CN111228085A - Prosthesis of rigidity self-adaptive artificial joint - Google Patents
Prosthesis of rigidity self-adaptive artificial joint Download PDFInfo
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- CN111228085A CN111228085A CN202010151764.6A CN202010151764A CN111228085A CN 111228085 A CN111228085 A CN 111228085A CN 202010151764 A CN202010151764 A CN 202010151764A CN 111228085 A CN111228085 A CN 111228085A
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- shaft
- output shaft
- sleeve
- ball cage
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- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 238000005461 lubrication Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 5
- 239000000314 lubricant Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 4
- 210000000629 knee joint Anatomy 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 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
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1454—Special bearing arrangements
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a prosthesis of a rigidity self-adaptive artificial joint, which comprises an input component and an output component, wherein the input component is connected with the output component; it is characterized in that the artificial limb comprises an artificial limb body, and a linear transmission device is arranged at the joint of the artificial limb. The input component comprises a driving shaft bracket, an input shaft and a ball cage universal joint, wherein two ends of an inclined cam are respectively meshed with two sliding buffer sleeves, a phase included angle between thrust inclined planes at two ends of the inclined cam is 180 degrees, the directions of the thrust inclined planes are opposite, and two output shafts are both sleeved with a torque buffer spring; the invention can realize the matching of the rotation centers of the human body joint and the robot joint and the flexible transmission of torque, and avoid the damage to the human body joint.
Description
Technical Field
The invention relates to a prosthesis of a rigidity self-adaptive artificial joint.
Background
With the increasing demand of disabled patients and patients with joint sprain for exercise rehabilitation, robot devices such as rehabilitation robots, exoskeleton robots, joint trainers, gait orthotics and the like are continuously researched and developed, and a certain rehabilitation training effect is achieved.
The robot body usually imitates the physiological structure of the lower limbs and joints of a human body, the robot joints are generally designed into single-shaft driving joints, and the robot joints are bound with the human body joints, but the human body joints have complex geometric structures and are not simple single-degree-of-freedom hinge mechanisms; taking the knee joint as an example, a variable axis plane with rolling and sliding coexisting exists in the sagittal plane motion of the knee joint, and the joint coupling curved surface has a non-constant rotation axis; if the knee joint of the human body is driven by the traditional single-shaft motor, the rotation centers of the knee joint and the human body are not matched, and the human body knee joint is damaged by mismatching; meanwhile, the movement of the human body joints is smooth, the rigidity of different human body joints is different, and the rigid driving injury to the human body joints is easily caused by directly binding the rigid robot joints and the human body joints.
Disclosure of Invention
The present invention aims to overcome the above-mentioned drawbacks and to provide a prosthesis with a stiffness-adaptive artificial joint.
In order to achieve the purpose, the invention adopts the following specific scheme:
a stiffness adaptive prosthetic joint prosthesis comprising an input component and an output component;
the input component comprises a driving shaft bracket, an input shaft of a disc-shaped structure and a ball cage universal joint, wherein one end of the driving shaft bracket is provided with a slotted hole for mounting the input shaft, the input shaft is mounted in the slotted hole through a shaft end cover and two plane lubrication bearings and can move in the radial direction relative to the plane lubrication bearings, one end of the ball cage universal joint is in transmission connection with one end of the input shaft through a first coupler, and the other end of the ball cage universal joint is in transmission connection with the output component;
the output part comprises an E-shaped driven shaft support, a first output shaft, a first sliding buffer sleeve, an inclined cam, a second sliding buffer sleeve and a second output shaft, two side edge connecting ends and a middle connecting end of the driven shaft support are fixed at the other end of the driving shaft support, one end of the first output shaft is rotatably connected to the side edge connecting end of the driven shaft support close to the input shaft and is in transmission connection with the other end of the ball cage universal joint through a second coupler, the first sliding buffer sleeve is in spline connection with the other end of the first output shaft and can slide relative to the first output shaft, the inclined cam is rotatably connected to the middle connecting end of the driven shaft support, preferably, an inclined male die is rotatably connected to the driven shaft support through two plane bearings, one end of the second output shaft is rotatably connected to the side edge connecting end of the driven shaft support far away from the input shaft, the second sliding buffer sleeve is connected to the other end of the second output shaft through a spline and can slide relative to the second output shaft, the two ends of the inclined plane cam, one end of the first sliding buffer sleeve close to the inclined plane cam and one end of the second sliding buffer sleeve close to the inclined plane cam are respectively provided with a thrust inclined plane and a rigid transmission surface which corresponds to the thrust inclined plane and is parallel to the axial direction of the first output shaft or the second output shaft, two ends of the inclined cam are respectively engaged with the first sliding buffer sleeve and the second sliding buffer sleeve, the phase included angle between the thrust inclined planes at the two ends of the inclined cam is 180 degrees, the directions are opposite, the first output shaft and the second output shaft are both sleeved with moment buffer springs, one end of each moment buffer spring on the first output shaft is abutted against one end of the first sliding buffer sleeve, which is far away from the inclined plane cam, one end of the moment buffer spring on the second output shaft is abutted against one end, far away from the inclined plane cam, of the second sliding buffer sleeve.
Wherein, the disc surface of the input shaft is provided with a lubricant storage hole.
The length of the spline part of the first output shaft is smaller than the displacement length of the first sliding buffer sleeve, and the length of the spline part of the second output shaft is smaller than the displacement length of the second sliding buffer sleeve.
The ball cage universal joint comprises a first node and a second node, the first node and the second node are in transmission connection through a spline connecting shaft, the first node and the second node respectively comprise a ball cage, a retainer, a star sleeve and a plurality of transmission steel balls, the ball cage is spherical, the retainer, the star sleeve and the transmission steel balls are arranged inside the ball cage, one end of the star sleeve is of a spherical structure, steel ball raceways are formed in the spherical surfaces of the ball cage and the star sleeve, the spherical structure of the star sleeve stretches into the ball cage and is concentric with the spherical surface of the ball cage, the transmission steel balls are arranged between the spherical surfaces of the ball cage and the star sleeve through the retainer and are connected with the steel ball raceways of the ball cage and the other end of the star sleeve of the first node and the other end of the star sleeve of the second node, and the two ends of the spline connecting shaft are connected with the other end of the star sleeve of the first.
The invention has the beneficial effects that: compared with the prior art, the input component is arranged to fix the input shaft in the axial direction by utilizing the two plane lubrication bearings, and the input shaft can move relative to the plane lubrication bearings in the radial direction, so that the self-adaptive characteristic of the input shaft transmission is improved, then the variable axis connection of the input shaft and the output component is realized through the ball cage universal joint, and the human body joint is matched with the rotation center of the robot joint;
the output part of the invention utilizes the inclined plane cam and the two sliding buffer sleeves to realize the self-adaptive flexible output of torque through the torque buffer spring, and the phase included angle between the thrust inclined planes at the two ends of the inclined plane cam is 180 degrees, so that the directions of rigid transmission surfaces at the two ends of the inclined plane cam are opposite, thereby realizing the flexible transmission of torque in two directions of forward and reverse rotation and avoiding rigid driving injury to human joints.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an exploded schematic view of the input member of the present invention;
FIG. 3 is an exploded schematic view of the output member of the present invention;
description of reference numerals: 1-an input component; 11-driving shaft support; 111-slot; 12-an input shaft; 121-lubricant reservoir hole; 13-a ball cage gimbal; 131-a first node; 132-a second node; 133-spline connection shaft; 14-shaft end cap; 15-plane lubrication bearing;
2-an output member; 21-driven shaft support; 22-a first output shaft; 23-a first sliding cushion sleeve; 24-a beveled cam; 25-a second sliding buffer sleeve; 26-a second output shaft; 27-a torque damper spring;
m-thrust ramp; n-rigid drive surfaces.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 3, the prosthesis of the stiffness adaptive artificial joint according to the present embodiment includes an input part 1 and an output part 2;
the input component 1 comprises a driving shaft support 11, an input shaft 12 of a disc-shaped structure and a ball cage universal joint 13, wherein one end of the driving shaft support 11 is provided with a slotted hole 111 for mounting the input shaft 12, the input shaft 12 is mounted in the slotted hole 111 through a shaft end cover 14 and two plane lubrication bearings 15 and can move in the radial direction relative to the plane lubrication bearings 15, one end of the ball cage universal joint 13 is in transmission connection with one end of the input shaft 12 through a first coupler, and the other end of the ball cage universal joint 13 is in transmission connection with the output component 2;
the output component 2 comprises an E-shaped driven shaft support 21, a first output shaft 22, a first sliding buffer sleeve 23, a bevel cam 24, a second sliding buffer sleeve 25 and a second output shaft 26, two side edge connecting ends and a middle connecting end of the driven shaft support 21 are fixed on the other end of the driving shaft support 11, one end of the first output shaft 22 is rotatably connected on the side edge connecting end of the driven shaft support 21 close to the input shaft 12 and is in transmission connection with the other end of the ball cage universal joint 13 through a second coupler, the first sliding buffer sleeve 23 is splined on the other end of the first output shaft 22 and can slide relative to the first output shaft 22, the bevel cam 24 is rotatably connected on the middle connecting end of the driven shaft support 21, one end of the second output shaft 26 is rotatably connected on the side edge connecting end of the driven shaft support 21 far away from the input shaft 12, the second sliding buffer sleeve 25 is splined to the other end of the second output shaft 26 and can slide relative to the second output shaft 26, two ends of the inclined cam 24, one end of the first sliding buffer sleeve 23 close to the inclined cam 24, and one end of the second sliding buffer sleeve 25 close to the inclined cam 24 are respectively provided with a thrust inclined plane m and a rigid transmission plane n which corresponds to the thrust inclined plane m and is parallel to the axial direction of the first output shaft 22 or the second output shaft 26, two ends of the inclined cam 24 are respectively engaged with the first sliding buffer sleeve 23 and the second sliding buffer sleeve 25, a phase angle between the thrust inclined planes m at two ends of the inclined cam 24 is 180 degrees, the directions are opposite, the first output shaft 22 and the second output shaft 26 are both sleeved with a moment buffer spring 27, one end of the moment buffer spring 27 on the first output shaft 22 abuts against one end of the first sliding buffer sleeve 23 away from the inclined cam 24, one end of the moment buffer spring 27 on the second output shaft 26 abuts against one end of the second sliding buffer sleeve 25 far away from the inclined plane cam 24, so that flexible output can be realized when positive and negative moment is input.
When the output device works, the second output shaft 26 of the output part 2 is connected with an external load (such as a human joint), the input shaft 12 of the input part 1 is connected with an external torque output mechanism, torque is transmitted from the input shaft 12 of the input part 1 to the output part 2 through the ball cage universal joint 13, the first output shaft 22 of the output part 2 transmits the torque to the inclined plane cam 24 through the first sliding buffer sleeve 23 to drive the inclined plane cam 24 to rotate, at the moment, the thrust inclined plane m of the inclined plane cam 24 and the second sliding buffer sleeve 25 are mutually extruded, when the input torque is smaller than the output load due to the axial component force, the second sliding damping bushing 25 compresses the torque damping spring 27, the torque is absorbed by the torque damping spring 27, when the input torque is larger than the output load, the second sliding buffer sleeve 25 outputs the torque through the second output shaft 26, so as to drive the external load to rotate; when the input shaft 12 deviates from the central axis, the displacement difference caused by the deviation of the input shaft 12 is compensated by the ball cage universal joint 13.
The input component 1 of the embodiment fixes the input shaft 12 in the axial direction by using two plane lubrication bearings 15, and enables the input shaft 12 to move relative to the plane lubrication bearings 15 in the radial direction, so that the self-adaptive characteristic of the transmission of the input shaft 12 is improved, and then the variable-axis connection of the input shaft 12 and the output component 2 is realized through the ball cage universal joint 13, so that the rotation center of the human body joint is matched with that of the robot joint;
the output part 2 of the embodiment utilizes the inclined cam 24 and the two sliding buffer sleeves to realize self-adaptive flexible output of torque through the torque buffer spring 27, and the phase included angle between the thrust inclined planes m at the two ends of the inclined cam 24 is 180 degrees, so that the directions of the rigid transmission surfaces n at the two ends of the inclined cam 24 are opposite, thereby realizing flexible transmission of torque in two forward and reverse directions and avoiding rigid driving damage to human joints.
The inclined cam 24 and the moment buffer spring 27 of the embodiment are both in axial structures, so that the radial space occupation can be greatly reduced, and the overall structure is more compact in the radial direction. In addition, the magnitude of the torque release threshold in this embodiment can be integrally calibrated by adjusting the stiffness of the torque buffer spring 27 and the inclination angle of the thrust slope m of the slope cam 24, so that the overall structure is more flexible and the adaptability is stronger.
As shown in fig. 2, based on the above embodiment, further, the disc surface of the input shaft 12 is provided with a lubricant storage hole 121, so that the friction force of the disc surface of the input shaft 12 during the offset sliding process can be effectively reduced.
Based on the above embodiment, further, the length of the spline portion of the first output shaft 22 is smaller than the displacement length of the first sliding buffer sleeve 23, and the length of the spline portion of the second output shaft 26 is smaller than the displacement length of the second sliding buffer sleeve 25. So set up, but make among the torque transmission process self-adaptation switch between rigidity and flexible state, when external load is great, the slip overtravel of slip cushion collar, whole structure turns into rigidity torque transmission, guarantees that the moment of torsion is sufficient, carries out overload protection to the spring simultaneously.
Based on the above embodiment, further, the ball cage universal joint 13 includes a first node 131 and a second node 132, the first node 131 and the second node 132 are in transmission connection through a spline connection shaft 133, the first node 131 and the second node 132 each include a ball cage with a spherical inner surface, a retainer, a star-shaped sleeve and a plurality of transmission steel balls, one end of the star-shaped sleeve is of a spherical structure, the spherical surface of the ball cage and the surface of the spherical structure of the star-shaped sleeve are both provided with steel ball raceways, the spherical structure of the star-shaped sleeve extends into the ball cage, and is concentric with the spherical surface of the ball cage, a plurality of transmission steel balls are arranged between the spherical surface of the ball cage and the spherical surface structure of the star-shaped sleeve through the retainer, and are clamped in the steel ball raceways of the two, and both ends of the spline connecting shaft 133 are connected with the other end of the star-shaped sleeve of the first node 131 and the other end of the star-shaped sleeve of the second node 132, respectively. According to the arrangement, the transmission steel ball is embedded into the ball races of the ball cage and the star sleeve, the star sleeve is movably connected with the ball cage, torque is transmitted through clamping of the transmission steel ball, the first node 131 and the second node 132 are connected in a sliding mode through the spline connecting shaft 133, when the input shaft 12 deviates from the central axis, the displacement difference generated by radial movement of the input shaft 12 between the first node 131 and the second node 132 is compensated through sliding of the spline connecting shaft 133, variable axis connection between the input shaft 12 and the first output shaft 22 and between the input shaft 12 and the second output shaft 26 is achieved, the input shaft 12 can transmit torque at a constant speed and reliably at any position, torque loss and impact fluctuation in the transmission process are reduced to the maximum extent, and human joints are protected better.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (5)
1. A prosthesis of a stiffness adaptive artificial joint, characterized by comprising an input part (1) and an output part (2); it is characterized in that the artificial limb comprises an artificial limb body, and a linear transmission device is arranged at the joint of the artificial limb.
2. A stiffness adaptive artificial joint prosthesis according to claim 1, wherein the linear actuator comprises an input member (1) and an output member (2); the input component (1) is characterized by comprising a driving shaft support (11), an input shaft (12) of a disc-shaped structure and a ball cage universal joint (13), wherein one end of the driving shaft support (11) is provided with a slotted hole (111) for mounting the input shaft (12), the input shaft (12) is mounted in the slotted hole (111) through a shaft end cover (14) and two plane lubrication bearings (15) and can move in the radial direction relative to the plane lubrication bearings (15), one end of the ball cage universal joint (13) is in transmission connection with one end of the input shaft (12) through a first coupling, and the other end of the ball cage universal joint (13) is in transmission connection with the output component (2); the output component (2) comprises an E-shaped driven shaft support (21), a first output shaft (22), a first sliding buffer sleeve (23), an inclined cam (24), a second sliding buffer sleeve (25) and a second output shaft (26), two side edge connecting ends and a middle connecting end of the driven shaft support (21) are fixed at the other end of the driving shaft support (11), one end of the first output shaft (22) is rotatably connected to the side edge connecting end, close to the input shaft (12), of the driven shaft support (21) and is in transmission connection with the other end of the ball cage universal joint (13) through a second coupler, the first sliding buffer sleeve (23) is in splined connection with the other end of the first output shaft (22) and can slide relative to the first output shaft (22), the inclined cam (24) is rotatably connected to the middle connecting shaft end of the driven shaft support (21), one end of the second output shaft (26) is rotatably connected to the side connecting end of the driven shaft support (21) far away from the input shaft (12), the second sliding buffer sleeve (25) is connected to the other end of the second output shaft (26) in a spline mode and can slide relative to the second output shaft (26), two ends of the inclined cam (24), one end, close to the inclined cam (24), of the first sliding buffer sleeve (23) and one end, close to the inclined cam (24), of the second sliding buffer sleeve (25) are respectively provided with a thrust inclined plane (m) and a rigid transmission surface (n) which corresponds to the thrust inclined plane (m) and is parallel to the axial direction of the first output shaft (22) or the second output shaft (26), two ends of the inclined cam (24) are respectively meshed with the first sliding buffer sleeve (23) and the second sliding buffer sleeve (25), and the phase angle between the thrust inclined planes (m) at two ends of the inclined cam (24) is 180 degrees, and the directions are opposite, the first output shaft (22) and the second output shaft (26) are both sleeved with a moment buffer spring (27), one end of the moment buffer spring (27) on the first output shaft (22) is abutted to one end, away from the inclined plane cam (24), of the first sliding buffer sleeve (23), and one end of the moment buffer spring (27) on the second output shaft (26) is abutted to one end, away from the inclined plane cam (24), of the second sliding buffer sleeve (25).
3. The prosthesis of the rigidity adaptive artificial joint according to claim 1, wherein the disc surface of the input shaft (12) is provided with a lubricant storage hole (121).
4. A stiffness adaptive artificial joint prosthesis according to claim 1, wherein the length of the splined portion of the first output shaft (22) is less than the displacement length of the first sliding damping sleeve (23) and the length of the splined portion of the second output shaft (26) is less than the displacement length of the second sliding damping sleeve (25).
5. The prosthesis of a stiffness adaptive artificial joint according to claim 1, wherein the ball cage universal joint (13) comprises a first node (131) and a second node (132), the first node (131) and the second node (132) are in transmission connection through a spline connection shaft (133), the first node (131) and the second node (132) each comprise a ball cage, a retainer, a star sleeve and a plurality of transmission steel balls, the ball cage and the star sleeve are internally spherical, one end of the star sleeve is spherical, steel ball raceways are formed on the spherical surfaces of the ball cage and the star sleeve, the spherical surface of the star sleeve extends into the ball cage and is concentric with the spherical surface of the ball cage, the transmission steel balls are arranged between the spherical surfaces of the ball cage and the star sleeve through the retainer and are clamped in the steel balls of the two ball raceways, and two ends of the spline connection shaft (133) are respectively connected with the other end of the star sleeve of the first node (131), The other end of the star sleeve of the second node (132) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010151764.6A CN111228085A (en) | 2020-03-06 | 2020-03-06 | Prosthesis of rigidity self-adaptive artificial joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010151764.6A CN111228085A (en) | 2020-03-06 | 2020-03-06 | Prosthesis of rigidity self-adaptive artificial joint |
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| Publication Number | Publication Date |
|---|---|
| CN111228085A true CN111228085A (en) | 2020-06-05 |
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ID=70869386
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010151764.6A Withdrawn CN111228085A (en) | 2020-03-06 | 2020-03-06 | Prosthesis of rigidity self-adaptive artificial joint |
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| Country | Link |
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| CN (1) | CN111228085A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690943A (en) * | 2020-12-29 | 2021-04-23 | 江西省人民医院 | Clinical joint protection device of rheumatological department |
-
2020
- 2020-03-06 CN CN202010151764.6A patent/CN111228085A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690943A (en) * | 2020-12-29 | 2021-04-23 | 江西省人民医院 | Clinical joint protection device of rheumatological department |
| CN112690943B (en) * | 2020-12-29 | 2022-06-14 | 江西省人民医院 | Clinical joint protection device of rheumatological department |
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Application publication date: 20200605 |