CN1694670A - Combination pro/supination and flexion therapeutic mobilization device - Google Patents
Combination pro/supination and flexion therapeutic mobilization device Download PDFInfo
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- CN1694670A CN1694670A CN 01806603 CN01806603A CN1694670A CN 1694670 A CN1694670 A CN 1694670A CN 01806603 CN01806603 CN 01806603 CN 01806603 A CN01806603 A CN 01806603A CN 1694670 A CN1694670 A CN 1694670A
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Abstract
A therapeutic mobilization device includes a flexion assembly, a pro/supination assembly and a valgus carrying angle compensation device. The flexion assembly has an arm attachment assembly and an elbow actuator and the elbow actuator defines and axes of rotation. The pro/supination assembly is attached to flexion assembly and has a distal forearm attachment assembly and a pro/supination actuator operably connected thereto. The valgus carrying angle compensation device is operably attached to the flexion assembly and the pro/supination assembly. Preferably the pro/supination assembly is slidably mounted on a housing shaft whereby during flexion the pro/supination assembly is free to move along the housing shaft. Further, preferably the arm attachment assembly includes an attachment ring and an adjustable clamp pivotally attached thereto whereby the attachment ring defines a pro/supination axis and the adjustable clamp pivots orthogonally to the pro/supination axis.
Description
Technical field
The present invention relates to treatment activity and splinting device, relate more specifically to make up the centre of the palm be rotated down/centre of the palm rotates up and flexion device.
Background technology
It has been recognized that in the last few years that the rehabilitation of injured joints and surrounding soft tissue and treatment can utilize the static and dynamic complete splinting of Continuous Passive Movement (CPM), related joint and surrounding soft tissue and obtain accelerating.CPM can make the joint move a passive controlled range of motion by the relevant limb arm in joint with splinting, and coordinates without any need for muscle.Active exercise also is useful to injured joints, but muscle fatigue has limited time span or position that patient can keep motion, and therefore, it is crucial for the optimal rehabilitation result that the device of Continuous Passive Movement is provided to the joint.Many researchs are verified CPM and splinting fast track rehabilitation and keep the clinical efficacy of range of movement.Static progressive splinting (Static Progressive Splinting) (SPS) and dynamically splinting (Dynamic Splinting) (DS) for the treatment of periarticular soft tissue and moulding be acceptable, and be effective form of therapy.SPS and DS have proved effectively and have obtained the support of clinical research.CPM, SPS and DS are the complete ingredients of a successful therapeutic scheme.
Because activeness, complex geometric shapes and heavily stressed around it of neutralizing in the joint, the successful rehabilitation of elbow and forearm injury are complicated, consuming time and usually are challenging.
Summary of the invention
Treatment head of the present invention comprise flexing assembly, the centre of the palm be rotated down/centre of the palm rotates up assembly and the carrying angle correcting unit of turning up (valgus carrying angle compensate device).The flexing assembly has arm attachment assembly and elbow actuator, and elbow actuator limits a rotation axis.The centre of the palm is rotated down/centre of the palm rotates up assembly and is installed on the flexing assembly, and have terminal forearm attachment assembly and the connected centre of the palm be rotated down/centre of the palm rotates up actuator.The carrying angle correcting unit of turning up is installed to described flexing assembly and the described centre of the palm is rotated down/and the centre of the palm rotates up on the assembly.
In another aspect of this invention, the treatment head comprises arm attachment assembly, terminal forearm attachment assembly, elbow actuator and the carrying angle correcting unit of turning up.The carrying angle correcting unit of turning up is connected between arm attachment assembly and the terminal forearm attachment assembly.Elbow actuator is connected on arm attachment assembly and the terminal forearm attachment assembly, thereby the motion of elbow actuator causes the elbow of user to move flexing.
Of the present invention more on the other hand, the treatment head comprise arm attachment assembly, terminal forearm attachment assembly and elbow actuator.Terminal forearm attachment assembly comprises that housing shaft and the scalable that is slidably mounted on the housing shaft clamp mechanism.Elbow actuator is connected on arm attachment assembly and the housing shaft, thereby the motion of elbow actuator causes the elbow of user to move flexing, and scalable clamps mechanism and freely moves along housing shaft.
Of the present invention more on the other hand, the treatment head comprise the centre of the palm be rotated down/centre of the palm rotates up actuator and the centre of the palm is rotated down/centre of the palm rotates up assembly.The centre of the palm is rotated down/centre of the palm rotate up assembly comprise the centre of the palm be rotated down/centre of the palm rotates up housing, rotatably is installed to the attachment band on the housing and be installed to terminal forearm attachment assembly on it.Band is installed to attachment band and the centre of the palm is rotated down/centre of the palm rotates up on the actuator, thereby the centre of the palm be rotated down/driving that the centre of the palm rotates up actuator causes band to be rotated down with the centre of the palm rotating up mode with the centre of the palm and move attachment band.
An object of the present invention is to provide Continuous Passive Movement and/or electronically controlled progressive splinting device.This device has two kinds of operational modes.First kind and be the acquiescence operational mode can be CPM.CPM is usually directed to limit a range of movement (ROM), and device moves in this scope.Can before being returned to the motion end of another programming, device increase a time-out at the direct of travel terminal point.This operational mode helps to keep the ROM in joint.The CPM device is made into usually has reversed load (ROL) security feature.ROL makes advancing or the power that direction of rotation is oppositely required or the size of resistance of CPM device.
This device can be used for bed, chair and flow device.This device can be symmetric dexterity.This device can provide FR transformable elbow flexing.This device can be rotated down for forearm provides the FR transformable centre of the palm/and the centre of the palm rotates up motion.These motions can be synchronized with the movement, carry out independently or in the mode of sequential movements.If select the centre of the palm be rotated down/centre of the palm rotates up sequential movements, the centre of the palm is rotated down/centre of the palm rotates up the carrying out that preferably become 90 degree with the elbow flexing or as much as possible near the elbow flexing.This will limit the stress on the joint.This device is preferably controlled by the handset user interface, so that the operator can regulate gait of march (only CPM pattern), range of movement, the time out when end cycle and reversed load.This device preferably includes parts, so that the electronic locking patient is provided with, allows patient's governing speed simultaneously.
The rectification of this device is designed to provide the centre of the palm of anatomical elbow flexing and forearm to be rotated down/and the centre of the palm rotates up.Correct and also can proofread and correct the carrying angle that turns up.The carrying angle that turns up be the forearm centre of the palm be rotated down/when the centre of the palm rotates up distal radius and ulna with respect to the result of terminal humerus shifted laterally.This rectification also adapts to the somatometry difference between the patient.This is by adapting to arm periphery, length and realizing with respect to the difference of the anatomical axis of arm back.When this device was used on the relevant limb arm, this device was combined into the deformation measuring device of a novelty, and the power and the centre of the palm during with the monitoring flexing be rotated down/torque when the centre of the palm rotates up.
The invention still further relates to the Continuous Passive Movement (CPM) and the progressive splinting device that are used for human body synovial joints and surrounding soft tissue.Constitute and the inventive system comprises near-end and terminal humerus support member.Humerus support member telescopically relative to each other moves, and near-end humerus support member is fixed on the framework of device suitably.This device also comprises distal radius and ulna support member.Radius and ulna support member rotatablely move with respect to the humerus support member so that the centre of the palm be rotated down/centre of the palm rotates up.Radius and ulna support member also move so that the elbow flexing in the plane motion mode with respect to the humerus support member.This device comprises the electric actuator of two microprocessor controls.Actuator is positioned at elbow and terminal fore-arm.Actuator is fixed on the apparatus for correcting suitably, rotatablely moves to provide with the anatomical axis of elbow and forearm is concentric.Elbow actuator is simple pivoted actuator, thereby the machinery pivot is concentric with the anatomical axis of elbow that installs and forearm.
In common CPM pattern, ROM is defined, the limited range operation of device by linking up.Comprise two semicircular in shape of installing slidably mutually in the alternative structure of elbow anatomical axis correcting unit.This structure is providing adjusting can obtain identical result to adapt to the elbow anatomical axis aspect the periphery of upper arm and position.
To be further described further feature of the present invention in the following description.
Description of drawings
Present invention is described by embodiment hereinafter with reference to accompanying drawing, wherein:
Fig. 1 be according to the combination of the present invention centre of the palm be rotated down/centre of the palm rotates up the axonometric chart with the flexion therapeutic head;
Fig. 2 be the combination centre of the palm be rotated down/centre of the palm rotates up and the flexing assembly of flexion therapeutic head and the exploded perspective view of pivot;
Fig. 3 be the combination centre of the palm be rotated down/centre of the palm rotates up the side view with the flexion therapeutic head;
Fig. 4 be the combination centre of the palm be rotated down/centre of the palm rotates up the side view with the flexion therapeutic head, shows that this device is in two positions;
Fig. 5 be the combination centre of the palm be rotated down/centre of the palm rotates up the enlarged front view that is omitted with a flexion therapeutic head part;
Fig. 6 be the combination centre of the palm be rotated down/centre of the palm rotates up the enlarged front view that is omitted with a flexion therapeutic head part, shows that this device is in the position different with position shown in Figure 5;
Fig. 7 be the combination centre of the palm be rotated down/centre of the palm rotates up the axonometric chart with the flexion therapeutic head, shows that this device is installed on the support;
Fig. 8 be according to the combination of the present invention centre of the palm be rotated down/centre of the palm rotates up the side isometric view with the alternate embodiment of flexion therapeutic head;
Fig. 9 be the combination centre of the palm shown in Figure 8 be rotated down/centre of the palm rotates up the forward axonometric chart with the flexion therapeutic head;
Figure 10 be the combination centre of the palm shown in Fig. 8 and 9 be rotated down/centre of the palm rotates up the amplification stereogram with the pivot that turns up (valgus pivot) of flexion therapeutic head;
Figure 11 is the humerus support member of the treatment head shown in Fig. 8-10 and the amplification stereogram of flexing actuator;
Figure 12 is the amplification stereogram of the humerus support member of the treatment head shown in Fig. 8-10;
Figure 13 is the axonometric chart of the mounting bracket that uses with treatment head of the present invention;
Figure 14 is the axonometric chart according to flexion therapeutic head of the present invention; And
Figure 15 be the centre of the palm according to the present invention be rotated down/centre of the palm rotates up the axonometric chart of head.
The specific embodiment
With reference to Fig. 1 and 3, elbow and wrist are treated head or the centre of the palm is rotated down/and the centre of the palm rotates up with the flex device and represents with label 10.This device comprise upper arm or humerus support member 22, elbow or flexing assembly 24 and wrist or the centre of the palm be rotated down/centre of the palm rotates up assembly 26.
Upper arm or humerus support member 22 comprise bottom or terminal humerus sheath 28 and top or near-end humerus sheath 30.Sheath 30 is installed slidably along sheath support member 32.Bottom sheath band 34 (being presented among Fig. 3) is installed on the bottom humerus sheath 28, and top sheath band 36 is installed on the near-end humerus sheath 30.Be with 34 and 36 to adopt the hook and loop type fixture, so that install easily and regulate.Distance between bottom humerus sheath 28 and the near-end humerus sheath 30 can be regulated, and is attached to tightly on the patient shown in the dotted line 38 to guarantee device 10.
First and second elbow actuators 40 and 42 have corresponding first and second rotating shafts 60 and 62 respectively.Rotating shaft 60 and 62 with elbow rotation axis 56 with one heart mode rotate.First and second pull bars 60 and 62 at one end are connected respectively to first and second rotating shafts 60 and 62, are connected on the pivot 68 that turns up at the other end.The centre of the palm is rotated down/and the centre of the palm rotates up assembly 26 and is installed on the pivot 68 that turns up.
The centre of the palm is rotated down/centre of the palm rotate up assembly 26 comprise the centre of the palm be rotated down/centre of the palm rotates up housing 70, ring assemblies 74 and ulna clamping device 76.Housing shaft 72 comprises pair of parallel bar 73.The centre of the palm is rotated down/and the centre of the palm rotates up housing 70 and is installed to slidably on the parallel bar 73, so that in use it can move along bar.Bar 73 comprises and is arranged in its terminal sweep 75 (being presented at Fig. 3), sweep 75 limited the centre of the palm be rotated down/centre of the palm rotates up moving of housing 70.Bar 73 is installed on the pivot 68 that turns up at the other end.
As shown in Figure 2, the pivot 68 that turns up comprises top disc 90, middle part dish 92, bottom plate 94 and the centrepin 96 that they are combined pivotally.Top disc 90 is installed to first and drives on the pull bar 64.Middle part dish 92 is installed to second and drives on the pull bar 66.Top disc 94 is installed on the housing stem 73.Each dish can be independent of other dish motion, therefore, pull bar 64 and 66 and housing stem 73 can relative to each other rotate.The pivot 68 that turns up is proofreaied and correct the turn up variation of carrying angle and the adjustable distance between the elbow actuator.Like this, turn up carrying angle the driving pull bar 64,66 that is positioned at elbow actuator 40 and 42 and make the centre of the palm be rotated down/centre of the palm rotates up in the pivot 68 that turns up between the bar 73 that driver moves slidably and is corrected.
Make this device can be fixed on bed, chair or the flow device in the installation feature on the apparatus for correcting.Shown in Fig. 7,8,9 and 13, device 10 and 120 (following will descriptions) can be installed on the support 100.Referring to Figure 13, an installation bracket 111 is installed on the erection column 113.Erection column 113 is telescopic, and its height can be regulated by adjusting knob 102.
Anatomical features will make corrects actuator with elbow and the correction of forearm anatomical axis with align.When device moved through its range of movement, these features were used to make the stress minimum in joint and the surrounding soft tissue.
For all these treatment activity and splinting device, important is that device is positioned properly.
Referring to Fig. 9-12, elbow and forearm therapeutic head or the centre of the palm be rotated down/and the centre of the palm rotates up the flex device with label 120 expressions.Below only to being described in detail with above-mentioned different element.Similar elements will be represented with same label.
Upper arm or humerus support member 22 comprise bottom or terminal humerus sheath 28 and top or near-end humerus sheath 30.Near-end humerus sheath 30 is installed slidably with respect to humerus support member 22 by two parallel bars 32 and is fixed (being presented in Figure 11 and 12) on the throne by lock-button 124.Terminal sheath band 36 is installed on the terminal humerus sheath 28, and near-end sheath band 34 is installed on the near-end humerus sheath 30.Have the hook and loop type fixture of bracelet 126 and 128 with 34 and 36 employings, so that install easily and regulate.Distance between terminal humerus sheath 28 and the near-end humerus sheath 30 can be regulated, and is attached on the patient tightly to guarantee head 120.
L shaped parts 146 are installed to humerus support member 22 on the elbow actuator assembly 122.By depressing the button 148 that cooperates with a hole in the pair of holes 150 and 22 rotations of humerus support member being cooperated with another hole 150 up to it, can change the orientation of humerus support member 22.Erection column 152 is used for cooperating (being presented at Figure 13) with installation bracket 111.Erection column 152 comprises the quick release button 154 that is used to make device 120 and support 100 disengagements.Elbow actuator assembly 122 is installed on the L shaped parts 146 by assembly parts 156.Assembly parts 156 comprise electrical switch 158.
The centre of the palm is rotated down/centre of the palm rotate up assembly 26 comprise the centre of the palm be rotated down/centre of the palm rotates up housing 70, ring assemblies 74, adjustable terminal forearm clamping device 76 and pair of parallel bar 73.The centre of the palm is rotated down/and the centre of the palm rotates up actuator casing 70 and is installed to slidably on the parallel bar 73 and by 136 pairs of terminal sliding scales of end stop portion and limits.Elastomeric tether 138 is installed in end stop portion 136 and the centre of the palm is rotated down/and the centre of the palm rotates up between the assembly 26.The elastomeric tether 138 compensation centres of the palm are rotated down/and the centre of the palm rotates up the weight of assembly 26 and reduces stress on the user elbow, and this stress will be rotated down from the centre of the palm/and the centre of the palm rotates up assembly and is applied on the patient.
The variation that the pivot 68 that turns up is proofreaied and correct carrying angle.Carrying angle in elbow actuator 122, orthosis stay 130 be slidably mounted in the centre of the palm on the bar 73 and be rotated down/centre of the palm rotates up in the pivot 68 that turns up between the assembly and is corrected.When initial the installation and in therapeutic process, the dislocation of the patient in pivot 68 correcting units of turning up.It can make because the stress minimum that the misalignment of device causes.The centre of the palm is rotated down/and the centre of the palm rotates up the articular surface that the slip of assembly helps to proofread and correct in the use and breaks away from and pressure.
In use, head 10 and 120 is suitable for using on bed, chair and flow device.Device 10 and 120 is symmetries and ambidextrous.Each device 10,120 provides FR different elbow flexing.Each device 10,120 also for forearm provide the FR different centre of the palm downwards and the centre of the palm move upward.These motions can be synchronized with the movement, carry out independently or in the mode of sequential movements.If the centre of the palm is rotated down/centre of the palm rotates up by motion mode programming in order, the centre of the palm is rotated down/and the centre of the palm rotates up the carrying out that preferably become 90 degree with the elbow flexing or as much as possible near the elbow flexing.This will limit the stress on the joint.This device also can be controlled by the handset user interface, so that the operator regulates gait of march (only CPM pattern), range of movement, the time out when end cycle and reversed load.This device can have parts, so that the electronic locking patient is provided with, allows patient's governing speed simultaneously.The rectification of this device is designed to provide the centre of the palm of anatomical elbow flexing and forearm to be rotated down/and the centre of the palm rotates up.Correct and also can proofread and correct the carrying angle that turns up.The carrying angle that turns up be the forearm centre of the palm when rotating up distal radius and ulna with respect to the result of terminal humerus shifted laterally.This rectification also adapts to the somatometry difference between the patient.This is by adapting to arm periphery, length and realizing with respect to the difference of the anatomical axis of arm back.When this device was used on the relevant limb arm, this device was combined into the deformation measuring device of a novelty, and the power and the centre of the palm during with the monitoring flexing be rotated down/torque when the centre of the palm rotates up.Anatomical features will make corrects actuator with elbow and the correction of forearm anatomical axis with align.When device moved or is arranged to by its range of movement, these features were used to make the stress minimum in joint and the surrounding soft tissue.
Referring to Figure 14, another alternate embodiment of the present invention is with label 160 expressions.Device 160 is only similar and device 120 flexion device, but do not comprise the centre of the palm be rotated down/centre of the palm rotates up assembly.Do not have the centre of the palm be rotated down/centre of the palm rotates up assembly, device 160 comprises arm support member 162.Arm support member 162 is slidably mounted on the bar 73.The arm support member has the support ring 168 that is installed on the housing 166.Flexible objects 80 is pivotally mounted on the support ring 168 and can rotates around axis 82.The remainder of device 160 is identical with said apparatus 120.
Similarly, those skilled in the art will appreciate that element of the present invention can be used in only be the centre of the palm be rotated down/centre of the palm rotates up device, wherein, does not use in flexing actuator or this device not to comprise the flexing actuator.As shown in figure 15, also can the centre of the palm constructed in accordance be rotated down/centre of the palm rotates up head 170.The device 170 comprise the upper arm support member 22 and the centre of the palm be rotated down/centre of the palm rotates up assembly 26.As mentioned above, the centre of the palm be rotated down/centre of the palm rotate up assembly 26 comprise the centre of the palm that is slidably mounted on the parallel bar 73 be rotated down/centre of the palm rotates up housing 70, ring assemblies 74 and ulna clamping device 76.Housing shaft 72 comprises pair of parallel bar 73.Bar 73 has end stop portion 136 at the one end, is installed on the pivot 68 that turns up with the pivotal axis 83 of turning up at its other end.
Upper arm support member 22 comprises bottom or terminal humerus sheath 28 and top or near-end humerus sheath 30.Sheath 30 is installed slidably along sheath support member 32.Bottom sheath band 34 is installed on the bottom humerus sheath 28, and top sheath band 36 is installed on the near-end humerus sheath 30.A L shaped orthosis stay 130 is pivotably connected on the elongated connector 172 at the one end, is connected on the pivot 68 that turns up at its other end.Elongated connector 172 also is installed on the upper arm support member 22.
Should be understood that, more than only be that invention has been described by example.Under the situation that does not break away from claim of the present invention institute restricted portion, those skilled in the art can carry out multiple modification to the present invention, and these modifications also should comprise within the scope of the invention.
Claims (22)
1, a kind of treatment head comprises:
Flexing assembly, described flexing assembly have the arm attachment device and have the elbow actuator of elbow rotation axis;
Be installed to the centre of the palm on the described flexing assembly be rotated down/centre of the palm rotates up assembly, the described centre of the palm is rotated down/centre of the palm rotates up that assembly has terminal forearm attachment device and the connected centre of the palm is rotated down/centre of the palm rotates up actuator; And
Be installed to the described flexing assembly and the described centre of the palm be rotated down/centre of the palm rotates up the carrying angle correcting unit of turning up on the assembly.
2, treatment head as claimed in claim 1 is characterized in that, the carrying angle correcting unit of turning up comprises the pivot that is installed between described terminal forearm attachment device and the described arm attachment device.
3, treatment head as claimed in claim 2 is characterized in that, described pivot is a compliant member.
4, treatment head as claimed in claim 2 is characterized in that, described pivot is an adjustable connecting device.
5, as the described treatment head of above-mentioned arbitrary claim, it is characterized in that, described elbow actuator comprises isolated first and second elbow actuators, described flexing assembly also comprises at least one correcting rod and is installed in adjustable component between isolated first and second elbow actuators movably, thus optionally regulate adjustable component make first and second elbow actuators along path that correcting rod limits mutually in opposite directions or mutually away from moving.
6, treatment head as claimed in claim 5 is characterized in that, the correcting rod shape is made into feasible, when first and second elbow actuators mutually when mobile, they move forward with respect to described arm attachment device respectively.
7, treatment head as claimed in claim 6 is characterized in that, also comprises second correcting rod that is slidably mounted between first and second elbow actuators.
8, as the described treatment head of above-mentioned arbitrary claim, it is characterized in that, elbow actuator is installed on the described arm attachment device, orthosis stay rotatably is installed on described elbow actuator and the described carrying angle correcting unit of turning up, thus the elbow flexing of the mobile user of rotation of orthosis stay.
9, as the arbitrary described treatment head of claim 2-8, it is characterized in that, the described centre of the palm is rotated down/and the centre of the palm rotates up assembly and comprises a housing shaft, described terminal forearm attachment device is installed on the housing shaft slidably, thereby can freely move along housing shaft at terminal forearm attachment device described in the flexing process.
10, treatment head as claimed in claim 9, it is characterized in that, described housing shaft defines the centre of the palm and is rotated down/and the centre of the palm rotates up axis, described terminal forearm attachment device comprises that being pivotally mounted to a centre of the palm is rotated down/centre of the palm rotates up the terminal forearm clamping device on the housing, thereby terminal forearm clamping device perpendicular to the centre of the palm be rotated down/centre of the palm rotates up axis and pivots.
11, treatment head as claimed in claim 10, it is characterized in that, described elbow actuator is pivotally mounted on the described arm attachment device and has the first elbow position and the second elbow position, described pivot has first pivot location and second pivot location, thereby the first elbow position and first pivot location define a right hand direction, and the second elbow position and second pivot location define a left hand orientation.
12, as the described treatment head of above-mentioned arbitrary claim, it is characterized in that, the described centre of the palm is rotated down/and the centre of the palm rotates up assembly and is installed to slidably on the housing shaft, and housing shaft is installed on the carrying angle correcting unit of turning up.
13, as the described treatment head of above-mentioned arbitrary claim, it is characterized in that, the described centre of the palm is rotated down/centre of the palm rotate up assembly also comprise the centre of the palm be rotated down/centre of the palm rotate up housing, rotatably be installed to attachment band on the described housing, be installed to terminal forearm attachment device on it, be installed to attachment band and the centre of the palm be rotated down/centre of the palm rotates up the band on the actuator, thereby the centre of the palm be rotated down/driving that the centre of the palm rotates up actuator causes band to be rotated down with the centre of the palm rotating up mode with the centre of the palm and move attachment band.
14, as the described treatment head of above-mentioned arbitrary claim, it is characterized in that, described terminal forearm attachment device comprises that the scalable with at least one adjustable clamp clamps mechanism, clamps mechanism and makes patient's limb arm align on the anatomy meaning and be fixed in the device thereby optionally regulate scalable.
15, a kind of treatment head comprises:
The arm attachment device;
Terminal forearm attachment device;
Be connected the carrying angle correcting unit of turning up between described arm attachment device and the described terminal forearm attachment device; And
Be connected to the elbow actuator on described arm attachment device and the described terminal forearm attachment device, thereby the motion of elbow actuator causes user to move the elbow flexing.
16, treatment head as claimed in claim 15 is characterized in that, the carrying angle correcting unit of turning up is a pivot.
17, treatment head as claimed in claim 16 is characterized in that, also comprises the housing shaft that is installed on the pivot, and described terminal forearm attachment device is installed on the pivot slidably.
18, as the arbitrary described treatment head of claim 15-17, it is characterized in that, described terminal forearm attachment device comprises that attachment band and the scalable that is pivotally mounted on the described ring clamp mechanism, thereby housing shaft limits a centre of the palm and is rotated down/centre of the palm rotates up axis, described scalable clamp mechanism perpendicular to the described centre of the palm be rotated down/centre of the palm rotates up axis and pivots.
19, a kind of treatment head comprises:
The arm attachment device;
Comprise housing shaft and the terminal forearm attachment device that is slidably mounted in the scalable clamping mechanism on the housing shaft; And
Be connected to the elbow actuator on described arm attachment device and the described housing shaft, thereby the motion of elbow actuator causes user to move the elbow flexing, scalable clamps mechanism and freely moves along housing shaft.
20, a kind of treatment head comprises:
The centre of the palm is rotated down/and the centre of the palm rotates up actuator; And
The centre of the palm is rotated down/and the centre of the palm rotates up assembly, the described centre of the palm is rotated down/centre of the palm rotate up assembly have the centre of the palm be rotated down/centre of the palm rotate up housing, rotatably be installed to attachment band on the described housing, be installed to terminal forearm attachment assembly on it, be installed to attachment band and the centre of the palm be rotated down/centre of the palm rotates up the band on the actuator, thereby the centre of the palm be rotated down/driving that the centre of the palm rotates up actuator causes band to be rotated down with the centre of the palm rotating up mode with the centre of the palm and move attachment band.
21, treatment head as claimed in claim 20 is characterized in that, also comprise be installed to the described centre of the palm be rotated down/centre of the palm rotates up the arm attachment device on the assembly.
22, as the arbitrary described treatment head of claim 20-21, it is characterized in that, described attachment band limits a centre of the palm and is rotated down/and the centre of the palm rotates up axis, described scalable clamps mechanism and is pivotally mounted on the described attachment band, thus described scalable clamp mechanism perpendicular to the described centre of the palm be rotated down/centre of the palm rotates up axis and pivots.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US18905100P | 2000-03-14 | 2000-03-14 | |
US60/189,051 | 2000-03-14 | ||
US09/689,812 | 2000-10-13 |
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CN1694670A true CN1694670A (en) | 2005-11-09 |
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CN 01806603 Pending CN1694670A (en) | 2000-03-14 | 2001-03-14 | Combination pro/supination and flexion therapeutic mobilization device |
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CN105640739A (en) * | 2016-03-21 | 2016-06-08 | 哈尔滨工业大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
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2001
- 2001-03-14 CN CN 01806603 patent/CN1694670A/en active Pending
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CN104666048A (en) * | 2013-11-29 | 2015-06-03 | 香港理工大学 | Wearable Robotic Device With Bracing System |
CN106163482A (en) * | 2014-04-11 | 2016-11-23 | 韩国科学技术研究院 | Upper extremity strength strengthens servicing unit |
CN103948483A (en) * | 2014-04-21 | 2014-07-30 | 安阳工学院 | Upper limb rehabilitation trainer |
CN103948483B (en) * | 2014-04-21 | 2015-12-09 | 安阳工学院 | A kind of upper-limb recovery training device |
CN105640739A (en) * | 2016-03-21 | 2016-06-08 | 哈尔滨工业大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
CN105640739B (en) * | 2016-03-21 | 2017-08-25 | 哈尔滨工业大学 | A kind of upper limb healing ectoskeleton balanced based on space gravity |
CN107307974A (en) * | 2017-07-20 | 2017-11-03 | 上海理工大学 | A kind of Wearable healing and training elbow joint and life assistant apparatus |
CN109771031A (en) * | 2019-03-04 | 2019-05-21 | 中南大学湘雅医院 | A kind of navigation template and preparation method thereof and preparation system |
CN109771031B (en) * | 2019-03-04 | 2022-02-11 | 中南大学湘雅医院 | Navigation template and preparation method and preparation system thereof |
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