CN109106493A - A kind of automatic lumbar rehabilitation trailer system based on STM32 microcontroller - Google Patents
A kind of automatic lumbar rehabilitation trailer system based on STM32 microcontroller Download PDFInfo
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- CN109106493A CN109106493A CN201811145306.0A CN201811145306A CN109106493A CN 109106493 A CN109106493 A CN 109106493A CN 201811145306 A CN201811145306 A CN 201811145306A CN 109106493 A CN109106493 A CN 109106493A
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- circuit
- microcontroller
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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
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
Abstract
The present invention relates to a kind of automatic lumbar trailer systems based on STM32 microcontroller, mainly include main controller circuit, output isolation circuit, electric power management circuit, tractive force Acquisition Circuit, man-machine interaction panel and motor group control loop.Wherein tractive force Acquisition Circuit includes high precision pull sensor, signal amplification circuit and analog-digital converter, microcontroller is after reading the digital quantity of tension sensor, it is compared with user by the preset traction force threshold of man-machine interaction panel and driving motor group makes respective reaction, to realize the automation of lumbar traction treatment process.The present invention realizes the real-time precise acquisition to system output tractive force, improves the accuracy and timeliness of closed-loop control, to guarantee the safety for the treatment of by introducing high-precision sensor and analog to digital conversion circuit.The man-machine interaction panel of a set of simple, intuitive has also been devised in the present invention, so that patient can reduce the operation cost of medical institutions with Self-operating.
Description
Technical field
The present invention relates to a kind of automatic lumbar rehabilitation trailer system based on STM32 microcontroller, for being provided for user
Convenient automatic lumbar traction massage service, it is ensured that patient remains to independent operation in the case where no medical staff guards should
System carries out recovery treating, is particularly suitable for Various Hospitalss and uses to save manpower and reduce treatment cost, while can also be
Patient provides more comfortable treatment experience.
Background technique
With the development of modern society, the working time of people is increasingly longer, causes to suffer from the crowd of lumbar vertebral disease more
It is huge.And it carries out the lumbar vertebrae massage of manpower not only expense costly, while protects by related medical for ordinary consumer
Strong mechanism is also required to train corresponding medical staff, will necessarily further increase the operation cost of associated mechanisms, therefore various electricity
Dynamic lumbar traction rehabilitation device just comes into being.However, popular such product cannot achieve accurate drawing currently on the market
Power detection and automatic control, so actually can only still be used in the case where there is medical staff's monitoring；And nonetheless, due to
It can not achieve the real-time detection and control to output pulling force, the safety of these products and operability are still to be improved.In view of
This, the present invention proposes a kind of automatic lumbar trailer system with good control precision and safety, can reduce doctor significantly
The related disease treatment cost of mechanism is treated, and improves the treatment experience of patient, has a vast market application prospect.
Automatic lumbar rehabilitation traction device application principle proposed by the present invention is the weight information and waist according to different patients
Corresponding pulling force output area and working time is arranged to system in vertebra health status, and the pulling force output of whole process is to pass through
One group of angle motor and stroke motor, change traction device bed body first half respectively and the angle and bed body of horizontal plane are later half
Partial horizontal position is realized.It can both guarantee that the pulling force of output all can sufficiently act on patient's in all directions in this way
Lumbar vertebrae, while the sense of discomfort that can also be generated during remissive treatment to the full extent.System to realize therapeutic process is closed
Ring control, system proposed by the present invention design use 12 A/DC analog-digital converters cooperation high-precision analog formula tensiometers to being
The value of thrust of system output is acquired in real time, to guarantee accuracy and real-time that sensor acquires controlled volume.Microcontroller
Read A/DC analog-digital converter output data after, be scaled by kilogram as unit of true value of thrust, then again will
The value is compared with the pulling force threshold value in stage each in therapeutic process and to the corresponding control instruction of motor group sending, while in fact
When be shown on the screen of control panel.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the shortcomings of existing all kinds of lumbar vertebrae rehabilitation traction devices, provides a kind of tool
There are good safety, operability and human-computer interaction while controlling automatic lumbar rehabilitation trailer system with high accuracy.
The technical solution of the invention is as follows: a kind of automatic lumbar rehabilitation trailer system based on STM32, feature exist
In: system composition includes that responsible line handspike motor, the Hall-type for controlling trailer system bed body each section angle and stroke is high-precision
Spend tensiometer, 12 high-precision As/DC analog-digital converter, STM32 microcontroller, electric power management circuit, photoelectrical coupler and relay
Spacing output circuit, TFTLCD liquid crystal display and the film key formula operation panel of device composition, wherein electric power management circuit part is wrapped
Include the AC-DC motor feed circuit of 220V alternating current input -18V direct current electricity output, for providing the 18V of power supply for control system
Isolated power supply circuit, the tensiometer power supply circuit of 18V DC supply input -10V direct current electricity output, 18V DC supply input -5V direct current
The microcontroller and A/DC analog-digital converter of the relay drive circuit of electricity output, 5V DC supply input -3.3V direct current electricity output
Power supply circuit；Spacing output circuit be used for by the low-power level signal outlet side of microcontroller and rear class high-power signal input side every
It leaves and, this part mainly includes 3.3V/5V for the multichannel of microcontroller side Yu relay unit signal input side to be isolated
The relay group for disconnecting relay cell signal input side and motor control loop of photoelectrical coupler and 5V/18V.
Furthermore as described above, user is filled by button operation panel to draw to automatic lumbar rehabilitation proposed by the present invention
The setting for carrying out the parameters such as treatment duration, tractive force output area and system operating mode is set, TFTLCD display screen can controlled
The remaining time of real-time display system currently exports during treatment tractive force numerical value, user's points for attention and treatment.
The principle of the present invention is: the present invention provides the input interfaces of high precision pull meter output analog signal, provide
The isolation output interface of each power level control signal, by TFTLCD liquid crystal display and film key disk form for users to use
What man-machine interaction panel and STM32 were connected with host computer gives online, debugging, diagnoses and lead to the serial of realtime curve
Communication interface, user by man-machine interaction panel come to STM32 microcontroller input Current therapeutic such as tractive force output area, control
The relevant parameters such as total duration are treated, after treatment starts, thing that TFTLCD liquid crystal display prompt user needs to pay attention to over the course for the treatment of
, then timing is simultaneously emitted by motor control signal by the timer of microcontroller, and passes through microcontroller
Integrated A/DC analog-digital converter cooperates high precision operating amplifier AD623 to acquire the value of thrust signal that tensiometer measures,
Microcontroller carries out numerical value traction force threshold corresponding with operating mode set by user after reading tractive force numerical value
Relatively and corresponding motor control signal is issued, to realize the automation of entire lumbar treatment process.
The advantages of the present invention over the prior art are that:
(1) present invention utilizes STM32 microcontrollers to export number letter while acquiring analog signal with degree of precision
Number the characteristics of, devise corresponding tractive force Acquisition Circuit, which has good accuracy and timeliness, can preferably protect
Demonstrate,prove the precision of closed-loop control.
(2) STM32 microcontroller of the present invention possesses abundant including built-in AD/C analog-digital converter, timer etc.
Hardware remap resource, using this feature, human-computer interaction portions of circuitry designed by the present invention saves a large amount of electricity
Circuit component and circuit board wiring area realize the miniaturization of the system while reducing the cost and maintenance of production significantly
Difficulty.
(3) electric power management circuit at different levels proposed by the present invention, introduces input stage earth leakage protective, it is ensured that user is using
Personal safety in the process；Corresponding isolation circuit is devised between the power supply and motor power supply of control system, works as electricity
Machine works abnormal or quick change motor status and can guarantee the safety of control system when generating surge current, improves equipment
The safety of operation.
(4) the present invention provides the man-machine interaction panels of simple and direct-viewing operation, can permit user in no professional health care people
Member monitoring and guidance in the case where, remain to Self-operating this lumbar vertebrae rehabilitation trailer system and safely treated, and provide compared with
Comfortable treatment experience.
Automatic lumbar rehabilitation trailer system of the invention realizes the automation of the lumbar vertebral disease therapeutic process of safety and comfort,
Operation cost and human cost needed for can significantly reduce Various Hospitalss treatment related disease, while realizing operating system
Whole miniaturization, has good operability.
Detailed description of the invention
Fig. 1 is structure composition block diagram of the invention；
Fig. 2 is control principle block diagram of the invention；
Fig. 3 is microcontroller minimum system circuit block diagram of the invention；
Fig. 4 is the circuit diagram of voltage regulator circuit of the present invention；
Fig. 5 is tension sensor interface circuit figure of the invention；
Fig. 6 is isolation output interface circuit figure of the invention；
Fig. 7 is man-machine interaction panel interface circuit figure of the invention；
Fig. 8 is microcontroller control algolithm flow chart of the invention.
Specific embodiment
As shown in Figure 1, the present invention mainly by big frame control system part 7, output isolation circuit 8, directly control motor
The relay group 9 and motor group 10 of on off operating mode form, and wherein control system part 7 includes composition human-computer interaction face
The key 1 and liquid crystal display 2 of plate 11, as whole system core microcontroller 3 and by itself and for system power supply pressure stabilizing electricity
The USB interface conversion circuit that road 5 and tension sensor 6 are attached.
Whole control principle drawing of the invention is as shown in Fig. 2, user can input this figure by man-machine interaction panel 11 in Fig. 1
In user instruction 2 select the operating mode of system.If user's selection allows system work in manual work pattern, user
Man-machine interaction panel 11 can be operated directly to change motor control signal 2.It is handled by the electrical isolation of output isolation circuit 3
Afterwards, which is used to indicate that the operating and stopping of motor 8 for before the travel switch 4 for not triggering bed body end in bedstead；Work as row
After Cheng Kaiguan 4 is triggered, the power supply of direct cutting motor 8 is forcibly closed motor by system.If user's selection allows system work
Make in automatic operation mode, then user need to further select to include the parameters such as user's weight and tractive force range, system is arranged
Operating time and value of thrust variation range 5.Output pulling force is arranged in the parameter set before by system after this
Threshold value, when the data that tension sensor 6 is passed back are close to the threshold value, system will voluntarily limit each stage motor control signal 7
Output, to make the working condition capable of automatic changing of motor 8.
In order to realize that above-mentioned workflow, present invention design are schemed just like microcontroller minimum system circuit shown in Fig. 3, such as
Voltage regulator circuit shown in 4, tension sensor interface circuit shown in fig. 5, isolation output interface circuit shown in fig. 6 and Fig. 7
Shown in man-machine interaction panel interface circuit.
The minimum system circuit of microcontroller 3 of the invention is as shown in Figure 3.Controller chip is using STM32F1xx series
Chip, this chip interior are integrated with full accuracy 16 analog-digital converter ADC, the DMA mechanism of directly access memory space
And the resources such as numerous general/advanced timers, it can be adopted under the premise of guaranteeing not lose data with higher speed and precision
Collect and converts a large amount of analog signals.It, can should after microcontroller 3 receives the voltage change signal of the transmission of pressure sensor 6
Signal is compared with user by the working pulling force threshold value that man-machine interaction panel 11 inputs, and exports as shown in Figure 2 corresponding
Motor control signal 2/7, to achieve the purpose that 8 state of automatic control motor.
It is illustrated in figure 4 voltage regulator circuits at different levels of the invention.The present invention is using 24V-30A power supply as the total defeated of system
Enter, and is respectively the system components circuit power supply in addition to motor group 8 after the voltage regulator circuit 5 in Fig. 1 is handled.Voltage regulator circuit
5 mainly by: for tension sensor provide 10V power supply switching power source chip LM2596-ADJ and its peripheral circuit, be output every
From circuit 8 provide 5V power supply switching power source chip LM2596-5.0S and its peripheral circuit and use 5V power supply as input
While for control system part 7 provide 3.3V power supply linear voltage regulator AMS1117-3.3 and its peripheral circuit composition.Pressure stabilizing
The various pieces of circuit 5 pass through USB interface 4 and connect with general supply and external equipment, and the ground wire between different voltages is all provided with
It is equipped with the magnetic bead of isolation, farthest to inhibit the output ripple of each level power supply.
It is illustrated in figure 5 tension sensor interface circuit of the invention.The tension sensor that the present invention uses is high-precision
Hall-type tension sensor, the sensor can detecte very small tension variations value and shown as the variation of voltage
Value, so that acquisition equipment be allow to collect the signal.Since the voltage data amplitude that sensor is adopted is smaller, in order to guarantee to adopt
The accuracy of sample needs first to carry out operation amplifier to it before collected data are directly taken away by microcontroller.For this purpose, this
Invention uses AD623 operation amplifier chip and its peripheral circuit to put to the collected voltage signal of tension sensor
Greatly.After this, the inside ADC of microcontroller will carry out analog-to-digital conversion to the amplified signal, and data that treated will be according to
According to DMA mechanism storage into the memory of microcontroller.
The electricity of 24V power voltage supply is used due to using the microcontroller 3 of 3.3V power voltage supply not drive directly and safely
Unit 8, the present invention devises output isolation circuit as shown in FIG. 6 thus.TLP621-4 in figure is 4 road optical coupling isolation circuits
Can safely to microcontroller with use 5V voltage as signal level relay control signal input side progress electrically every
From, relay changes the on off operating mode and traffic direction of motor group 8 by changing the on-state of secondary side movable contact spring again, from
And achieve the purpose that output isolation.
It is illustrated in figure 7 man-machine interaction panel interface circuit of the invention.The man-machine interaction panel of system is mainly by film
Key and liquid crystal display two parts composition, user can select the operating mode and every kind of operating mode of system by film key
Design parameter, and liquid crystal display is then responsible for real-time status and crucial letter in display current working condition and system operation
Breath.
Microcontroller algorithm flow chart of the invention is as shown in Figure 8.When user is assigned by the man-machine interaction panel of system
After user instruction, the instruction for first determining whether that user assigns is by microcontroller: (1) allowing system work in automatic operation mode, (2)
System work is allowed still (3) to make the collected value of thrust zeros data of microcontroller ADC in manual work pattern.If with
Family requires system work in automatic operation mode, then user also needs further to select the defeated of value of thrust according to the weight of oneself
The operating time of range and system out.After completing all settings, system will automatically begin to work.Once traction table bedstead is
Bedstead end is advanced to, the limit travel switch of installation here will be triggered, while cutting off the output of motor control signal.
If user's selection allows system work in manual work pattern, user can directly pass through motor group 8 in key control figure 2
Any motor carries out the movement of any direction.As automatic operation mode, if system triggers limit under manual work pattern
With travel switch, then motor control signal will be cut off.If user requires to reset value of thrust, microcontroller will be in clearing
The collected data of portion ADC, while the value of thrust of liquid crystal screen display will also become 0.
The present invention can guarantee user's peace as a automatic lumbar rehabilitation equipment designed for medical application
In the case where complete, simple and easy mode of operation is provided for user, work is arranged according to the difference of user's physical trait
The algorithm of duration and output weight range can also guarantee that user is suitably treated.
Claims (3)
1. a kind of automatic lumbar rehabilitation trailer system based on STM32 microcontroller, it is characterised in that: include mainly with microcontroller
Device is main controller circuit (14), high precision pull meter (7), the high-accuracy arithmetic amplifying circuit (6), electric power management circuit of core
(5), man-machine interaction panel (11), output isolation circuit (13) and motor group (10), wherein man-machine interaction panel (11) include
Membrane pushbutton (1), TFTLCD liquid crystal display (2), output isolation circuit (13) include photoelectric coupling isolation circuit (8) and relay
Group (9)；After high precision operating amplifier (6) amplifies the collected tractive force analog quantity of high precision pull meter (7), pass through
USB interface (4) is input to the internal A/DC analog-digital converter of microcontroller (14)；Then microcontroller (14) is after discrete by this
After the digital quantity of tractive force is compared with user by the parameter that man-machine interaction panel (11) is arranged, pass through spacing output circuit
(13), control signal is issued to motor group (10), to realize the high precision closed loop control of automatic lumbar traction therapeutic process.
2. the automatic lumbar rehabilitation trailer system according to claim 1 based on STM32 microcontroller, it is characterised in that:
The STM32 microcontroller (14) has been internally integrated 8 bit timing devices, and user can not only be set by man-machine interaction panel (11)
The tractive force output area for setting system also can be set the total duration of traction therapeutic, and be led by TFTLCD liquid crystal display to system
Gravitation output area, pull-in time, the treatment data such as remaining time and user's points for attention carry out real-time display, have stronger
Operability can guarantee that user's handled by itself also can be treated safely.
3. the automatic lumbar rehabilitation trailer system according to claim 1 or 2 based on STM32 microcontroller, feature exist
In: the STM32 microcontroller (14) passes through 12 A/DC analog-digital converters being internally integrated, and transports to sample by high-precision
It calculates amplifier (6) and carries out the tractive force analog signal after power amplification；The signal is acquired by analog high precision pull meter (7)
It arrives, rear class operational amplification circuit and analog-digital converter have the characteristics that precision is high, sample rate is high, can make the traction force signal adopted
Reconvert is at precision still with higher after digital quantity and actual effect, to guarantee the safety of automatic lumbar traction therapeutic process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145306.0A CN109106493A (en) | 2018-09-29 | 2018-09-29 | A kind of automatic lumbar rehabilitation trailer system based on STM32 microcontroller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145306.0A CN109106493A (en) | 2018-09-29 | 2018-09-29 | A kind of automatic lumbar rehabilitation trailer system based on STM32 microcontroller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109106493A true CN109106493A (en) | 2019-01-01 |
Family
ID=64857329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811145306.0A Pending CN109106493A (en) | 2018-09-29 | 2018-09-29 | A kind of automatic lumbar rehabilitation trailer system based on STM32 microcontroller |
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| CN (1) | CN109106493A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111273665A (en) * | 2020-02-12 | 2020-06-12 | 北京海益同展信息科技有限公司 | Inspection robot, wind speed measuring system and wind speed measuring method |
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|---|---|---|---|---|
| US5320641A (en) * | 1992-02-28 | 1994-06-14 | Riddle & Withrow, Inc. | Computer controlled physical therapy device |
| CN1602819A (en) * | 2004-11-03 | 2005-04-06 | 西安交通大学 | Portable multifunctional cervical spondylopathy therapeutic equipment |
| CN201418799Y (en) * | 2009-05-25 | 2010-03-10 | 山东省医疗器械研究所 | Lumbar intervertebral disc decompression treatment machine with variable draught angle |
| CN106073968A (en) * | 2016-05-21 | 2016-11-09 | 王娟 | Cervical region is automatically adjusted extension table |
| CN107145171A (en) * | 2017-06-13 | 2017-09-08 | 温州大学 | A kind of electric expansion bar tractive force size intelligent controlling device and method |
| CN206587081U (en) * | 2016-10-25 | 2017-10-27 | 湖南省万卓医疗器械有限公司 | It is a kind of lumbar traction bed |
-
2018
- 2018-09-29 CN CN201811145306.0A patent/CN109106493A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5320641A (en) * | 1992-02-28 | 1994-06-14 | Riddle & Withrow, Inc. | Computer controlled physical therapy device |
| CN1602819A (en) * | 2004-11-03 | 2005-04-06 | 西安交通大学 | Portable multifunctional cervical spondylopathy therapeutic equipment |
| CN201418799Y (en) * | 2009-05-25 | 2010-03-10 | 山东省医疗器械研究所 | Lumbar intervertebral disc decompression treatment machine with variable draught angle |
| CN106073968A (en) * | 2016-05-21 | 2016-11-09 | 王娟 | Cervical region is automatically adjusted extension table |
| CN206587081U (en) * | 2016-10-25 | 2017-10-27 | 湖南省万卓医疗器械有限公司 | It is a kind of lumbar traction bed |
| CN107145171A (en) * | 2017-06-13 | 2017-09-08 | 温州大学 | A kind of electric expansion bar tractive force size intelligent controlling device and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111273665A (en) * | 2020-02-12 | 2020-06-12 | 北京海益同展信息科技有限公司 | Inspection robot, wind speed measuring system and wind speed measuring method |
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Application publication date: 20190101 |