For hook connection.
With reference to Figure 26, the threaded rod includes the body of rod and screws handwheel, and the body of rod includes axially from first end court
The threaded portion 571 and polished rod portion 572 set gradually to second end screws handle 573 on the end of threaded portion 571, wherein
The threaded portion 571 is used to screw the threaded rod in the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod 53, institute
Polished rod portion 572 is stated for being inserted into the sliding slot 5011 that corresponding scissor refers to.
Further, which further includes the driving motor 63 being installed on the rotating box 3, and is driven
Dynamic clutch 64.The driving motor 63 is sequentially connected through the second end of the driving clutch 64 and the big arm axle 41,
In, the power output shaft of the driving motor 63 is connect with the power input shaft of the driving clutch 64, the driving clutch
The power output shaft of device 64 is connect with the second end of the big arm axle 41.Installation is fixed on 4th side wall of the rotating box 3
Bracket 33, the driving motor 63 are fixed on the 4th side wall of the rotating box 33 through the mounting bracket 33.The embodiment
In, it is connected between the power output shaft of the driving motor 63 and the power input shaft of the driving clutch 64 through shaft coupling,
It is connected between the power output shaft of the driving clutch 64 and the second end of the big arm axle 41 through shaft coupling.Drive clutch
64 are specifically selected as electromagnetic clutch, and driving motor 63 is chosen as the servo motor or stepper motor of included deceleration mechanism.
With reference to figs. 14 to Figure 17, in the embodiment, the big arm axle includes the first cylindrical portion, boss portion, the second cylindrical portion
With the first articulated joint, first cylindrical portion, boss portion, the second cylindrical portion and the first articulated joint along the big arm axle axial direction
It is set gradually from second end to first end.The small arm axle include the second articulated joint, mounting portion and third articulated joint, described second
Articulated joint, mounting portion and third articulated joint are set gradually along the axial of the small arm axle from second end to first end.Wherein, institute
The second articulated joint is stated for being rotatably connected with first articulated joint, the mounting portion is for installing the scissor pair and two-way
Electric pushrod.Third articulated joint is connect with third articulated section.Bidirectional electric push rod 53 is specifically chosen as bidirectional electric push rod, thus
Two telescopic rod is synchronized to stretch out towards two sides.
In the embodiment, along the extending direction of connection bar portion 502, the distance that shaft 54 arrives driving bar portion 501 is shared, with
It is 1:1.5-1:3.5 that shaft 54, which is shared, to the ratio between the distance between bar portion 503 is executed, such as is selected as 1:2, so that training airplane
When the bidirectional electric push rod 53 of structure 5 is within the scope of compared with little trick, it can realize that two scissors refer to biggish movable amplitude, realization is cut
Interdigital quick response, and make the structure of the recovery exercising robot more compact.
With reference to Figure 27, wrist fixing sleeve 55 includes supporting bracket 551 and binding strip 552,551 semicircular configurations of supporting bracket,
One end of binding strip 552 is connected on an end of support end, and the other end of binding strip 552 is equipped with the son patch of velcro,
The other end of supporting bracket 551 is equipped with the female patch of velcro, realizes the bondage to patients wrist portion by the cooperation of primary and secondary patch.
Supporting bracket 551 can be made of medical grade plastic materials, medical grade rubber material is equipped in inner ring, for realizing the flexibility with wrist portion
Contact.With its opposite periphery wall that is open equipped with shaft on supporting bracket 551, which is rotatably plugged in what corresponding scissor referred to
On the lateral surface for patting bar portion 504, and the shaft coaxial arrangement of two supporting brackets 551, the shaft of the supporting bracket 551 with two
The shared shaft 54 that scissor refers to is arranged substantially perpendicular to each other.
Figure 28 shows the control of the healing and training shoulder joint Medical Robot according to an embodiment of the present invention with bionical arm
The schematic diagram of system processed.As shown in figure 28, which includes processor 74, wireless data transmission module 75, wireless data
Receiving module 76, driving motor 63 are stretched and draw device 58, height adjustment electric pushrod 21, pitching electric pushrod 23, driving clutch
64, motor 531, the first encoder 71, camera 31 and second encoder 72 are pushed and pulled.Processor 74, wireless data transmission module
75 and wireless data receipt modules 76 be set to rotating box 3 in, access hole can be opened up on rotating box 3, the maintenance for electric-controlled parts.
In the embodiment, push-and-pull motor 531 is the driving device of bidirectional electric push rod 53, and number is one, and the push-and-pull motor 531 is logical
The transmission mechanism of its own is crossed to be driven, drives two telescopic rods flexible.First encoder 71 is installed on bidirectional electric push rod 53
On, for measuring the revolving speed and corner of push-and-pull motor 531.Second encoder 72 is installed on driving motor 63, for measuring
The revolving speed and corner of driving motor 63.Wireless data transmission module 75, driving motor 63, stretches drawing at wireless data receipt modules 76
Device 58, height adjustment electric pushrod 21, pitching electric pushrod 23, driving clutch 64, push-and-pull motor 531, the first encoder 71
It is electrically connected respectively with processor 74 with second encoder 72, wireless data transmission module 75 and wireless data receipt modules 76 divide
It is not electrically connected with exterior terminal 100, processor 74 is through wireless data transmission module 75 and wireless data receipt modules 76 and outside
Portion's terminal 100 realizes wireless telecommunications.The exterior terminal 100 can be any achievable channel radios such as mobile phone and tablet computer
The communication apparatus of news.First encoder 71 receives revolving speed and angular signal from motor, and is transmitted to processor 74, processor
74 be computed after obtain electric pushrod telescopic rod displacement and speed signal.Second encoder 72, which receives, comes from driving motor 63
Revolving speed and angular signal, and be transmitted to processor 74, processor 74 obtains revolving speed and the rotation of driving motor 63 after being computed
Angle signal.Processor 74 receives the control instruction from exterior terminal 100, and control driving motor 63, pushes away driving clutch 64
Motor 531, height adjustment electric pushrod 21 and pitching electric pushrod 23 is drawn to make deliberate action, processor 74 in action process
The relevant parameter from the first encoder 71 and second encoder 72 is received simultaneously, and 74 pairs of received information of institute of processor are made comprehensive
After closing processing analysis, constantly adjusts, make deliberate action according to the requirement of external control instruction.
In the embodiment, the APP of the recovery exercising robot can be installed in exterior terminal 100, and by operation APP come
Control recovery exercising robot movement.In the interface APP, by patient training posture be equipped with patient's sitting and lying formula training mode and
The vertical training mode both of which of patient is equipped with active training the mode option and passive exercise mode according to main passive exercise situation
Option, passive exercise the mode option divide into the interdigital swing of simple shear, the interdigital rotation of double shear, the interdigital swing of double shear and shoulder joint beat again
Beat the options such as massage.The interdigital swing option of simple shear is that a scissor refers under the promotion of bidirectional electric push rod 53 around shared shaft
54 swing, the interdigital rotation option of double shear be two scissors refer to it is locked, only drive arm axle drive training structure unitary rotation, double shear
Interdigital swing option refers to for two scissors to be swung under the promotion of bidirectional electric push rod 53 around shared shaft 54 respectively.Shoulder joint
Pat massage option be stretch draw device 58 constantly it is overhanging it is interior it is over beat corresponding two shoulder joint, so that the blood of shoulder joint be promoted to follow
Ring promotes neurodevelopment, reduces shoulder joint Muscle tensility.In addition, the grade of rehabilitation training is additionally provided in the interface APP, according to trouble
The severity of person is set as multistage, such as sets gradually six grades to weak according to improving oneself for severity, i.e. primary rehabilitation is instructed
To practice to six grades of rehabilitation training options, the rehabilitation training of each rank corresponds to different 5 operating frequency of training institution and movement range,
To be adapted with patient profiles.Primary rehabilitation training option is the training option of lowermost level, this grade of option be suitable for almost without
The severe patient of active training ability.Patient selects to train training mode and training grade accordingly as needed.For example, for
Almost without the severe patient of active training ability, since its muscle can not independently make movement, needed at this time using passive exercise mould
Formula, and accordingly selection primary rehabilitation training option, carry out the training that situation is adaptable therewith to patient.External mobile terminal can
It is manipulated by support staff, such as medical staff, can also be manipulated certainly by sufferers themselves.It, can root about the specific setting of APP
It carries out according to needing, no longer repeats one by one herein.
The recovery exercising robot can be realized the training of various modes and diversified forms, as specific training method side
Method can be adjusted as required.When patient is hemiplegia etc. and can not stand, or training finishes when loosening, and trouble can be used
Person's sitting and lying formula training mode, concretely patient is sitting posture to sitting posture, is faced or back to training institution 5；Specific horizontal posture can
To lie on the back and prostrate, when prostrate, which can carry out shoulder joint, pats massage and loosens, and when sitting and lying posture, can pass through height adjustment electric pushrod
21 and pitching electric pushrod 23 adjust the whole height and pitch angle of rotating box 3, to adapt to different heights and pose
Patient.Carry out shoulder joint pat massage loosen can first pass through bidirectional electric push rod 53 by two scissors refer on beating bar portion
The distance between 504 adjustings are arrived the distance between two shoulder joint of patient and are matched, then by driving arm axle rotation to two
Shoulder joint carries out alternately patting massage, or draws device 58 to push and pull secondary two pairs of two shoulder joint of entire scissor to carry out while clapping by stretching
Play massage；When sitting and lying formula training mode, patient is sleeping to be lain at 3 lower section of rotating box and shoulder is at suitable position, pitching machine
Structure drives entire training institution 5 to bow towards patient and goes to predetermined angle, to realize the rehabilitation training of patient, such as active training
And passive exercise.It is selected passive by exterior terminal 100 when needing two shoulder joint to patient while carrying out passive exercise
The interdigital rotation option of double shear under training mode will be threaded in corresponding sliding slot 5011, thus by two under two threadeds 57
Scissor refers to locking, then by the difference bondage of two wrists of the right-hand man of patient in two wrist fixing sleeves 55, exterior terminal
100 send corresponding control instruction, and control driving clutch 64 is attracted so that driving electricity after processor 74 receives control instruction
Machine 63 and driving arm axle transmission connection, processor 74 control driving motor 63 and driving arm axle are driven to make turning round for predetermined angle
It is dynamic, drive entire training institution 5 to rotate, two scissors refer to that driving two arms to make steer direction disc type respectively intersects swing, from
And realize the intersection turn training to two shoulder joint of patient；When needing the shoulder joint to patient to be respectively trained, can lead to
Only a wrist bondage is driven by driving arm axle in corresponding wrist fixing sleeve 55 and curls up instruction for 360 ° to shoulder joint progress
Practice.When the interdigital swing option of selection double shear, two scissors, which refer to, to be turned in horizontal plane, is cut two by two threadeds 57
Interdigital locking, then by two wrist bondages in wrist fixing sleeve 55, two scissors refer to progress scissor movement in the horizontal plane,
To carry out receiving training in outer pendulum to shoulder joint.When the interdigital swing option of selection simple shear, patient is located at before training institution 5
And training institution 5 is faced, control driving arm axle drives two scissors to refer to and turns in vertical plane, by threaded 57 by top one
A scissor refers to locking, double then by shoulder joint wrist bondage to be trained in the arm fixation that a scissor on top refers to covers
Rotation training before driving shoulder joint to carry out to electric pushrod 53；Meanwhile when patient is located at before training institution 5 and back to training airplane
When structure 5, by wrist bondage in the arm fixation set that a scissor of lower part refers to, the back spin training of shoulder joint can be carried out at this time.
When using exterior terminal 100 select active training mode when, driving clutch 64 separate, by two threadeds 57 with
Two scissors refer to separation, and two scissors are referred to connection upper elastic member 56, can carry out the active training of patient, such as two at this time
The intersection turn training of outer pendulum and the interior steer direction disc type of receiving training and two shoulder joint of the shoulder joint under load force.
Using the healing and training shoulder joint Medical Robot with bionical arm can as needed to patient's shoulder joint into
The training of row various modes and mode, no longer repeats one by one herein.
It should be noted that the joint of the bionical arm of the healing and training shoulder joint Medical Robot of the bionical arm in the application
Designed with muscle is not the dimension scale for the joint subsidiary species class and corresponding construction for copying human body upper arm completely, into
Adaptive improvement is made in the actual design process of row product.
The healing and training shoulder joint Medical Robot with bionical arm in the present invention, can imitate the upper arm of human body to trouble
Person carries out the training of various modes and mode, and patient can select patient's sitting and lying formula training mode and patient according to different training requirements
Vertical training mode both of which, and selection carry out passive exercise or active training, can make a variety of training in training
Movement, to carry out the comprehensive training of a variety of training methods to patient.The recovery exercising robot is applied widely, intelligent
Degree is high, can the comprehensive rehabilitation training of carry out such as muscle to shoulder joint and nerve, to greatly improve shoulder rehabilitation instruction
Experienced level and effect, and substantially increase Patient Experience.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Finally, it should be noted that obviously, the above embodiment is merely an example for clearly illustrating the present invention, and simultaneously
The non-restriction to embodiment.For those of ordinary skill in the art, it can also do on the basis of the above description
Other various forms of variations or variation out.There is no necessity and possibility to exhaust all the enbodiments.And thus drawn
The obvious changes or variations that Shen goes out are still in the protection scope of this invention.
Claims (9)
1. a kind of bionical arm of healing and training shoulder joint Medical Robot characterized by comprising
Drive arm axle, including big arm axle and small arm axle, the second end of the small arm axle is rotationally connected with the of the big arm axle
On one end；
Training institution, including scissor it is secondary, stretch and draw device and bidirectional electric push rod, the scissor pair include the first scissor being used cooperatively
Refer to and the second scissor refers to, first scissor, which refers to, refers to that being shared shaft is rotatably set to the first of the small arm axle with the second scissor
On the end at end, first scissor, which refers to, to be referred to the second scissor and is respectively equipped with sliding slot in respective first end, the bidirectional electric
The outer cylinder of push rod is fixed on the second end of the small arm axle, sets respectively on the end of two telescopic rods of the bidirectional electric push rod
There is threaded hole, threaded, each threaded turn up and down, to be inserted into corresponding cunning have been screwed on each threaded hole
In slot or it is detached from sliding slot, is fixedly connected with the first connecting plate in the big arm axle first end, the first end of the small arm axle
End is equipped with the second connecting plate, and the first end of second connecting plate is rotationally connected with the first end end of the small arm axle
On,
Described stretch draws one end of device to be rotationally connected on first connecting plate, and described stretch draws the other end of device to be rotatably connected
In in the second end of second connecting plate, described stretch draws device that the relatively described big arm axle of small arm axle is driven to stretch drawing sliding,
First scissor, which refers to, refers to that respective second end is equipped with wrist fixing sleeve with the second scissor, and the wrist fixing sleeve can be rotated
On referring to set on corresponding scissor,
Wherein, the driving arm axle and training institution are used cooperatively, and form the bionical arm configuration of human body, imitate human body upper arm to trouble
Person carries out healing and training shoulder joint.
2. the bionical arm of healing and training shoulder joint Medical Robot according to claim 2, which is characterized in that described first connects
Fishplate bar is L-shaped structure, including the first plate, and the second plate being connected on first plate,
Wherein, first plate be equipped with flange portion, for the large arm axis connection, and be used for the big arm axle first end
End passes through,
Second plate is equipped with the first articulated section, for drawing one end of device to be rotatably connected with described stretch.
3. the bionical arm of healing and training shoulder joint Medical Robot according to claim 2, which is characterized in that described second connects
Fishplate bar is L-shaped structure, including the first plate, and the second plate being connected on first plate,
Wherein, first plate is equipped with the second articulated section, is used to be equipped with the large arm axis connection, second plate
Third articulated section, for drawing the other end of device to be rotatably connected with described stretch.
4. the bionical arm of healing and training shoulder joint Medical Robot according to claim 1, which is characterized in that the big arm axle
Including the first cylindrical portion, boss portion, the second cylindrical portion and the first articulated joint,
First cylindrical portion, boss portion, the second cylindrical portion and the first articulated joint are along the axial from second end of the big arm axle
It is set gradually to first end.
5. the bionical arm of healing and training shoulder joint Medical Robot according to claim 4, which is characterized in that the small arm axle
Including the second articulated joint, mounting portion and third articulated joint,
Second articulated joint, mounting portion and third articulated joint along the small arm axle it is axial from second end to first end successively
Setting.
6. the bionical arm of healing and training shoulder joint Medical Robot according to claim 5, which is characterized in that second hinge
Connector with first articulated joint for being rotatably connected, and the mounting portion is used to install the scissor pair and bidirectional electric pushes away
Bar.
7. the bionical arm of healing and training shoulder joint Medical Robot according to claim 1, which is characterized in that the threaded rod
Including the body of rod and handwheel is screwed, the body of rod includes the threaded portion axially set gradually from first end towards second end and light
Bar portion, the handwheel that screws is on the end of the threaded portion.
8. the bionical arm of healing and training shoulder joint Medical Robot according to claim 7, which is characterized in that the threaded portion
For screwing the threaded rod in the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod, the polished rod portion is for being inserted into
Corresponding scissor refers in sliding slot.
9. a kind of healing and training shoulder joint Medical Robot, which is characterized in that the Medical Robot has claim 1-8 any
The bionical arm of healing and training shoulder joint Medical Robot described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810836931.3A CN109044727B (en) | 2018-07-26 | 2018-07-26 | Bionic arm of medical robot for shoulder joint rehabilitation training and medical robot comprising bionic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810836931.3A CN109044727B (en) | 2018-07-26 | 2018-07-26 | Bionic arm of medical robot for shoulder joint rehabilitation training and medical robot comprising bionic arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109044727A true CN109044727A (en) | 2018-12-21 |
| CN109044727B CN109044727B (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810836931.3A Active CN109044727B (en) | 2018-07-26 | 2018-07-26 | Bionic arm of medical robot for shoulder joint rehabilitation training and medical robot comprising bionic arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111616921A (en) * | 2020-06-09 | 2020-09-04 | 郑州大学 | Wrist training device driven by connecting rod reciprocating mechanism |
| CN112716753A (en) * | 2021-01-13 | 2021-04-30 | 南通市第一人民医院 | Arm rehabilitation device with stretching function for neurology nursing |
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| US4432543A (en) * | 1982-02-24 | 1984-02-21 | Michel Normandin | Physiotherapeutic self-exerciser |
| US20050159683A1 (en) * | 2004-01-21 | 2005-07-21 | Hsin-Chih Kuo | Arm circulation system stretching, recuperative chest enlargement and respiration assistance apparatus |
| CN203469385U (en) * | 2013-08-22 | 2014-03-12 | 李港 | Novel power twister |
| CN107050751A (en) * | 2017-06-06 | 2017-08-18 | 温州职业技术学院 | A kind of limb rehabilitating machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4432543A (en) * | 1982-02-24 | 1984-02-21 | Michel Normandin | Physiotherapeutic self-exerciser |
| US20050159683A1 (en) * | 2004-01-21 | 2005-07-21 | Hsin-Chih Kuo | Arm circulation system stretching, recuperative chest enlargement and respiration assistance apparatus |
| CN203469385U (en) * | 2013-08-22 | 2014-03-12 | 李港 | Novel power twister |
| CN107050751A (en) * | 2017-06-06 | 2017-08-18 | 温州职业技术学院 | A kind of limb rehabilitating machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111616921A (en) * | 2020-06-09 | 2020-09-04 | 郑州大学 | Wrist training device driven by connecting rod reciprocating mechanism |
| CN112716753A (en) * | 2021-01-13 | 2021-04-30 | 南通市第一人民医院 | Arm rehabilitation device with stretching function for neurology nursing |
| CN112716753B (en) * | 2021-01-13 | 2022-05-20 | 南通市第一人民医院 | Arm rehabilitation equipment with stretching function for neurology nursing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109044727B (en) | 2020-10-16 |
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