CN113940742A - Micro-motion structure and auxiliary device for lumbar vertebrae - Google Patents
Micro-motion structure and auxiliary device for lumbar vertebrae Download PDFInfo
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- CN113940742A CN113940742A CN202110846386.8A CN202110846386A CN113940742A CN 113940742 A CN113940742 A CN 113940742A CN 202110846386 A CN202110846386 A CN 202110846386A CN 113940742 A CN113940742 A CN 113940742A
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- joint
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- accommodating cavity
- lumbar vertebrae
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7001—Screws or hooks combined with longitudinal elements which do not contact vertebrae
- A61B17/7002—Longitudinal elements, e.g. rods
- A61B17/7019—Longitudinal elements having flexible parts, or parts connected together, such that after implantation the elements can move relative to each other
- A61B17/7023—Longitudinal elements having flexible parts, or parts connected together, such that after implantation the elements can move relative to each other with a pivot joint
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B2017/7073—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant with intervertebral connecting element crossing an imaginary spinal median surface
Abstract
The present disclosure relates to a micro-motion structure and an auxiliary device for lumbar vertebrae, wherein the micro-motion structure comprises a first joint member and a second joint member; the one end of second joint spare has the holding chamber of the one end of opening orientation first joint spare, and the one end adaptation of holding chamber and first joint spare for the one end of first joint spare is held in the holding intracavity and can be rotatory at the holding intracavity, thereby adapts to the mobility of section lumbar vertebrae in the certain degree, so that the lumbar vertebrae can keep the activity function. In addition, the opening part is that the one end that is close to first joint spare on the inner wall in holding chamber is provided with limit structure, and limit structure is used for restricting first joint spare roll-off holding chamber to ensure the reliable swivelling joint between first joint spare and the second joint spare, thereby make the fine motion structure play the support to the lumbar vertebrae and fix and maintain lumbar vertebrae stability, and satisfy the activity function of lumbar vertebrae in a certain extent.
Description
Technical Field
The present disclosure relates to the field of lumbar vertebrae micromotion technology, and particularly to a micromotion structure and an auxiliary device for lumbar vertebrae.
Background
The micro-motion structure is an elastic internal fixation rod with a certain mobility, and the micro-motion structure has the micro-motion characteristic, can promote lumbar spinal stenosis nerve decompression intervertebral fusion, and consolidates the clinical curative effect.
In the related art, the micro-motion structure does not have a rotation function, and cannot meet the mobility of the segmental lumbar within a certain range.
Disclosure of Invention
In order to solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides a minute movement structure for lumbar vertebrae and an auxiliary device.
In one aspect, the disclosed embodiments provide a micro-motion structure for lumbar vertebrae, the micro-motion structure comprising a first articulating member and a second articulating member;
one end of the second joint piece is provided with an accommodating cavity with an opening facing the first joint piece, the accommodating cavity is matched with one end of the first joint piece, and one end of the first joint piece enters the accommodating cavity through the opening and can rotate in the accommodating cavity;
the opening part is provided with a limiting structure, and the limiting structure is used for preventing one end of the first joint part from being separated from the accommodating cavity.
According to an embodiment of the present disclosure, the limiting structure is a limiting ring disposed on the inner wall of the opening, and an inner diameter of the limiting ring is larger than an outer diameter of one end of the first joint member, so that the one end of the first joint member is accommodated in the accommodating cavity after passing through the limiting ring.
According to an embodiment of the present disclosure, the limiting structure includes a first arc-shaped part and a second arc-shaped part, and the first arc-shaped part and the second arc-shaped part enclose to form the limiting ring.
According to an embodiment of the present disclosure, a dimension of the retainer ring in a preset direction is gradually reduced in a direction from an outer edge of the retainer ring to an inner edge of the retainer ring.
According to one embodiment of the present disclosure, the first and second articular components are formed of a titanium alloy.
According to an embodiment of the present disclosure, a preset gap is provided between one end of the first joint member and the accommodating cavity, so that the first joint member can rotate in a preset angle relative to the accommodating cavity; the range of the preset gap is 0.5mm-1.0 mm.
According to an embodiment of the present disclosure, the first joint component includes a first head portion and a first rod portion connected to the first head portion, the first head portion has a diameter larger than that of the first rod portion, and the first head portion is configured to be accommodated in the accommodating cavity.
According to an embodiment of the present disclosure, the second joint component includes a second head portion and a second rod portion connected to the second head portion, and the second head portion is formed with the accommodating cavity.
According to an embodiment of the present disclosure, an end of the second rod portion away from the second head portion is formed with a third head portion, an outer diameter of the third head portion is larger than an outer diameter of the second rod portion, and the third head portion is configured to be accommodated in the accommodating cavity of another one of the micro-motion structures.
According to one embodiment of the disclosure, the limiting structure comprises a first limiting structure and a second limiting structure, and the first limiting structure and the second limiting structure are spliced to form a closed-loop structure; the cross section of the limiting structure is circular or oval.
On the other hand, the present disclosure provides an auxiliary device for lumbar vertebrae, which comprises at least two pedicle screws and at least two micro-motion structures for lumbar vertebrae, wherein the two micro-motion structures are respectively arranged on two sides of two adjacent pedicle screws for connecting the two adjacent pedicle screws.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the present disclosure provides a micro-motion structure and an auxiliary device for lumbar vertebrae, the micro-motion structure comprises a first joint member and a second joint member; the one end of second joint spare has the holding chamber of the one end of opening orientation first joint spare, and the one end adaptation of holding chamber and first joint spare for the one end of first joint spare holds in the holding intracavity and can rotate at the holding intracavity, thereby adapts to the mobility of section lumbar vertebrae in a certain extent, so that the lumbar vertebrae can keep the activity function. In addition, the opening part in holding chamber is the one end that is close to first joint spare on the inner wall in holding chamber promptly and is provided with limit structure, and limit structure is used for restricting first joint spare roll-off holding chamber to ensure the reliable swivelling joint between first joint spare and the second joint spare, in order to play the supporting role in order to maintain lumbar vertebrae stability to the lumbar vertebrae, and this disclosed fine motion structure can also satisfy the activity function of lumbar vertebrae.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a micro-motion structure for lumbar vertebrae according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of another micro-motion mechanism for lumbar vertebrae according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a limiting member of the micro-motion structure according to the embodiment of the disclosure;
fig. 4 is a schematic structural diagram of another limiting member of the micro-motion structure according to the embodiment of the disclosure.
Wherein, 1, a first joint component; 11. a first head portion; 12. a first rod portion; 2. a second joint member; 21. an accommodating cavity; 22. a second head; 23. a second rod portion; 24. a third head; 3. A limiting structure; 31. a first arcuate member; 32. a second arcuate member; 33. and a through hole.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
As shown in fig. 1 and 2, the present disclosure provides a micro-motion structure for lumbar vertebrae, which includes a first joint member 1 and a second joint member 2; one end of the second joint part 2 is provided with an accommodating cavity 21 with an opening facing one end of the first joint part 1, and the accommodating cavity 21 is matched with one end of the first joint part 1, so that one end of the first joint part 1 is accommodated in the accommodating cavity 21 and can rotate in the accommodating cavity 21, and the activity of the segmental lumbar in a certain degree is adapted, and the activity function of the lumbar is kept. In addition, the one end that is close to first joint spare 1 on the inner wall of holding chamber 21 is provided with limit structure 3, and limit structure 3 is used for restricting first joint spare 1 roll-off holding chamber 21 to ensure 5 degrees of mobility and reliable swivelling joint in each direction between first joint spare 1 and the second joint spare 2, with the function that plays the support to the lumbar vertebrae and satisfy the activity function of lumbar vertebrae. And from the design, the fine motion structure simple manufacture of this disclosure is firm, and not fragile, can be fine strengthen lumbar vertebrae stabilization effect.
As shown in fig. 1 and 2, the limiting structure 3 is a limiting ring disposed on the inner wall of the opening, and the inner diameter of the limiting ring is larger than the outer diameter of one end of the first joint component 1, so that one end of the first joint component 1 is accommodated in the accommodating cavity 21 after passing through the limiting ring.
Specifically, as shown in fig. 1 and 3, a through hole 33 is formed in the limiting structure 3, the inner diameter of the through hole 33 is larger than the outer diameter of one end of the first joint element 1, and when one end of the first joint element 1 passes through the through hole 33 and is accommodated in the accommodating cavity 21, the limiting structure 3 limits the first joint element 1 to slide out of the accommodating cavity 21, so that reliable rotation between the first joint element 1 and the second joint element 2 is ensured. The difference in the size of the particular through hole 33 from one end of the first joint element 1, hereinafter referred to as the first head, is set according to actual requirements.
In addition, limit structure 3 can be fixed on the inner wall of holding chamber 21, for example the card is established or sticky or is fixed through the fastener, or limit structure 3 can adopt the same nut with the tail cap of pedicle of vertebral arch nail to connect on the inner wall of holding chamber 21, and the periphery wall of nut is provided with the screw thread to threaded connection between the inner wall with holding chamber 21, in order to restrict first joint spare 1 roll-off holding chamber 21, also can press from both sides and establish between the inner wall of holding chamber 21 and first joint spare 1.
As shown in fig. 1, 2 and 3, in an embodiment, as shown in fig. 4, the limit structure 3 may be a complete integrally formed circular ring or an elliptical ring, which is suitable for two-cone surgery, i.e. a case of one disc unit, and such a limit structure 3 is used more clinically; in another embodiment, as shown in fig. 3, the limiting structure 3 includes a first arc-shaped part 31 and a second arc-shaped part 32, the limiting structure 3 in a circular or elliptical shape is spliced between the first arc-shaped part 31 and the second arc-shaped part 32, and is suitable for use in a plurality of cone surgeries, that is, the limiting structure 3 formed by splicing the first arc-shaped part 31 and the second arc-shaped part 32 is used in the case of two or more disc units. The specific limiting structure 3 can be made of a material with a buffering property, such as titanium alloy, silica gel or rubber.
As shown in fig. 1 and 2, in a direction from the outer edge of the retainer ring to the inner edge of the retainer ring, the dimension of the retainer ring in the predetermined direction is gradually reduced, so that the first joint component 1 easily penetrates through the retainer ring and extends into the accommodating cavity 21.
In addition, in order to ensure the rotation between the first joint component 1 and the accommodating cavity 21, a gap is formed between one end of the first joint component 1 and the accommodating cavity 21, so that the first joint component 1 can rotate relative to the second joint component 2 within a preset angle, specifically, the gap may be between 0.5mm and 1mm, such as 0.5mm, or 1mm, and a specific value of the gap between one end of the first joint component 1 and the accommodating cavity 21 is set according to actual needs.
According to an embodiment of the present disclosure, the first joint member 1 and the second joint member 2 are made of titanium alloy, so that the first joint member 1 and the second joint member 2 have certain rigidity and are not easily damaged. The specific materials of the first joint component 1 and the second joint component 2 can also be made of other alloys or metals according to actual needs.
In addition, the first joint part 1 and the second joint part 2 are connected in a relative rotation mode, the human body joint structure is simulated, and a joint type micro-motion structure is formed, so that the lumbar vertebra rehabilitation device can adapt to the lumbar vertebra of a human body, and the activity performance of the lumbar vertebra can be kept besides the stability of the lumbar vertebra.
Specifically, for the rotatable connection of the first joint element 1 and the second joint element 2, specifically: one end of the second joint part 2 is provided with an accommodating cavity 21 matched with one end of the first joint part 1, the accommodating cavity 21 forms a joint socket, a joint head of the first joint part 1 is accommodated in the accommodating cavity 21 and can rotate in the accommodating cavity 21, the angle between the first joint part 1 and the second joint part 2 is changed, and the relative rotation function between the first joint part 1 and the second joint part 2 can be realized.
As shown in fig. 1 and 2, the first joint component 1 includes a first head portion 11 and a first rod portion 12 connected to the first head portion 11, and the first head portion 11 and the first rod portion 12 may be separately manufactured and then spliced together or integrally formed; the diameter of the first head part 11 is larger than that of the first rod part 12, and the first head part 11 is accommodated in the accommodating cavity 21, so that the first joint part 1 can realize relative rotation between the first joint part 1 and the second joint part 2 through movable fit of the first head part 11 and the accommodating cavity 21. The difference between the diameters of the first head 11 and the first shaft 12 is set according to actual requirements.
In this embodiment, the first head 11 is elliptical or spherical, the elliptical first head 11 can better limit the angle of the micro-motion structure, and the metal acting point of the first head 11 is easily generated at a position with a larger diameter, so as to reduce metal fatigue. The inner cavity of the accommodating cavity 21 may be a spherical cavity matched with the spherical first head 11 or an elliptical cavity matched with the elliptical first head 11, and the specific cavity shapes or profiles of the first head 11 and the accommodating cavity 21 may not be limited to the above examples of the embodiment.
As shown in fig. 1 and 2, the second joint component 2 includes a second head portion 22 and a second rod portion 23 connected to the second head portion 22, and the second head portion 22 forms an accommodating cavity 21. The second head part 22 and the second rod part 23 can be respectively manufactured and then spliced together or integrally formed; the diameter of the second head 22 is greater than the diameter of the second shank 23, the second head 22 being intended to form a housing cavity 21 for the first head 11, so that the clearance fit of the first head 11 with the housing cavity 21 achieves a relative rotation and a degree of movement of about 5 ° in each direction between the first joint element 1 and the second joint element 2. The difference between the diameters of the second head portion 22 and the second shaft portion 23 is set according to actual requirements.
In this embodiment, the first joint component 1 is arranged to rotate in the accommodating cavity 21 of the second joint component 2, so that the micro-motion structure is formed into a joint-type micro-motion structure, the micro-motion structure simulates a joint structure in a machine body, the diameter of the first rod part 11 is designed to be 5.5mm preliminarily, the diameter of the second head part 22 is 13mm, a gap is formed between the same first head part 11 and the accommodating cavity 21, so that the first joint component 1 can rotate along any direction in the accommodating cavity 21, and the micro-motion structure has a rotation function. Specifically, the first head 11 may have an elliptical structure or a spherical structure, and a gap between the first head 11 and the inner wall of the accommodating cavity 21 may be between 0.5mm and 1.0mm, so that the first joint 1 moves in each direction at an angle of 5 degrees, in each direction at an angle of 10 degrees, and the first joint 1 can rotate at 360 degrees.
As shown in fig. 2, a third head portion 24 is formed at an end of the second rod portion 23 away from the second head portion 22, an outer diameter of the third head portion 23 is larger than an outer diameter of the second rod portion 23, and the third head portion 24 is adapted to be received in the receiving cavity 21 of another micro-motion structure.
Specifically, if the lumbar vertebra has two or more narrow segments, the multiple jogging structures can be spliced or connected in series to adapt to the multiple segments of the lumbar vertebra, and the limiting structure 3 used at this time can be the limiting structure 3 formed by splicing the first arc-shaped part 31 and the second arc-shaped part 32 as shown in fig. 3. Illustratively, one end of the second rod portion 23 away from the first head portion 11, that is, the right end of the second rod portion 23 shown in fig. 2 is provided with a third head portion 24, and the third head portion 24 is in conformity with the specification of the first head portion 11, so that the second rod portion 23 is disposed in the accommodating cavity 21 of another micro-motion structure through the third head portion 24, thereby implementing sequential series connection among the plurality of micro-motion structures.
Referring to fig. 1 and 2, the present disclosure provides an auxiliary device for lumbar vertebrae, which includes at least two pedicle screws and at least two micro-motion structures for lumbar vertebrae, wherein the two micro-motion structures are respectively disposed between two adjacent pedicle screws for connecting the two adjacent pedicle screws. When specific lumbar vertebrae operation, implant 2 pedicle of vertebral arch nails to patient's lumbar vertebrae department and carry out neural decompression after, be fixed in the pedicle of vertebral arch nail of both sides with above-mentioned "articulated" fine motion structure on, can be so that this section lumbar vertebrae still can keep certain degree of mobility, supplementary lumbar vertebrae stability of strengthening simultaneously.
For middle-aged and elderly lumbar vertebra diseases with more basic diseases, a bionic 'joint type' micro-motion structure is adopted, and the lumbar vertebra rehabilitation device has the following advantages: the operation is simplified, the operation time is greatly shortened, and the minimally invasive lumbar surgery is really realized; the nerve decompression is sufficient, the loss of the activity of the lumbar vertebra is less, and the postoperative stability of the lumbar vertebra is ensured; the postoperative rehabilitation is fast and the postoperative complication is less.
It is noted that, herein, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other elements in the process, method, article, or apparatus that comprise the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A micromotion structure for lumbar vertebrae, characterized in that it comprises a first articulation (1) and a second articulation (2);
one end of the second joint part (2) is provided with an accommodating cavity (21) with an opening facing the first joint part (1), the accommodating cavity (21) is matched with one end of the first joint part (1), and one end of the first joint part (1) enters the accommodating cavity (21) through the opening and can rotate in the accommodating cavity (21);
the opening part is provided with a limiting structure (3), and the limiting structure (3) is used for preventing one end of the first joint piece (1) from being separated from the accommodating cavity (21).
2. The micromotion structure for lumbar vertebrae according to claim 1, wherein the limiting structure (3) is a limiting ring disposed on the inner wall of the opening, and the inner diameter of the limiting ring is larger than the outer diameter of one end of the first joint member (1), so that one end of the first joint member (1) passes through the limiting ring and is accommodated in the accommodating cavity (21).
3. The micromotion structure for the lumbar spine according to claim 2, characterized in that the limit structure (3) comprises a first arc-shaped piece (31) and a second arc-shaped piece (32), the first arc-shaped piece (31) and the second arc-shaped piece (32) enclosing to form the limit collar.
4. The micro-motion structure for the lumbar vertebra according to claim 2, wherein the size of the stop collar in a preset direction is gradually reduced in a direction from an outer edge of the stop collar to an inner edge of the stop collar.
5. The micromotion structure for the lumbar spine according to any one of claims 1 to 4, characterized in that the first joint member (1) and the second joint member (2) are made of titanium alloy.
6. The micromotion structure for the lumbar spine according to any one of claims 1 to 4, characterized in that a preset clearance is provided between one end of the first joint member (1) and the accommodating cavity (21) so that the first joint member (1) can rotate in a preset angle relative to the accommodating cavity (21); the range of the preset gap is 0.5mm-1.0 mm.
7. The micromotion structure for the lumbar spine according to any of the claims 1 to 4, characterized in that said first articulation (1) comprises a first head (11) and a first stem (12) connected to said first head (11), said first head (11) having a diameter greater than the diameter of said first stem (12), said first head (11) being intended to be housed inside said housing cavity (21).
8. The micromotion structure for the lumbar spine according to any one of claims 1 to 4, characterized in that said second articulation (2) comprises a second head (22) and a second stem (23) connected to said second head (22), said housing cavity (21) being formed in said second head (22).
9. The micromotion structure for the lumbar vertebra according to claim 8, characterized in that the end of the second stem portion (23) remote from the second head portion (22) is formed with a third head portion (24), the outer diameter of the third head portion (24) being greater than the outer diameter of the second stem portion (23), the third head portion (24) being intended to be housed in the housing cavity (21) of the other micromotion structure.
10. An auxiliary device for lumbar vertebrae, comprising at least two pedicle screws and at least two micro-motion structures for lumbar vertebrae according to any one of claims 1 to 9, wherein the two micro-motion structures are respectively arranged between two adjacent pedicle screws for connecting the two adjacent pedicle screws.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110846386.8A CN113940742A (en) | 2021-07-26 | 2021-07-26 | Micro-motion structure and auxiliary device for lumbar vertebrae |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110846386.8A CN113940742A (en) | 2021-07-26 | 2021-07-26 | Micro-motion structure and auxiliary device for lumbar vertebrae |
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| CN113940742A true CN113940742A (en) | 2022-01-18 |
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| CN202110846386.8A Pending CN113940742A (en) | 2021-07-26 | 2021-07-26 | Micro-motion structure and auxiliary device for lumbar vertebrae |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023005939A1 (en) * | 2021-07-26 | 2023-02-02 | 首都医科大学宣武医院 | Micro-motion structure and assistance apparatus for lumbar vertebra |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023005939A1 (en) * | 2021-07-26 | 2023-02-02 | 首都医科大学宣武医院 | Micro-motion structure and assistance apparatus for lumbar vertebra |
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