CN119632799A - A joint assembly of a lower limb rehabilitation trainer and a lower limb rehabilitation trainer thereof - Google Patents
A joint assembly of a lower limb rehabilitation trainer and a lower limb rehabilitation trainer thereof Download PDFInfo
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- CN119632799A CN119632799A CN202411966815.5A CN202411966815A CN119632799A CN 119632799 A CN119632799 A CN 119632799A CN 202411966815 A CN202411966815 A CN 202411966815A CN 119632799 A CN119632799 A CN 119632799A
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Abstract
本发明公开了一种下肢康复训练器的关节组件，涉及下肢康复训练器的关节组件技术领域，包括朝上的上转动杆、朝下的下转动杆，上转动杆绕下转动杆的固定轴转动，上转动杆设有上角度传感器，下转动杆设有下角度传感器；还包括圆弧杆，圆弧杆以上转动杆与下转动杆的转动中心为圆心；还包括减速电机，减速电机输出端设有电磁离合器，电磁离合器与固定轴传动连接；还包括壳体，壳体下部设有缺口，壳体内设有微处理器，壳体外端设有开关按钮，微处理器、开关按钮、上角度传感器、下角度传感器、减速电机、电磁离合器电性连接。本发明的优点在于：可被动训练、主动训练，既能以行走姿势训练还能以坐位姿势训练，多功能。
The invention discloses a joint assembly of a lower limb rehabilitation trainer, and relates to the technical field of joint assemblies of lower limb rehabilitation trainers, including an upper rotating rod facing upward and a lower rotating rod facing downward, wherein the upper rotating rod rotates around a fixed axis of the lower rotating rod, the upper rotating rod is provided with an upper angle sensor, and the lower rotating rod is provided with a lower angle sensor; further including an arc rod, wherein the arc rod has the rotation center of the upper rotating rod and the lower rotating rod as the center of the circle; further including a reduction motor, wherein an electromagnetic clutch is provided at the output end of the reduction motor, and the electromagnetic clutch is connected to the fixed axis by transmission; further including a shell, wherein a notch is provided at the lower part of the shell, a microprocessor is provided in the shell, and a switch button is provided at the outer end of the shell, wherein the microprocessor, the switch button, the upper angle sensor, the lower angle sensor, the reduction motor, and the electromagnetic clutch are electrically connected. The advantages of the invention are that it can be trained passively and actively, and can be trained in both walking posture and sitting posture, and it is multifunctional.
Description
Technical Field
The invention relates to the technical field of joint components of lower limb rehabilitation trainers, in particular to a joint component of a lower limb rehabilitation trainer.
Background
Current lower limb rehabilitation apparatuses are mainly divided into two types, active training and passive training. In the lower limb rehabilitation apparatus without driving force in active training, the driving force for lifting the lower leg is not provided for the knee joint, the leg is completely forced by a user, and the knee joint is driven by the driving force to lift the lower leg for auxiliary training in passive training, so that the damage caused by excessive force of the user is avoided. Some actively trained lower limb rehabilitation devices have an important function of locking the knee joints of the corresponding legs when the user is in a standing phase in walking gait, preventing the bending of the knees of the user due to insufficient muscular strength around the knee joints and difficulty in supporting the weight of the body.
In some prior art solutions, hydraulic or pneumatic dampers are used to limit the bending at the joint, but these solutions suffer from drawbacks, such as the hydraulic or pneumatic dampers may leak during operation, resulting in failure to maintain the desired form when stressed, providing a durable support. In addition, the hydraulic or pneumatic damper has larger volume and weight, so that the volume and weight of the joint assembly are correspondingly larger, and the wearing is not facilitated.
Therefore, scheme CN219940958U discloses a joint component of a lower limb rehabilitation training device and the lower limb rehabilitation training device, wherein a motor, a connecting rod, a pawl rotating wheel, a ratchet wheel base, a step boss, a ratchet wheel, a pawl, an elastic piece, a bevel gear and other structures are arranged in the joint component of the rehabilitation training device, and the rehabilitation training device is provided with a pressure sensor as a switch on the sole of a foot. After the foot is worn, the plantar switch receives a pressure signal when the foot is grounded, and the ratchet wheel is reversely locked under the action of the motor, so that the knee joint is limited to bend backwards, the effect of supporting and preventing the user from falling down due to weakness of the knee can be achieved, when the foot is separated from the ground, the plantar switch does not receive the pressure signal, and the thigh can swing at will at the moment, so that walking rehabilitation training is achieved. However, this solution also has the following drawbacks:
1. The joint component limits the backward bending of the knee joint to depend on a plantar switch, and as a patient needing rehabilitation of the lower limb often has weak walking force, the plantar pressure sensor is not sensitive to contact as a switch, and the rehabilitation device is limited to be used only in walking.
2. Ratchet and pawl are the step rotation when rotating the screens cooperation, exist vibrations, noise and pause and feel, both influence the stability of structure itself, still make to rotate uncomfortable, uncomfortable when leading to the use, training true walking's effect is not good enough.
3. The lower limb of the patient is still very weak in early rehabilitation stage, and the patient is likely to not be able to perform active walking rehabilitation training, and the motor power of the joint assembly is only used for positioning effect and not used for providing driving force for training, so that the rehabilitation device cannot be used for passive training and has insufficient functions.
Disclosure of Invention
The invention aims to provide a joint assembly of a lower limb rehabilitation training device, which aims to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme:
The invention relates to a joint component of a lower limb rehabilitation training device, which comprises an upward upper rotating rod and a downward lower rotating rod, wherein the top of the lower rotating rod is provided with a fixed shaft, the upper rotating rod rotates around the fixed shaft, the upper rotating rod is provided with an upper angle sensor, and the lower rotating rod is provided with a lower angle sensor;
The rotary mechanism comprises a lower rotary rod, an upper rotary rod, a lower rotary rod, a circular arc rod, a rotary rod and a rotary rod, wherein the rotary rod is arranged at the right side of the lower rotary rod;
the device also comprises a speed reducing motor, wherein an electromagnetic clutch is arranged at the output end of the speed reducing motor, and the electromagnetic clutch is in transmission connection with the fixed shaft;
still include the casing, go up dwang, lower dwang, circular arc pole, gear motor all locate in the casing, go up dwang, gear motor and casing fixed connection, lower dwang, circular arc pole can be at casing internal activity, the casing lower part is equipped with the breach, is equipped with microprocessor in the casing, and the casing outer end is equipped with shift knob, microprocessor, shift knob, go up angle sensor, lower angle sensor, gear motor, electromagnetic clutch electric connection.
As an improvement, the arc rod is a three-quarter arc rod.
As an improvement, the upper angle sensor is arranged on the left side of the upper rotating rod, and the lower angle sensor is arranged on the left side of the lower rotating rod.
As an improvement, the arc rod is provided with a left spring and a right spring, the left spring is positioned on the left side of the upper rotating rod and is in extrusion fit, and the right spring is positioned on the right side of the upper rotating rod and is in extrusion fit.
As an improvement, the upper end of the shell is provided with a fixed upper mounting plate, the upper mounting plate is coincident with the central line of the upper rotating rod, the lower end of the lower rotating rod is provided with a fixed lower mounting plate, the lower mounting plate is coincident with the central line of the lower rotating rod, and the lower mounting plate is positioned outside the notch.
As an improvement, the lower part of the shell is provided with a notch facing to the right-radian from the vertical midline.
As an improvement, the left spring upper end is equipped with fixed left baffle, the right spring upper end is equipped with fixed right baffle, left baffle slip wears the cover circular arc pole and with last dwang extrusion fit, right baffle slip wears the cover circular arc pole and with last dwang extrusion fit.
As an improvement, the left end of the arc rod is provided with a fixed limiting plate, the lower end of the left spring is fixedly connected with the limiting plate, and the lower end of the right spring is fixedly connected with the lower rotating rod.
A lower limb rehabilitation training device comprises a joint component of the lower limb rehabilitation training device.
Compared with the prior art, the lower limb rehabilitation training device has the advantages that the joint component adopts the gear motor to provide driving force, has two functions of active training and passive training, is convenient to switch and operate, realizes passive training by one-time button operation, does not need button operation during active training, has two modes of walking posture training and sitting posture training, is suitable for carrying out lower limb training on patients when the lower limb is weak in early rehabilitation stage, and has the advantages that the upper rotating rod and the lower rotating rod rotate continuously and flexibly along the arc rod, vibration, noise and pause feeling do not exist, the structure is stable, the use is comfortable, and the real walking training effect is very good. The left spring and the right spring lead the patient to need to actively train with certain leg force, thereby having promotion effect and strengthening rehabilitation effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is apparent that the drawings listed below are only some of the schematic views of the present invention, but not all of them.
Fig. 1 is a schematic structural view of a joint assembly of a lower limb rehabilitation training device according to the present invention.
Fig. 2 is a schematic diagram of a joint assembly of the lower limb rehabilitation training device according to the second embodiment of the present invention.
Fig. 3 is a schematic diagram of a joint assembly of the lower limb rehabilitation training device according to the third embodiment of the present invention.
Fig. 4 is a front view of a joint assembly of a lower limb rehabilitation training device according to the present invention.
Fig. 5 is a front view of a joint assembly of a lower limb rehabilitation training device according to the present invention.
Fig. 6 is a side view of a joint assembly of a lower limb rehabilitation trainer of the present invention.
Fig. 7 is a cross-sectional view of a joint assembly of a lower limb rehabilitation training device according to the present invention.
Fig. 8 is a schematic diagram of the internal structure of a shell of the lower limb rehabilitation training device.
Fig. 9 is a side view of the internal structure of the shell of the lower limb rehabilitation training device according to the present invention.
Fig. 10 is a schematic diagram of a partial structure of a lower limb rehabilitation training device according to the present invention.
Fig. 11 is a schematic diagram of a partial structure of a lower limb rehabilitation training device according to the present invention.
Fig. 12 is a schematic structural view of an upper rotating rod of a lower limb rehabilitation training device according to the present invention.
Fig. 13 is a schematic structural view of a lower rotating rod of the lower limb rehabilitation training device.
Fig. 14 is a schematic view showing the installation of a lower limb rehabilitation training device according to the present invention.
Fig. 15 is an electronically controlled logic diagram of a lower limb rehabilitation trainer according to the present invention.
Reference numerals:
An upper rotating rod 1, an upper angle sensor 11, a through hole 12;
A lower rotating lever 2, a fixed shaft 21, a lower angle sensor 22, a lower mounting plate 24;
A circular arc rod 3, a limiting plate 31;
A speed reducing motor 4;
The shell 5, the notch 51, the switch button 52, the upper mounting plate 53;
left spring 6, left baffle 61;
right spring 7, right baffle 71.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are used, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is conventionally put in use, are merely for convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like, when used herein, are merely used for distinguishing between descriptions and not for indicating or implying a relative importance. The terms "horizontal," "vertical," "overhang" and the like, if any, do not denote that the component is required to be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of embodiments of the present invention, the terms "plurality" and "a plurality" if present, mean at least two.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, or communicating between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The present embodiment describes in detail a joint assembly of a lower limb rehabilitation training device with reference to fig. 1 to 15.
The joint assembly of the lower limb rehabilitation training device comprises an upward upper rotating rod 1 and a downward lower rotating rod 2, as shown in fig. 11, a fixed shaft 21 is arranged at the top of the lower rotating rod 2, the upper rotating rod 1 rotates around the fixed shaft 21, the upper rotating rod 1 corresponds to thighs, the lower rotating rod 2 corresponds to calves, the upper rotating rod 1 is provided with an upper angle sensor 11, the lower rotating rod 2 is provided with a lower angle sensor 22, and the upper angle sensor 11 and the lower angle sensor 22 are used for detecting inclination angles deviating from the vertical direction.
The novel rotary table further comprises an arc rod 3, the center of rotation of the upper rotary rod 1 and the center of rotation of the lower rotary rod 2 are used as circle centers of the arc rod 3, the lower end of the arc rod 3 is fixedly connected with the right side of the lower rotary rod 2, the upper portion of the arc rod 3 slides through the upper rotary rod 1, as shown in fig. 12, the upper rotary rod 1 is close to the top end, a through hole 12 is formed in the upper rotary rod 1, the arc rod 3 slides through, and the arc rod 3 plays a role in rotating a guide rail and stabilizing the integral structure.
The electric scooter further comprises a speed reducing motor 4, the speed reducing motor is of an integrated structure of the motor and the speed reducer, as shown in fig. 7 and 9, an electromagnetic clutch 41 is arranged at the output end of the speed reducing motor 4, the electromagnetic clutch 41 is in transmission connection with the fixed shaft 21, the input end of the electromagnetic clutch 41 is fixedly connected with the speed reducing motor 4, the output end of the electromagnetic clutch 41 is fixedly connected with the fixed shaft 21, and the speed reducing motor 4 is used for providing auxiliary power for the walking action of the lower leg.
Still include casing 5, as shown in figures 1,4, 5, go up dwang 1, lower dwang 2, circular arc pole 3, gear motor 4 all locate in casing 5, go up dwang 1, gear motor 4 and casing 5 fixed connection, lower dwang 2, circular arc pole 3 can be at casing 5 internal activity, and casing 5 plays the effect of supporting and protecting inner structure. As shown in fig. 2 and 3, the lower part of the housing 5 is provided with a notch 51, the notch 51 is used as a connecting port, two ends of the notch have a limiting function, the housing 5 is internally provided with a microprocessor, the microprocessor is provided with an algorithm module and a logic control circuit, the algorithm module calculates the included angle (180 degrees minus the inclined angle of two deviations and the included angle equal to the corresponding big and small legs) between the upper rotating rod 1 and the lower rotating rod 2, the logic control circuit controls the gear motor 4 to rotate positively and negatively within the included angle range (150-180 degrees, for example), the outer end of the housing 5 is provided with a switch button 52, the microprocessor, the switch button 52, the upper angle sensor 11, the lower angle sensor 22, the gear motor 4 and the electromagnetic clutch 41 are electrically connected, the switch button 52 controls the on-off of the microprocessor and the gear motor 4 as well as the start-stop of the gear motor 4, and the logic control relationship is shown in fig. 14, and all electrical components of the lower limb rehabilitation training device share one power supply.
The arc rod 3 is a three-quarter arc rod. As shown in fig. 11, at least one quarter passes through the upper turn bar 1 for the upper left spring 6.
The upper angle sensor 11 is arranged on the left side of the upper rotating rod 1, and the lower angle sensor 22 is arranged on the left side of the lower rotating rod 2.
The circular arc rod 3 is provided with a left spring 6 and a right spring 7, the left spring 6 is positioned on the left side of the upper rotating rod 1 and is in extrusion fit, and the right spring 7 is positioned on the right side of the upper rotating rod 1 and is in extrusion fit. In the state shown in fig. 11, when the included angle between the upper rotating rod 1 and the lower rotating rod 2 is 165 degrees, the left spring 6 and the right spring 7 are both in a natural state, and the left spring 6 and the right spring 7 are beneficial to active training.
The upper end of the shell 5 is provided with a fixed upper mounting plate 53, the upper mounting plate 53 is overlapped with the central line of the upper rotating rod 1, the upper rotating rod 1 corresponds to the thigh extending direction, the upper mounting plate 53 is used for being connected with the thigh support plate 8 of the lower limb rehabilitation training device, the lower end of the lower rotating rod 2 is provided with a fixed lower mounting plate 24, the lower mounting plate 24 is overlapped with the central line of the lower rotating rod 2, the lower mounting plate 24 is positioned outside the notch 51, the lower mounting plate 24 is used for being connected with the shank support plate 7 of the lower limb rehabilitation training device, and the lower mounting plate 24 corresponds to the shank extending direction and can only rotate within the range of the notch 51.
The lower part of the shell 5 is provided with a notch 51 which is 30-100 radians right from the vertical center line. The included angle between the upper rotating rod 1 and the lower rotating rod 2 corresponding to 30 degrees is 150 degrees (the minimum included angle of the general walking posture), and the included angle between the upper rotating rod 1 and the lower rotating rod 2 corresponding to 100 degrees is 80 degrees (the minimum included angle of the general sitting posture).
The upper end of the left spring 6 is provided with a fixed left baffle plate 61, the upper end of the right spring 7 is provided with a fixed right baffle plate 71, the left baffle plate 61 is sleeved with the arc rod 3 in a sliding mode and is in extrusion fit with the upper rotating rod 1, and the right baffle plate 71 is sleeved with the arc rod 3 in a sliding mode and is in extrusion fit with the upper rotating rod 1. The left baffle 61 and the right baffle 71 are beneficial to better press contact with the upper rotating rod 1, and the influence of the end point contact of the springs on the elastic effect is avoided.
The left end of the arc rod 3 is provided with a fixed limiting plate 31, the lower end of the left spring 6 is fixedly connected with the limiting plate 31, the limiting plate 31 is more convenient for fixing the left spring 6, and the lower end of the right spring 7 is fixedly connected with the lower rotating rod 2.
A lower limb rehabilitation training device comprises a joint component of the lower limb rehabilitation training device. The lower limb rehabilitation training device can be designed to comprise a waist fixer, two pairs of lower leg support plates 7, two pairs of thigh support plates 8 and a pair of joint assemblies, wherein the waist fixer is connected with the thigh support plates 8 in a mounting way, the lower leg support plates 7 on the outer side are fixedly arranged on the lower mounting plate 24, the thigh support plates 8 on the outer side are fixedly arranged on the upper mounting plate 53, and the lower leg support plates 7 on the inner side are connected with the thigh support plates 8 through common rotation joints. Taking the left leg as an example, as shown in fig. 14, the outer leg support 7 is used to fix the lower leg from the outside, the thigh support 8 is used to fix the thigh from the outside, the joint assembly (structure in the drawing) is located on the left side of the knee, the switch button 52 is facing outwards, and the right leg is symmetrically installed.
In practice, in a normal walking posture, the angle between the thigh and the calf is usually kept between 150 degrees and 180 degrees, and the angle can ensure the natural and stable gait, and the radian corresponding to the notch 51 is set to be 30 degrees. After the whole lower limb rehabilitation trainer is installed, the joint assembly can be used for walking posture training and sitting position leg extension training, and comprises two modes of passive training and active training.
Passive training:
When the walking posture is trained, a patient stands firstly, then the switch buttons 52 on the two sides are pressed successively, the speed reduction motor 4 is started, the electromagnetic clutch 41 is closed, the speed reduction motor 4 outputs power to the fixed shaft 21, the microprocessor controls the lower rotating rod 2 to rotate reciprocally relative to the upper rotating rod 1 within the range of the notch 51, and the opening and closing actions of walking of the left and right thighs are sequentially driven, at the moment, the patient only needs to lift the thighs, and the shanks can walk along the reciprocal pushing of the shank support plate 7.
When the sitting position is used for leg extension training, a patient sits first, stretches the lower leg forwards, places the feet on the ground, and then operates according to the steps, at the moment, the patient does not need to lift the thigh, the lower leg is pushed back and forth along with the reciprocating of the lower leg support plate 7, the feet are driven back and forth, and the thigh follows the fluctuation.
Active training:
When the walking posture is trained, a patient stands first without pressing the switch button 52, the gear motor 4 is stopped, no power is output, the electromagnetic clutch 41 is engaged and disengaged, the microprocessor is disconnected with the gear motor 4, the patient actively lifts the thighs, the lower legs are also required to be actively lifted, the normal walking is completely simulated, the lower rotating rod 2 rotates reciprocally relative to the upper rotating rod 1 within the range of the notch 51, the two ends of the notch 51 play a limiting and supporting role on the lower rotating rod 2, and the patient can be prevented from falling down due to squatting caused by excessive bending of the knee weakness.
When the patient sits on the seat and stretches the legs, the patient sits on the seat, stretches the lower legs forwards, places the feet on the ground, does not press the switch button 52, and at the moment, the patient actively lifts the thighs and moves the feet forwards and backwards, the thighs undulate, and the lower legs stretch forwards and backwards along with the feet.
In the initiative training, when the included angle from upper dwang 1, lower dwang 2 is 165 degrees, continue initiative and exert oneself Zhang Kaida shank 15 degrees and can compress left spring 6, continue initiative and exert oneself and close big and small leg 15 degrees and can compress right spring 7, left spring 6, right spring 7 make the patient need carry out initiative training with certain leg power, have the promotion effect, can strengthen recovered effect.
The present invention and its embodiments have been described above with no limitation, the scope of the practical protection is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present invention should be covered in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411966815.5A CN119632799A (en) | 2024-12-30 | 2024-12-30 | A joint assembly of a lower limb rehabilitation trainer and a lower limb rehabilitation trainer thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411966815.5A CN119632799A (en) | 2024-12-30 | 2024-12-30 | A joint assembly of a lower limb rehabilitation trainer and a lower limb rehabilitation trainer thereof |
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| Publication Number | Publication Date |
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| CN119632799A true CN119632799A (en) | 2025-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411966815.5A Pending CN119632799A (en) | 2024-12-30 | 2024-12-30 | A joint assembly of a lower limb rehabilitation trainer and a lower limb rehabilitation trainer thereof |
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| CN (1) | CN119632799A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020089663A (en) * | 2018-12-07 | 2020-06-11 | 株式会社安川電機 | Motor function recovery training device |
| CN112107406A (en) * | 2020-07-30 | 2020-12-22 | 胡静文 | Bionic rehabilitation training device for bone joint movement |
| CN213157478U (en) * | 2020-07-11 | 2021-05-11 | 杭州精博康复辅具有限公司 | A kind of knee joint rehabilitation auxiliary equipment |
| CN215994728U (en) * | 2021-09-27 | 2022-03-11 | 青岛市城阳区人民医院 | Clinical joint of orthopedics is bent and is stretched treatment device |
| CN115364441A (en) * | 2022-08-26 | 2022-11-22 | 中国人民解放军北部战区总医院 | Recovered low limbs joint trainer of using |
-
2024
- 2024-12-30 CN CN202411966815.5A patent/CN119632799A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020089663A (en) * | 2018-12-07 | 2020-06-11 | 株式会社安川電機 | Motor function recovery training device |
| CN213157478U (en) * | 2020-07-11 | 2021-05-11 | 杭州精博康复辅具有限公司 | A kind of knee joint rehabilitation auxiliary equipment |
| CN112107406A (en) * | 2020-07-30 | 2020-12-22 | 胡静文 | Bionic rehabilitation training device for bone joint movement |
| CN215994728U (en) * | 2021-09-27 | 2022-03-11 | 青岛市城阳区人民医院 | Clinical joint of orthopedics is bent and is stretched treatment device |
| CN115364441A (en) * | 2022-08-26 | 2022-11-22 | 中国人民解放军北部战区总医院 | Recovered low limbs joint trainer of using |
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Application publication date: 20250318 |
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