CN1489981A - Spinal disease treatment machine - Google Patents

Spinal disease treatment machine Download PDF

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CN1489981A
CN1489981A CNA021332185A CN02133218A CN1489981A CN 1489981 A CN1489981 A CN 1489981A CN A021332185 A CNA021332185 A CN A021332185A CN 02133218 A CN02133218 A CN 02133218A CN 1489981 A CN1489981 A CN 1489981A
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table top
contained
type
magnetic bar
driving box
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梁延德
杜杰
徐力
张鹏
徐晓光
靳同朝
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AIR FORCE DALIAN SANATORIUM PLA
Dalian University of Technology
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AIR FORCE DALIAN SANATORIUM PLA
Dalian University of Technology
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Abstract

本发明脊柱病治疗机属大型医疗器械领域,用于治疗与脊柱有关的疾病。脊柱病治疗机由机械本体和控制系统组成,整体结构布局为3C型,即采用整体L型底座和单侧支承悬伸的台面相结合的C型机体结构,台面上采用双C型立柱和横梁固接成可移动桥架的布局方式。其机械本体由机体、桥架、头架组成,脊柱病治疗机头架由驱动箱、磁力棒组、定位锁紧元件组成,还装有牵引装置。控制系统由专用计算机,电压表,测力、测压传感器,数字显示仪,数据库系统及治疗监测管理系统组成。本治疗机具有撑复、牵复、自重减压、磁疗和振动按摩功能,实现了多功能综合治疗。结构新颖实用,可以和其他医疗器械配合使用,用途广泛。

Figure 02133218

The spinal disease treatment machine of the invention belongs to the field of large medical equipment and is used for treating diseases related to the spine. The spinal disease treatment machine is composed of a mechanical body and a control system. The overall structural layout is 3C, that is, a C-shaped body structure that combines an overall L-shaped base and a single-sided supporting and overhanging table. The table adopts double C-shaped columns and beams. Fixed into the layout of the movable bridge. Its mechanical body is composed of a body, a bridge frame, and a head frame. The head frame for the treatment of spinal diseases is composed of a drive box, a magnetic rod group, a positioning and locking element, and is also equipped with a traction device. The control system is composed of a special computer, a voltmeter, force measuring and pressure measuring sensors, a digital display, a database system and a treatment monitoring management system. The treatment machine has the functions of stretching, stretching, self-weight decompression, magnetic therapy and vibration massage, and realizes multi-functional comprehensive treatment. The structure is novel and practical, can be used in conjunction with other medical devices, and has a wide range of uses.

Figure 02133218

Description

脊柱病治疗机Spinal disease treatment machine

技术领域  本发明脊柱病治疗机属大型医疗器械领域,用于治疗与脊柱有关的疾病。Technical field The spinal disease treatment machine of the present invention belongs to the field of large-scale medical equipment, and is used for treating diseases related to the spine.

背景技术  脊柱病如颈椎病、椎间盘突出症、骨质增生症、椎管狭窄症等,是常见病,多发病,目前尚无理想的治疗手段。传统的临床治疗以机械牵引理疗和推拿按摩为主,但治疗疗程长,效果不明显。医护人员作业强度很大,医生每天要用手指,手腕给病人实施治疗,这两个部位容易劳损和受伤。目前开发出一些以机械代替人工的设备,如中国实用新型专利ZL93222950.6,公开了一种腰间盘复位机。这种治疗机械由床身,升降机构,调位器,定时器和复位仪组成,以机械代替人工操作,减轻了医生的劳动强度。但是,结构过于简单,功能少。发明专利申请号为96105000.4-电动、手动两用腰椎间盘复位机与前述的腰间盘复位机工作原理相同,机构也大同小异,主要特征是升降机构增加了电动传动装置,使操作和使用省力。但是,机械设备功能少,不能与其他医疗设备配合使用,治疗范围窄,结构不够完善、合理。BACKGROUND OF THE INVENTION Spinal diseases, such as cervical spondylosis, herniated intervertebral disc, hyperosteogeny, spinal stenosis, etc., are common and frequently-occurring diseases, and currently there is no ideal treatment. Traditional clinical treatment is mainly based on mechanical traction physical therapy and massage, but the treatment course is long and the effect is not obvious. The work of medical staff is very intensive. Doctors use their fingers and wrists to treat patients every day. These two parts are prone to strain and injury. Develop some equipment that replaces labor with machinery at present, as Chinese utility model patent ZL93222950.6, discloses a kind of lumbar intervertebral disc reset machine. This treatment machine is composed of a bed, a lifting mechanism, a positioner, a timer and a reset device. It replaces manual operations with machinery and reduces the labor intensity of doctors. However, the structure is too simple and the functions are few. The invention patent application number is 96105000.4-Electric and manual dual-purpose lumbar intervertebral disc reset machine has the same working principle as the aforementioned lumbar intervertebral disc reset machine, and the mechanism is also similar. However, the mechanical equipment has few functions, cannot be used in conjunction with other medical equipment, has a narrow range of treatment, and is not perfect and reasonable in structure.

发明内容  本发明目的是:发明一种医疗设备,使其结构合理、外型美观,可以对脊柱病进行多种技术方案的综合治疗,如进行振动按摩、磁疗、撑复、牵复、自重减压等,功能强大。还可与其它医疗设备配合使用,如进行X射线诊断定位治疗等,方便患者,疗效显著。SUMMARY OF THE INVENTION The purpose of the present invention is to invent a medical device with a reasonable structure and beautiful appearance, which can perform comprehensive treatment of various technical solutions for spinal diseases, such as vibration massage, magnetic therapy, stretching, retraction, self-weight Decompression, etc., powerful. It can also be used in conjunction with other medical equipment, such as X-ray diagnosis and positioning treatment, which is convenient for patients and has remarkable curative effect.

本发明采用的技术方案是:脊柱病治疗机由机械本体和控制系统组成,其特点是治疗机整体结构布局形状为3C型,即采用整体L型底座和单侧支承悬伸台面相结合的C型机体结构,台面上方采用双C型立柱和横梁固接成可移动桥架结构的布局方式,见附图1、附图2。The technical solution adopted in the present invention is: the spinal disease treatment machine is composed of a mechanical body and a control system, and its characteristic is that the overall structural layout shape of the treatment machine is a 3C type, that is, a C-type combination of an overall L-shaped base and a single-side supporting overhanging table. Type body structure, double C-shaped columns and beams are fixed on the top of the table to form a movable bridge structure layout, see attached drawings 1 and 2.

脊柱病治疗机其机械本体由机体、桥架、头架组成,其中:The mechanical body of the spinal disease treatment machine is composed of a body, a bridge, and a head frame, among which:

a)在机体中采用整体L型底座25,在L型底座25的竖直的壁面上装有使台面摆动的台面转动手轮17,手轮轴上装有传动小齿轮16,与其啮合的扇形齿轮15也安装在竖直的壁面内;扇形齿轮的上截面与台面2固接,扇形齿轮带动台面2绕齿轮轴在0-30度范围内摆动,也可以由电机-减速器带动齿轮传动,台面摆动到需要的角度后,由手柄24锁紧定位,台面左右两长侧面上装有圆柱型直线导轨21,整体L型底座和单侧支承悬伸的台面2组成C型机体结构;a) An integral L-shaped base 25 is adopted in the body, and a table turning hand wheel 17 for making the table swing is installed on the vertical wall of the L-shaped base 25. A transmission pinion 16 is installed on the hand wheel shaft, and the sector gear 15 meshing with it is also Installed in a vertical wall; the upper section of the sector gear is fixed to the table 2, and the sector gear drives the table 2 to swing around the gear shaft in the range of 0-30 degrees, or the motor-reducer drives the gear transmission, and the table swings to After the required angle is locked and positioned by the handle 24, cylindrical linear guide rails 21 are installed on the left and right long sides of the table, the overall L-shaped base and the overhanging table 2 on one side form a C-shaped body structure;

b)桥架由两个C型立柱8和横梁即花键轴20固接成为可移动桥架结构,C型立柱8下端装在台面2的长侧面的双圆柱型直线导轨21中,C型立柱可沿直线导轨纵向移动,双圆柱型直线导轨21由轴向开口的衬套22支承,锁紧手柄9装在C型立柱8下端外侧面上;b) The bridge frame is fixedly connected by two C-shaped columns 8 and a crossbeam, that is, a spline shaft 20, to form a movable bridge structure. Move longitudinally along the linear guide rail, the double-cylindrical linear guide rail 21 is supported by the bush 22 with axial opening, and the locking handle 9 is installed on the outer surface of the lower end of the C-shaped column 8;

c)脊柱病治疗机头架由驱动箱、磁力棒组、定位锁紧元件组成,见附图3,附图4。可沿X方向轴向移动的驱动箱5装在花键轴20上,驱动箱5内还装有蜗杆29,与之啮合的蜗轮28也装在花键轴20上,使蜗杆转动的转动手轮19装在蜗杆轴上,驱动箱锁紧手轮18装在驱动箱的左侧;升降螺杆7装在驱动箱5中,与压力传感器盒4螺纹联接,升降手轮6装在螺杆7上;磁力棒组中有均匀分布的若干个支持杆36,各支持杆上端内螺纹孔套在双向丝杠30上,下端内孔与磁力棒3弹性连接;支持杆中装有弹簧33、衔铁34、线圈35,调节磁力棒3之间相对位置的两个位置调节手轮31分别用销钉38固接在双向丝杠30上,磁力棒磁性头37装在磁力棒下端;c) The head frame for the treatment of spinal diseases is composed of a drive box, a magnetic bar group, and a positioning and locking element, see attached drawings 3 and 4. The drive box 5 that can move axially along the X direction is contained on the spline shaft 20, and a worm screw 29 is also housed in the drive box 5, and the worm wheel 28 meshed with it is also contained on the spline shaft 20, so that the rotating hand that makes the worm screw rotate The wheel 19 is installed on the worm shaft, and the locking hand wheel 18 of the driving box is installed on the left side of the driving box; the lifting screw 7 is installed in the driving box 5, and is threadedly connected with the pressure sensor box 4, and the lifting hand wheel 6 is installed on the screw 7 There are several support rods 36 evenly distributed in the magnetic force rod group, and the inner threaded hole at the upper end of each support rod is sleeved on the two-way lead screw 30, and the inner hole at the lower end is elastically connected with the magnetic force rod 3; springs 33 and armatures 34 are housed in the support rods , coil 35, two position adjustment handwheels 31 that regulate the relative position between the magnetic bar 3 are affixed on the two-way leading screw 30 with pin 38 respectively, and the magnetic bar magnetic head 37 is contained in the magnetic bar lower end;

d)脊柱病治疗机还装有牵引装置,它装在台面2的一端,由牵引护套14,小齿轮40,齿条轴12,传感器13,牵引手轮11组成;d) The spinal disease treatment machine is also equipped with a traction device, which is installed at one end of the table 2 and consists of a traction sheath 14, a pinion 40, a rack shaft 12, a sensor 13, and a traction handwheel 11;

脊柱病治疗机的控制系统由专用计算机,电压表,测力、测压传感器,数字显示仪,数据库系统及治疗监测管理系统组成。The control system of the spinal disease treatment machine is composed of a special computer, a voltmeter, force measuring and pressure measuring sensors, a digital display, a database system and a treatment monitoring and management system.

本发明的效果是:因为机体采用了L型底座与单边铰支悬伸台面结合的侧C型结构,可以与C型臂X光机匹配使用,进行综合治疗,疗效好。C型桥架式装置和可移动、转动头架结构可以使治疗工具(磁力棒)以各种角度到达所需治疗的部位,治疗准确可靠。牵引装置具有可分别控制的双足牵引功能,治疗压力无级可调。治疗中使用对治疗过程进行监测的专用医疗管理计算机系统,它具有超限报警及计时、定时功能,具有专用临床管理医疗数据库。治疗机具有磁疗和振动按摩功能等多功能综合治疗,其疗效显著。The effect of the present invention is: because the body adopts a side C-shaped structure combining an L-shaped base and a unilaterally hinged overhanging table top, it can be matched with a C-arm X-ray machine for comprehensive treatment with good curative effect. The C-shaped bridge device and the movable and rotating head frame structure can make the treatment tool (magnetic rod) reach the required treatment site at various angles, and the treatment is accurate and reliable. The traction device has a separately controllable bipedal traction function, and the treatment pressure is steplessly adjustable. During the treatment, a special medical management computer system is used to monitor the treatment process. It has over-limit alarm, timing and timing functions, and has a special clinical management medical database. The treatment machine has multi-functional comprehensive treatment such as magnetic therapy and vibration massage function, and its curative effect is remarkable.

附图说明  附图1-脊柱病治疗机主视图,附图2-脊柱病治疗机侧视图,附图3-驱动箱局部剖视图,附图4-磁力棒组剖视图。其中,I-头架,1-扶手,2-台面,3-磁力棒,4-压力传感器盒,5-驱动箱,6-升降手轮,7-升降螺杆,8-C型立柱,9-锁紧手柄,10-台面锁紧手柄轴,11-牵引手轮,12-齿条轴,13-传感器,14-牵引护套,15-扇形齿轮,16-传动小齿轮,17-台面转动手轮,18-驱动箱锁紧手轮,19-驱动箱转动手轮,20-花键轴,21-圆柱型直线导轨,22-衬套,23-齿轮,24-锁紧手柄,25-L型底座,26-锁紧块,27-锁紧螺杆,28-蜗轮,29-蜗杆,30-双向丝杠,31-调节手轮,32-导向块,33-弹簧,34-衔铁,35-线圈,36-支持杆,37-磁力棒磁性头,38-销钉,39-调节带,40-小齿轮。Description of the drawings Attached Figure 1-front view of the spinal disease treatment machine, Figure 2-side view of the spinal disease treatment machine, Figure 3-partial sectional view of the drive box, and Figure 4-sectional view of the magnetic bar group. Among them, I-head frame, 1-armrest, 2-table top, 3-magnetic rod, 4-pressure sensor box, 5-drive box, 6-lifting handwheel, 7-lifting screw, 8-C-type column, 9- Locking handle, 10- table locking handle shaft, 11- traction hand wheel, 12- rack shaft, 13- sensor, 14- traction sheath, 15- sector gear, 16- transmission pinion, 17- table turning hand Wheel, 18-locking handwheel of driving box, 19-rotating handwheel of driving box, 20-spline shaft, 21-cylindrical linear guide, 22-bush, 23-gear, 24-locking handle, 25-L Type base, 26-locking block, 27-locking screw, 28-worm gear, 29-worm, 30-two-way screw, 31-adjusting handwheel, 32-guide block, 33-spring, 34-armature, 35- Coil, 36-support rod, 37-magnetic bar magnetic head, 38-pin, 39-adjusting belt, 40-pinion.

具体实施方式  下面结合附图详细说明本发明的实施,脊柱病治疗机的头架可以做X、Y、Z轴3个方向的运动,3种运动的驱动可为手动或机动。松开驱动箱锁紧手轮18,可用手推动头架沿X方向横向移动或通过机械传动使之移动;转动升降手轮6经螺杆7传动,可实现头架中磁力棒组3的Z向升降运动;头架沿台面纵向移动即Y向移动是通过可移动桥架在台面上移动实现的。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings. The head frame of the spinal disease treatment machine can move in three directions: X, Y, and Z, and the drives for the three movements can be manual or motorized. Loosen the locking hand wheel 18 of the drive box, and the head frame can be moved laterally along the X direction by hand or moved through mechanical transmission; the Z direction of the magnetic rod group 3 in the head frame can be realized by turning the lifting hand wheel 6 through the screw 7 transmission. Lifting movement; the longitudinal movement of the head frame along the table, that is, the Y-direction movement is realized by moving the movable bridge on the table.

脊柱病治疗机工作时,病人可平卧在台面上,根据脊柱病不同的病位可任意调整头架相对台面的位置和台面相对底座的角度。台面的摆动可转动脊柱病治疗机L型底座25的竖直的壁面上的台面转动手轮17,带动手轮轴上传动小齿轮16转动,与其啮合的扇形齿轮15转动,由于扇形齿轮的截面与台面固接,扇形齿轮带动台面2绕齿轮轴在0-30度范围内转动,也可通过下压、上抬扶手1使台面摆动,调好角度后用手柄24锁紧定位。头架I可沿花键轴20轴向移动和绕花键轴转动,实现任意角度的治疗。When the spinal disease treatment machine is working, the patient can lie flat on the table, and the position of the headrest relative to the table and the angle of the table relative to the base can be adjusted arbitrarily according to the different disease positions of the spinal disease. The swing of the table top can rotate the table top on the vertical wall surface of the L-shaped base 25 of the spinal disease treatment machine to rotate the hand wheel 17, which drives the transmission pinion 16 on the hand wheel shaft to rotate, and the sector gear 15 meshing with it rotates. The table top is fixedly connected, and the sector gear drives the table top 2 to rotate around the gear shaft in the range of 0-30 degrees. The table top can also be swung by pressing down and lifting the handrail 1. After the angle is adjusted, the handle 24 is used for locking and positioning. The head frame 1 can move axially along the spline shaft 20 and rotate around the spline shaft to realize treatment at any angle.

头架中的两个磁力棒中心距可以调节。通过压力传感器盒4两侧的手轮31转动双向丝杆30,带动导向块32在双向丝杠上移动,从而实现磁力棒3之间的中心距调节;驱动箱5内还装有蜗杆29、可由驱动箱转动手轮19转动带动蜗杆29转动,因与其啮合的蜗轮28装在花键轴20上,转动手轮19时,蜗杆29转动,蜗轮28随之转动,可带动头架绕花键轴20旋转任意角度,以便调整磁力棒与台面角度,由手轮18锁紧定位;如果要调整头架上磁力棒和台面的距离,可转动升降手轮6,经螺杆7带动头架向台面运动,调整了磁力棒与台面距离。The distance between the centers of the two magnetic rods in the head frame can be adjusted. The hand wheels 31 on both sides of the pressure sensor box 4 rotate the two-way lead screw 30 to drive the guide block 32 to move on the two-way lead screw, thereby realizing the adjustment of the center distance between the magnetic rods 3; the drive box 5 is also equipped with a worm screw 29, The drive box can turn the hand wheel 19 to drive the worm 29 to rotate, because the worm wheel 28 meshing with it is mounted on the spline shaft 20, when the hand wheel 19 is turned, the worm 29 rotates, and the worm wheel 28 rotates accordingly, which can drive the head frame around the spline The shaft 20 rotates at any angle so as to adjust the angle between the magnetic rod and the table top, and is locked and positioned by the handwheel 18; if the distance between the magnetic rod on the head frame and the table top is to be adjusted, the lifting handwheel 6 can be turned, and the head frame is driven to the table via the screw rod 7 Movement, adjust the distance between the magnetic bar and the table.

脊柱病治疗机中的可移动桥架通过双C型立柱下端安装的直线双圆柱导轨21在台面2两侧面的直线定导轨中移动,改变头架在治疗机上纵向位置,由旋钮11锁紧定位。台面一端的牵引装置,其中的牵引护套相对台面距离可以转动两侧的牵引手轮11操作小齿轮40、齿条12机构来调整,实现对左右下肢的分别牵引。牵引装置中装有测力传感器13和锁紧定位机构。The movable bridge in the spinal disease treatment machine moves in the linear fixed guide rails on both sides of the table 2 through the linear double-cylindrical guide rails 21 installed at the lower ends of the double C-shaped columns, changing the longitudinal position of the head frame on the treatment machine, and locked and positioned by the knob 11. The traction device at one end of the tabletop, the distance of the traction sheath relative to the tabletop can be adjusted by rotating the traction handwheel 11 on both sides to operate the pinion 40 and the rack 12 mechanism, so as to realize the traction of the left and right lower limbs respectively. Load cell 13 and locking positioning mechanism are housed in the traction device.

本治疗机因具有磁疗、振动按摩、撑复、牵复、自重减压等功能,所以可以实现多功能综合治疗。结构新颖实用,可以和其他医疗器械配合使用,用途广泛。Because of the functions of magnetic therapy, vibration massage, support and recovery, traction and recovery, and self-weight decompression, the treatment machine can realize multi-functional comprehensive treatment. The structure is novel and practical, can be used in conjunction with other medical devices, and has a wide range of uses.

Claims (2)

1. therapeutic equipment for spondylodynia, form by basic machine and control system, it is characterized in that therapy apparatus integral structure layout is shaped as the 3C type, the C type housing construction that promptly adopts whole L type base to combine with the table top that overhangs of one-sided supporting, double C-type column and a crossbeam Joint are adopted in the table top top, form the layout type of movable bridge shelf structure.
2. therapeutic equipment for spondylodynia as claimed in claim 1, its basic machine is made up of body, crane span structure, the headstock, it is characterized in that:
A) in body, adopt whole L type base [25], on the vertical wall of L type base [25], be equipped with and make the table top of table top swing rotate handwheel [17], drive pinion [16] is housed on the hand wheel shaft, also be installed in the vertical wall with the sector gear [15] of its engagement; The upper section of sector gear and table top [2] are affixed, sector gear drives table top [2] and swings in 0-30 degree scope around gear shaft, also can be by motor-decelerator driven gear transmission, after table top swings to the angle that needs, by handle [24] locking positioning, column type line slideway [21] is housed on table-board to right or left two long side surfaces, and the table top that whole L type base and one-sided supporting overhang is formed C type housing construction;
B) crane span structure is the affixed movable bridge shelf structure that becomes of splined shaft [20] by two C type columns [8] and crossbeam, C type column [8] lower end is contained in the bicylinder type line slideway [21] of long side surface of table top [2], by lining [22] supporting of axially open, set lever [9] is contained on the lateral surface of C type column [8] lower end;
C) the therapeutic equipment for spondylodynia headstock is made up of driving box, magnetic bar group, positioning and locking element, can be contained in along the driving box [5] that X axis moves on the splined shaft [20], worm screw [29] also is housed in the driving box [5], the worm gear that is engaged with [28] also is contained on the splined shaft [20], the rotation handwheel [19] that worm screw is rotated is contained on the worm shaft, and driving box locking handwheel [18] is contained in the left side of driving box [5]; Lifting screw [7] is contained in the driving box [5], and with pressure transducer box [4] thread connection, lifting handwheel [6] is contained on the screw rod [7]; Equally distributed several steady arms [36] are arranged in the magnetic bar group, and each steady arm upper end internal thread hole is enclosed within on the two-way leading screw [30], and the lower end endoporus is connected with magnetic bar [3] elasticity; Spring [33], armature [34], coil [35] are housed in the steady arm, magnetic bar [3], regulate two position adjustments handwheels [31] of relative position between the magnetic bar [3] and use pin [38] to be fixed on the two-way leading screw [30] respectively, magnetic bar magnetic head [37] is contained in the lower end of magnetic bar [3];
D) traction apparatus of therapeutic equipment for spondylodynia is contained in an end of table top [2], by traction sheath [14], and pinion [40], rack shaft [12], pick off [13], traction handwheel [11] is formed;
The control system of spondylopathy therapy apparatus is by special-purpose computer, voltmeter, and dynamometry, load cell, digital indicator, Database Systems and treatment management system for monitoring are formed.
CNA021332185A 2002-10-16 2002-10-16 Spinal disease treatment machine Pending CN1489981A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104306132A (en) * 2014-11-20 2015-01-28 大连交通大学 Spinal joint pressure reduction, measurement and control system
CN104368088A (en) * 2014-11-20 2015-02-25 大连交通大学 Spine joint pointer pressing system
CN105456001A (en) * 2016-01-05 2016-04-06 楚天高 Back treatment device
CN106725900A (en) * 2016-12-20 2017-05-31 中国农业大学 A kind of head operation type variable clamping device
CN108143593A (en) * 2016-12-02 2018-06-12 北京大艾机器人科技有限公司 Adjustable waist support device and use its exoskeleton robot
CN109771251A (en) * 2019-01-23 2019-05-21 广西中医药大学第一附属医院 A kind of mechanical vibration chiropractic instrument and using method thereof
CN113749645A (en) * 2021-08-18 2021-12-07 郑州大学第一附属医院 A spinal degeneration detection device and method of use

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104306132A (en) * 2014-11-20 2015-01-28 大连交通大学 Spinal joint pressure reduction, measurement and control system
CN104368088A (en) * 2014-11-20 2015-02-25 大连交通大学 Spine joint pointer pressing system
CN104306132B (en) * 2014-11-20 2017-02-22 大连交通大学 Spinal joint pressure reduction, measurement and control system
CN105456001A (en) * 2016-01-05 2016-04-06 楚天高 Back treatment device
CN108143593A (en) * 2016-12-02 2018-06-12 北京大艾机器人科技有限公司 Adjustable waist support device and use its exoskeleton robot
CN106725900A (en) * 2016-12-20 2017-05-31 中国农业大学 A kind of head operation type variable clamping device
CN109771251A (en) * 2019-01-23 2019-05-21 广西中医药大学第一附属医院 A kind of mechanical vibration chiropractic instrument and using method thereof
CN113749645A (en) * 2021-08-18 2021-12-07 郑州大学第一附属医院 A spinal degeneration detection device and method of use
CN113749645B (en) * 2021-08-18 2023-10-03 郑州大学第一附属医院 Spinal degeneration detection equipment and method of use

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