CN113397914A - Lower limb rehabilitation training and treating device - Google Patents
Lower limb rehabilitation training and treating device Download PDFInfo
- Publication number
- CN113397914A CN113397914A CN202110779521.1A CN202110779521A CN113397914A CN 113397914 A CN113397914 A CN 113397914A CN 202110779521 A CN202110779521 A CN 202110779521A CN 113397914 A CN113397914 A CN 113397914A
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- rotating
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- fixing
- lower limb
- rehabilitation training
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- 238000012549 training Methods 0.000 title claims abstract description 48
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 29
- 210000002414 leg Anatomy 0.000 claims abstract description 36
- 210000003414 extremity Anatomy 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 43
- 238000013519 translation Methods 0.000 claims description 12
- 230000010365 information processing Effects 0.000 claims description 7
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 238000013508 migration Methods 0.000 claims description 3
- 230000005012 migration Effects 0.000 claims description 3
- 244000309466 calf Species 0.000 claims 1
- 238000004891 communication Methods 0.000 claims 1
- 210000004394 hip joint Anatomy 0.000 abstract description 33
- 238000005452 bending Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 8
- 210000001624 hip Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
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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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a lower limb rehabilitation training and treating device, which relates to the field of limb rehabilitation, has simple structure, compared with the prior art, the invention can not only control the bending and extension of the two legs to train the hip joint in the front and back directions and simulate the state of the person when walking, but also can control the rotation of the two legs to train the hip joint in the left and right directions, simulate the state of a human when the human turns, meanwhile, the invention can enable the device to form a personalized training mode for patients with different requirements through the program control device, the degree of freedom of movement of the hip joint of the patient can be improved to a certain extent, so that the hip joint of the patient can be trained more variously.
Description
Technical Field
The invention relates to the field of limb rehabilitation, in particular to a lower limb rehabilitation training and treating device.
Background
The joint movement freedom degree of the existing CPM rehabilitation instrument is insufficient, for example, the CPM instrument of the upper limb can only bend and stretch. And the few joints that can be used, mainly the knee and elbow joints, and especially the training apparatus on the hip joint, are almost blank. The hip joint is an important joint connecting the femur and the pelvis, and is responsible for all movements of the lower body while supporting the upper body. The main feature of the hip joint is that it can freely make all-directional rotation forwards, backwards, leftwards and rightwards, and is therefore called "total-motion joint". Based on the problems, the invention designs the training device which is driven by the double motors to realize the multidimensional movement of the lower limb joint, and meanwhile, the device adopts the double-connecting-rod supporting mechanism, so that the shank supporting rod piece can be supported by more reliable movement, and the supporting stability of the device is stronger.
Disclosure of Invention
The invention aims to provide a lower limb rehabilitation training and treatment device, which can simulate various actions of a hip joint by driving the hip joint to rotate all around, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a low limbs rehabilitation training treatment device, includes the support frame of base, the bed body, connection base and the bed body, bed body one side fixedly connected with low limbs training system, low limbs training system includes rotary mechanism, moving mechanism, supporting mechanism and control system, rotary mechanism is including driving the whole rotatory wobbling rotating member of moving mechanism, moving mechanism is including fixing on rotating the piece and can drive leg support horizontal migration's among the supporting mechanism translation piece.
As a further scheme of the invention: the rotating part comprises a fixed plate, rotating fixing parts and a rotating shaft, wherein the rotating fixing parts are arranged on two sides of the fixed plate to play a supporting role, the rotating shaft is arranged between the two rotating fixing parts, and the rotating shaft is connected with the output end of the rotating power part.
As a further scheme of the invention: the bearing is embedded into the rotary fixing piece, and a boss for connection and fixation is arranged between the rotary fixing piece and the fixing plate.
As a further scheme of the invention: the translation piece comprises a supporting track and a lead screw fixed on the supporting track and used for driving the sliding block to move horizontally, the supporting track is fixedly connected with the rotating shaft, and the sliding block is fixedly connected with one end of the leg support.
As a further scheme of the invention: the leg support comprises a first bracket for fixing a thigh, a second bracket for fixing a shank and a foot bracket for fixing a foot, the first bracket is rotatably connected with the second bracket, the second bracket is rotatably connected with the foot bracket, the foot bracket is connected with a sliding block, and one end, far away from the foot bracket, of the first bracket is connected with a rotary fixing piece.
As a further scheme of the invention: the control system comprises an information input module, an information output module and a controller, the controller is connected with a plurality of driving motors, the control system is connected with a power module, the information input module is connected with an information processing module, and the information processing module is connected with the controller.
Compared with the prior art, the invention has the beneficial effects that: the invention has novel structure, drives the hip joint to rotate all around through the device, so as to simulate various actions of the hip joint in daily life and fully train the hip joint, compared with the prior art, the invention not only can control the bending and stretching of the two legs to train the hip joint in the front and back directions and simulate the state of the person when walking, but also can control the rotation of the two legs to train the hip joint in the left and right directions and simulate the state of the person when turning, meanwhile, the invention can form a personalized training mode for patients with different requirements through the program control device, can improve the freedom degree of the movement of the hip joint of the patient to a certain extent, and can lead the hip joint of the patient to be trained more variously.
Drawings
FIG. 1 is a schematic view of the overall structure of a lower limb rehabilitation training and treatment device;
FIG. 2 is a schematic diagram of the translation and rotation of a leg support in a lower limb rehabilitation training and treatment device;
FIG. 3 is a schematic diagram of the connection of the modules of the control system in a rehabilitation training device;
FIG. 4 is a schematic diagram of a flow chart of a rehabilitation training device;
in the figure: 10-bed body, 11-base, 12-support frame, 20-moving mechanism, 21-support rail, 22-screw rod, 23-slide block, 24-clamping fixing piece, 30-rotating mechanism, 31-fixing plate, 32-rotating fixing piece, 33-rotating shaft, 34-positioning piece, 35-rotating power piece, 41-first bracket, 42-second bracket, 43-binding band and 44-foot bracket.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment of the invention, the lower limb rehabilitation training and treating device comprises a base, a bed body, a support frame and a lower limb training system, wherein the support frame is connected with the base and the bed body, the lower limb training system is arranged on one side of the bed body, and the support frame can be mechanically lifted according to requirements.
The lower limb training system comprises a rotating mechanism, a moving mechanism and a supporting mechanism, the lower limb training system is connected with a control system, the rotating mechanism comprises a rotating part capable of driving the moving mechanism to swing integrally, the moving mechanism comprises a translation part which is fixed on the rotating part and horizontally moves a leg support in the supporting mechanism, and one end of the leg support is fixed with the translation part and is used for placing and supporting the lower limbs of a patient. Under the cooperation effect between the rotating mechanism and the moving mechanism, the leg support can be driven to move horizontally and the rotating piece can axially return and swing, so that the lower limb training system can drive the lower limbs of a patient to bend and stretch back and forth, the hip joint of the patient is driven to rotate, and the walking and turning motion states of a human can be simulated.
The rotating part also comprises a fixed plate, rotating fixing parts arranged on two sides of the fixed plate and used for supporting, and a rotating shaft 33 arranged between the two rotating fixing parts 32, wherein a bearing is embedded in each rotating fixing part, the rotating shaft rotates relative to the rotating fixing parts through the bearing, the rotating shaft is connected with the output end of the rotating power part to drive the rotating shaft to rotate back and forth in different directions, one end of each rotating fixing part, close to the fixed plate 31, is provided with a boss, and the rotating fixing parts are connected with the fixed plate 31 through fastening bolts on the bosses.
The translation piece includes support track 21, fixes the lead screw that is used for driving 23 horizontal migration of slider on the support track, the support track links to each other with the pivot is fixed, the lead screw passes through the driving piece effect and drives its rotation, the driving piece effect can be but not only be limited to driving motor, the slider slides with the support track and links to each other, the slider links to each other with shank support 41, and the one end position that can drive shank support under the effect of slider moves.
The leg support comprises a first bracket for fixing a thigh, a second bracket for fixing a shank and a foot bracket for fixing a foot, the first bracket is rotatably connected with the second bracket, the second bracket is rotatably connected with the foot bracket, the foot bracket is connected with a sliding block, and one end, far away from the foot bracket, of the first bracket is fixedly connected with a rotary fixing piece.
Through the two groups of leg supports and the two corresponding groups of moving mechanisms and rotating mechanisms, the two legs of a patient can be driven to move respectively through the synchronous action of the two groups of moving mechanisms, and can be bent and stretched independently and simultaneously to simulate various states when the human body normally walks. Meanwhile, under the action of the two groups of rotating mechanisms, eversion training can be carried out on the two legs, and hip joints on two sides of a patient can be synchronously trained, compared with the prior art which can only carry out leg flexion and extension action training, the leg flexion and extension training device can only complete the leg flexion and extension action and can realize the rotation action of the hip joints on two sides, not only can carry out simulated walking training on the lower limbs, but also can simulate turning action training, increases the training mode of the lower limbs of the patient, and can adjust the parameters of the lower limb flexion and extension movement and the hip joint rotation according to the actual rehabilitation requirement of the patient so as to adapt to the rehabilitation requirements of different patients and improve the lower limb recovery efficiency of the patient.
The moving mechanism, the rotating mechanism and the control system form a rehabilitation treatment system, the control system is electrically connected with the driving piece of the moving mechanism and the rotating power piece of the rotating mechanism, the motion frequency of the driving piece of the moving mechanism and the motion frequency of the rotating power piece of the rotating mechanism can be controlled through the control device, and under the different motion effects of the moving mechanism and the rotating mechanism, multiple motion rehabilitation modes of the rehabilitation treatment bed can be realized.
The control system comprises an information input module, an information output module and a controller, the controller is connected with a plurality of driving motors, the control system is connected with a power module, the information input module is connected with an information processing module, the information processing module is connected with the controller, and the driving motors can be controlled to be turned on or turned off under the action of the controller. Be equipped with emergency module between power supply output and the power module, under emergency module's effect, can the break-make of direct control power module, can be with this device emergency stop.
As shown in fig. 3, the algorithm steps in the lower limb rehabilitation training device are as follows;
step one, inputting motion parameters into the information input module (through a display screen or a button):
A. the time of the exercise; B. knee flexion angle, speed; C. hip abduction angle, speed.
And step two, the information processing module processes the input motion parameters and transmits the processing signals to the controller.
Thirdly, the driving motor connected with the controller receives the signal, forms a motion mode corresponding to the rehabilitation training device and starts the device until the motion is finished;
and step four, in the exercise process, the user feels uncomfortable, presses the emergency button, and the rehabilitation training device is powered off.
The exercise time parameter in the first step may be set to 0-360min or a continuous 24h pattern, the flexion angle parameter in the first step may be set to 0-90 ° ± 10%, the speed of flexion may be set to ≤ 10 °/s ± 10%, the hip abduction angle in the first step may be set to 0-55 ° ± 10%, and the hip abduction speed may be set to 10 °/s ± 10%.
Under the auxiliary action of the control system, the user sets motion parameters in the step one, and the rotating mechanism in the step two is matched with the translation assembly to correspondingly perform the motion action under different modes, so that the auxiliary exercise of hip joints and knee joints of patients is realized. In the second step, the multi-mode operation drives each structure in the driving component to operate through a plurality of driving motors in the control system, so that the supporting component can drive the hip joint and the knee joint of the human body to synchronously perform motion training, and the effect of assisting the human body joint to move is realized. In the fourth step, the emergency stop button is arranged, so that the training device can be automatically stopped under the condition that the user feels uncomfortable, and the pressure sensor can be arranged to control the starting and stopping of the training device.
Under the coordination of the rotating mechanism, the moving mechanism and the control system, the rehabilitation treatment system can realize the following modes:
1. the legs are synchronously bent and stretched continuously;
2. the two legs are asynchronously bent and stretched continuously;
3. the two legs are synchronously bent and stretched, and the hip joints at the two sides rotate towards the same side;
4. the two legs are bent and stretched asynchronously, the left hip joint moves to the left side, and the right hip joint moves to the right side;
5. the two legs are asynchronously and continuously bent and extended, and the hip joints on the two sides rotate to the same side;
6. the legs are asynchronously bent and stretched continuously, the left hip joint rotates to the left side, and the right hip joint rotates to the right side;
except the classical mode, the user can adjust parameters of the control device, enter an advanced mode, adjust the stretching direction and moving speed of the right leg and the left leg of the left leg and the rotating direction and rotating speed of the right hip joint of the left side, can be applied to patients with various rehabilitation requirements, expand the user group to a certain extent, and improve the rehabilitation effect of the patients.
In use of the present invention, a user first inputs parameters of motion into the exercise device via a display screen or buttons, such as: exercise time, knee flexion angle, and hip abduction angle; after the training device is started under the action of the control system, the rotary power part drives the rotary part and the translation part fixed on the rotary part to synchronously rotate and repeatedly swing back and forth, continuous motion training is carried out on hip joints of a patient, meanwhile, according to a set instruction of the patient, the translation part can drive the foot bracket to horizontally move on the support rail, the linear length of the leg bracket is continuously and repeatedly extended and shortened, the legs of the patient are driven to bend and extend, and motion training is carried out on the two legs of the lower limbs of the patient.
The invention can drive the patient to simultaneously carry out the exercise training of the hip joint and the lower limb two legs through the rotating mechanism and the translation mechanism, and simultaneously the movement of the hip joint and the two legs is respectively controlled by the control system, so that the movement of the hip joint and the two legs can be respectively and independently carried out, and the exercise training can be simultaneously carried out, thereby providing diversified lower limb training modes for the patient.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. The utility model provides a low limbs rehabilitation training treatment device, includes the support frame of base, the bed body, connection base and the bed body, a serial communication port, bed body one side fixedly connected with low limbs training system, low limbs training system includes rotary mechanism, moving mechanism, supporting mechanism and control system, rotary mechanism is including driving the whole rotatory wobbling rotating member of moving mechanism, moving mechanism is including fixing on rotating the piece and can drive leg support horizontal migration's among the supporting mechanism translation piece.
2. The lower limb rehabilitation training and treatment device according to claim 1, wherein the rotating member comprises a fixed plate, rotating fixing members arranged on two sides of the fixed plate for supporting, and a rotating shaft arranged between the two rotating fixing members, and the rotating shaft is connected with the output end of the rotating power member.
3. The lower limb rehabilitation training and treatment device according to claim 2, wherein the rotating fixing piece is embedded with a bearing, and a boss for engagement and fixation is arranged between the rotating fixing piece and the fixing plate.
4. The lower limb rehabilitation training and treatment device according to claim 2, wherein the translation member comprises a support rail and a screw rod fixed on the support rail for driving a sliding block to horizontally move, the support rail is fixedly connected with the rotating shaft, and the sliding block is fixedly connected with one end of the leg support.
5. The lower limb rehabilitation training and treatment device according to claim 4, wherein the leg support comprises a first bracket for fixing the thigh, a second bracket for fixing the calf and a foot bracket for fixing the foot, the first bracket is rotatably connected with the second bracket, the second bracket is rotatably connected with the foot bracket, the foot bracket is connected with the sliding block, and one end of the first bracket, which is far away from the foot bracket, is connected with the rotary fixing piece.
6. The lower limb rehabilitation training and treatment device according to claim 1, wherein the control system comprises an information input module, an information output module and a controller, the controller is connected with a plurality of driving motors, the control system is connected with a power supply module, the information input module is connected with an information processing module, and the information processing module is connected with the controller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110779521.1A CN113397914A (en) | 2021-07-09 | 2021-07-09 | Lower limb rehabilitation training and treating device |
| PCT/CN2022/082364 WO2023279772A1 (en) | 2021-07-09 | 2022-03-23 | Lower limb rehabilitation training treatment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110779521.1A CN113397914A (en) | 2021-07-09 | 2021-07-09 | Lower limb rehabilitation training and treating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113397914A true CN113397914A (en) | 2021-09-17 |
Family
ID=77685685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110779521.1A Withdrawn CN113397914A (en) | 2021-07-09 | 2021-07-09 | Lower limb rehabilitation training and treating device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113397914A (en) |
| WO (1) | WO2023279772A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113842294A (en) * | 2021-09-27 | 2021-12-28 | 绍兴众拓医疗器械有限公司 | Orthopedics upper and lower limbs rehabilitation equipment |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
| WO2023279772A1 (en) * | 2021-07-09 | 2023-01-12 | 合肥慧加医疗科技有限公司 | Lower limb rehabilitation training treatment device |
| CN115970178A (en) * | 2023-01-28 | 2023-04-18 | 西安交通大学第二附属医院 | Infrared therapeutic instrument for lower limbs |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115282549B (en) * | 2022-03-29 | 2023-05-19 | 赣州市人民医院 | Rehabilitation training device for children neurological diseases |
| CN116725493B (en) * | 2023-08-08 | 2023-11-07 | 首都医科大学附属北京积水潭医院 | Joint diagnosis and rehabilitation integrated equipment and joint diagnosis and rehabilitation method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203777264U (en) * | 2014-03-27 | 2014-08-20 | 李文彩 | Orthopedic rehabilitation nursing device |
| CN203915391U (en) * | 2014-03-27 | 2014-11-05 | 陈宏霞 | The joint motion device of patients with paralyzed lower limbs |
| CN206063376U (en) * | 2016-05-11 | 2017-04-05 | 顾丽梅 | A kind of joint motion device |
| CN109223438B (en) * | 2018-08-24 | 2020-12-11 | 临沂市人民医院 | Leg rehabilitation training device |
| CN113397914A (en) * | 2021-07-09 | 2021-09-17 | 合肥慧加医疗科技有限公司 | Lower limb rehabilitation training and treating device |
-
2021
- 2021-07-09 CN CN202110779521.1A patent/CN113397914A/en not_active Withdrawn
-
2022
- 2022-03-23 WO PCT/CN2022/082364 patent/WO2023279772A1/en active Application Filing
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023279772A1 (en) * | 2021-07-09 | 2023-01-12 | 合肥慧加医疗科技有限公司 | Lower limb rehabilitation training treatment device |
| CN113842294A (en) * | 2021-09-27 | 2021-12-28 | 绍兴众拓医疗器械有限公司 | Orthopedics upper and lower limbs rehabilitation equipment |
| CN113842294B (en) * | 2021-09-27 | 2024-05-03 | 戚晓霞 | Orthopedics upper and lower limbs rehabilitation equipment |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
| CN114733145B (en) * | 2022-04-02 | 2022-10-04 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
| CN115970178A (en) * | 2023-01-28 | 2023-04-18 | 西安交通大学第二附属医院 | Infrared therapeutic instrument for lower limbs |
| CN115970178B (en) * | 2023-01-28 | 2023-10-13 | 西安交通大学第二附属医院 | Lower limb infrared therapeutic instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023279772A1 (en) | 2023-01-12 |
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Application publication date: 20210917 |