EP1120098A1 - Device for restoring the mobility of joints - Google Patents
Device for restoring the mobility of joints Download PDFInfo
- Publication number
- EP1120098A1 EP1120098A1 EP99952828A EP99952828A EP1120098A1 EP 1120098 A1 EP1120098 A1 EP 1120098A1 EP 99952828 A EP99952828 A EP 99952828A EP 99952828 A EP99952828 A EP 99952828A EP 1120098 A1 EP1120098 A1 EP 1120098A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- output shafts
- shafts
- joint
- joints
- unmoved
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000000399 orthopedic effect Effects 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 7
- 210000000629 knee joint Anatomy 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
Definitions
- This invention is concerned with the field of medicine techniques, particularly with the device for restoring the mobility of joints.
- the Soviet Union inventors sertificate No. 1653770, A61H 1/02 disclosed the device for restoring the mobility of joints, inclusive the base with fixed lodgment, frame conjuncted with the base by a pin-joint.
- the frame has an electric drive with a transmission.
- the transmission is accomplished as a screw-nut pair, in wich the nut is connected with a rocker; the rocker has a fixed tie with levers of link gear; the slider of the link gear is fixed on the moving lodgement.
- This device decreases the load to joint which takes place because of misalignments of the joint axis and the device axis.
- this device has a large weight and dimensions and may be accomplished only in stationary mode. It is necessary to fix limbs and body while using the device, which decreases the effectiveness of the restoring the mobility of joints.
- the device for restoring the mobility of joints contains at least one electric actuator, control system, unmoved and drive support units for adjacent segments forming joint; electric actuator has a body in the form of U-type frame and has two output shafts coaxially arranged at the ends of it; the middle part of U-type frame, named supporting module, has unmoved support unit; drive support unit is connected with output shafts through a mechanism for transmitting rotation between two non-coaxial shafts.
- Supporting module may be removable or telescopic and includes means of adjusting and fixation of unmoved supporting unit. It may be accomplished in form of empty body with motor inside it.
- the motor is connected to output shaft by means of reduction gears, the case of these reduction gears makes both sides of U-type frame.
- Mechanism for transmitting rotation between two non-coaxial shafts may be accomplished in form of two links fixed on output shafts of electric actuator; each of the links is connected with its guide, fixed on drive support units by means of connecting-rod; connecting-rod is joined with its guides by means of springy connection and with links by means of actuator of linear movement.
- This mechanism provides linearly dependence between angle of wind of output shafts of electric drive and the angle of wind of supporting unit and reduces the load to a joint surface by means of displacing onto the supporting unit.
- Mechanism for transmitting rotation between two non-coaxial shafts may be accomplished in form of levers with adjustable length, fixed on output shafts of reduction gears; levers are connected on free ends with common support, which has swivel connected with crosshead; guide of this crosshead is mounted on drive support unit.
- Roller or ball-and-socket attachment is used as a crosshead which is connected with its guides by means of springy connection.
- This type of construction is simple and compact with the high level of specific power, and conveniently adjusting to joints of any type, may be used at any phase of healing process. It's very simple and may be used without highly qualified personnel.
- supporting module may contain additional electric drive of unmoved supporting unit.
- Electric drives may have clutches, which provides free movements of joints while this device is fixed to the patient limb.
- the data of movement amplitude enteres into the programmer automatically.
- Foot support unit may comprise rollers for making the movement in knee-joint easier.
- Figure 1 General appearance of device for restoring a knee-joint.
- Figure 5 General appearance of device for restoring ankle joints in two direct planes.
- U-type frame electro drive for restoring the mobility of joints
- Middle part of U-type frame - supporting module 1 - is accomplished as an empty body with reverse motor 2 in it.
- This motor has two output shafts 3.
- 4- sensing element of winding speed forms signals for motor speed controlling.
- Case of supporting module 1 is connected with cases of reduction gears 5, which constitute side base of frame.
- the output shafts of motor are connected with input shafts of these reduction gears.
- Each reduction gear 5 consists of two reduction gear - 7 - motor reduction gear and 8 - output reduction gear. 6 - clutches which connect reduction gears 5 and 8.
- Clutches 6 disconnect reduction gears 8 from other part of actuator. This disconnection allows free winding of output shaft of actuator which are arranged coaxially (axis O-O).
- Supporting module 1 has mechanism of adjusting and fixing unmoved supporting unit 11. It is a leg lodgment in our example. This unit (fig. 2,3) consists of linear movement guide and guided detail 13, which is mounted on the leg lodgment 11. Screw 14 fixes the leg lodgment position. Guide way 12 is mounted onto supported module 1 (fig. 3) with the virtual winding round axis 15. An angle of winding is adjusted by screw 16 with a help of mechanism 17. This mechanism allows to orient the device to the patient limb.
- the output shafts of device are connected to a mechanism for transmitting rotation between the two non-coaxial shafts.
- This mechanism is appointed for transmitting winding between the output shafts of device on the patient joint, which plays role of the second shaft.
- the axis of this shaft (patient joint) may be not coaxial to the axis O-O.
- kinematical scheme may be considered as modifying analogue of cross-clutch.
- This clutch allows to reduce the react force in joint.
- Mechanism consists of two synchronously operating units. On each output shafts 9 mounted guide way 18. Connecting-rods 19 with rollers 20 conjunct links 18 with guides 21. These guides are part of telescope levers 22 which are connected with adjustable supporting unit. This is femur external fixing apparatus in our example. Screw 24 fixes the length of a lever. Springs 25 determine the initial position of a connectihg-rod and prevent displacing it in outside position. The using of springs allows smooth response to relative displacement of axes of the joint and the device. Drive of linear displacement compensates extreme pressure onto joint surface. It uses polarized electromagnets as a drive of linear displacement.
- Shin lodgment has foot prop 27 with roller 28 and allows training knee-joint both in lying and sitting positions without any special support. Femur and knee joints are trained simultaneously in a lying position.
- Supporting module 1 (figure 4) contains additional actuator for a wind unmoved support unit 29.
- the output shaft 30 of this actuater is connected with guide linear displacement 12.
- the reduction gears 5 are provided with own motors.
- the output shafts 9 of these reduction gears are connected with mechanism for transmittion rotation between two non coaxial shafts.
- This mechanism consists of telescope levers 31 conjunct by common holder 32.
- the ball-and-socket attachment 33 makes role of crosshead and is mounted onto this holder.
- the ball-and-socket attachment compensates a foot slew, which takes place because of non coaxiality of axis joint and device.
- the crosshead is connected with its guide 34 by the springy detail 35.
- the guide 34 is fixed on drive supporting unit 23. This is a shin lodgment in our example.
- the screw 36 fixes the length of levers 31.
- Elements 11-16 fix foot prop 11 thus an ankle joint is placed in sphere of axis O-O. Screw 16 adjusts an position of driving gear 29 relative to supporting module 1.
- the shin lodgment is used as fixing supporting unit 11 supplied with foot prop 27 with roller 28.
- the screw 14 is loosed and by the screw 16 and frame displacement alongside guides 12,13 the axes of joint and device are combined.
- the screw 14 fixes favorable position.
- the favorable length of levers 22 is fixed by screws 24. The device is ready to operate.
- clutches 6 are disengaged.
- a patient makes free joint movement.
- the signal from sensitive element of output shafts 10 of device goes to controller.
- a signal of speed and amplitude of patient moving is transferred to controller in the same way. This data are used in controlling process.
- the controller forms controlling signals for motor 2, clutch 6 and electromagnet 26.
- the device operating begins with turning on of clutch 6, then motor 2 is turning on.
- the winding of output shafts of motor is transmitted onto output shafts 9 by reduction gear 5 and by means of elements 18, 21, 22, 23 is transferred onto external fixation apparatus 23.
- the knee joint begins to flex.
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Nitrogen And Oxygen Or Sulfur-Condensed Heterocyclic Ring Systems (AREA)
Abstract
Description
- This invention is concerned with the field of medicine techniques, particularly with the device for restoring the mobility of joints.
- The Soviet Union inventors sertificate No. 1653770,
A61H 1/02 disclosed the device for restoring the mobility of joints, inclusive the base with fixed lodgment, frame conjuncted with the base by a pin-joint. The frame has an electric drive with a transmission. The transmission is accomplished as a screw-nut pair, in wich the nut is connected with a rocker; the rocker has a fixed tie with levers of link gear; the slider of the link gear is fixed on the moving lodgement. - This device decreases the load to joint which takes place because of misalignments of the joint axis and the device axis.
- However, the peculiarity of this transmission limits the range of motion of joints by the length of guidescrew and lower efficiency.
- By this reason this device has a large weight and dimensions and may be accomplished only in stationary mode. It is necessary to fix limbs and body while using the device, which decreases the effectiveness of the restoring the mobility of joints.
- The goals of this invention are:
- a) To increase the effectiveness of restoring the mobility of joints
- due to compact dimensions, low weight, good functionality of device and simple adjusting to joints of any type. This allows to combine the long mechanotherapy treatments with rest or some other practice;
- due to possibility of repairing bone breaking and function of joint simultaneously, by using device of external fixation;
- due to possibility of movement of joints in two director-planes simultaneously;
- due to possibility of reducing of load to a joint surface by means of displacing onto the supporting units.
- b) Decreasing of healing cost due to simplicity and universality of device, possibility of using the device at home.
-
- This task is solved in the following manner: the device for restoring the mobility of joints contains at least one electric actuator, control system, unmoved and drive support units for adjacent segments forming joint; electric actuator has a body in the form of U-type frame and has two output shafts coaxially arranged at the ends of it; the middle part of U-type frame, named supporting module, has unmoved support unit; drive support unit is connected with output shafts through a mechanism for transmitting rotation between two non-coaxial shafts.
- Supporting module may be removable or telescopic and includes means of adjusting and fixation of unmoved supporting unit. It may be accomplished in form of empty body with motor inside it. The motor is connected to output shaft by means of reduction gears, the case of these reduction gears makes both sides of U-type frame.
- Mechanism for transmitting rotation between two non-coaxial shafts may be accomplished in form of two links fixed on output shafts of electric actuator; each of the links is connected with its guide, fixed on drive support units by means of connecting-rod; connecting-rod is joined with its guides by means of springy connection and with links by means of actuator of linear movement.
- This mechanism provides linearly dependence between angle of wind of output shafts of electric drive and the angle of wind of supporting unit and reduces the load to a joint surface by means of displacing onto the supporting unit.
- Mechanism for transmitting rotation between two non-coaxial shafts may be accomplished in form of levers with adjustable length, fixed on output shafts of reduction gears; levers are connected on free ends with common support, which has swivel connected with crosshead; guide of this crosshead is mounted on drive support unit.
- Roller or ball-and-socket attachment is used as a crosshead which is connected with its guides by means of springy connection.
- This type of construction is simple and compact with the high level of specific power, and conveniently adjusting to joints of any type, may be used at any phase of healing process. It's very simple and may be used without highly qualified personnel.
- For providing movement of joints in two director-plane simultaneously, supporting module may contain additional electric drive of unmoved supporting unit.
- Electric drives may have clutches, which provides free movements of joints while this device is fixed to the patient limb. The data of movement amplitude enteres into the programmer automatically.
- Any orthopedic external holder may be used as a supporting unit. Foot support unit may comprise rollers for making the movement in knee-joint easier.
- Figure 1. General appearance of device for restoring a knee-joint.
- Figure 2. The same - side view.
- Figure 3. Scheme of unit of displacement and fixation of unmoved supporting unit.
- Figure 4. Scheme of electro drives assemblied for restoring joints in two direct planes.
- Figure 5. General appearance of device for restoring ankle joints in two direct planes.
- Figure 6. The same - Side view.
- Device for restoring the mobility of joints (figures 1,2) contains U-type frame electro drive. Middle part of U-type frame - supporting module 1 - is accomplished as an empty body with
reverse motor 2 in it. This motor has two output shafts 3. 4- sensing element of winding speed forms signals for motor speed controlling. Case of supportingmodule 1 is connected with cases ofreduction gears 5, which constitute side base of frame. The output shafts of motor are connected with input shafts of these reduction gears. Eachreduction gear 5 consists of two reduction gear - 7 - motor reduction gear and 8 - output reduction gear. 6 - clutches which connectreduction gears -
Clutches 6disconnect reduction gears 8 from other part of actuator. This disconnection allows free winding of output shaft of actuator which are arranged coaxially (axis O-O). - Such disconnection of clutches is allowed to detect the range of motion of patient say nothing of providing the convenience while the device is affixed to the patient limb. Additionally these clutches may be used for limiting maximum value of load. 10 sensing element of output shafts position. Supporting
module 1 has mechanism of adjusting and fixing unmoved supportingunit 11. It is a leg lodgment in our example. This unit (fig. 2,3) consists of linear movement guide and guideddetail 13, which is mounted on theleg lodgment 11. Screw 14 fixes the leg lodgment position.Guide way 12 is mounted onto supported module 1 (fig. 3) with the virtual windinground axis 15. An angle of winding is adjusted byscrew 16 with a help of mechanism 17. This mechanism allows to orient the device to the patient limb. - The output shafts of device are connected to a mechanism for transmitting rotation between the two non-coaxial shafts. This mechanism is appointed for transmitting winding between the output shafts of device on the patient joint, which plays role of the second shaft. The axis of this shaft (patient joint) may be not coaxial to the axis O-O.
- In this example kinematical scheme may be considered as modifying analogue of cross-clutch. This clutch allows to reduce the react force in joint. Mechanism consists of two synchronously operating units. On each
output shafts 9 mountedguide way 18. Connecting-rods 19 withrollers 20conjunct links 18 withguides 21. These guides are part of telescope levers 22 which are connected with adjustable supporting unit. This is femur external fixing apparatus in our example.Screw 24 fixes the length of a lever.Springs 25 determine the initial position of a connectihg-rod and prevent displacing it in outside position. The using of springs allows smooth response to relative displacement of axes of the joint and the device. Drive of linear displacement compensates extreme pressure onto joint surface. It uses polarized electromagnets as a drive of linear displacement. - Shin lodgment has
foot prop 27 withroller 28 and allows training knee-joint both in lying and sitting positions without any special support. Femur and knee joints are trained simultaneously in a lying position. - Modifying scheme of our device for training ankle joint in two direct planes is presented in figures 4-6. Supporting module 1 (figure 4) contains additional actuator for a wind
unmoved support unit 29. Theoutput shaft 30 of this actuater is connected with guidelinear displacement 12. The reduction gears 5 are provided with own motors. Theoutput shafts 9 of these reduction gears are connected with mechanism for transmittion rotation between two non coaxial shafts. This mechanism consists of telescope levers 31 conjunct bycommon holder 32. The ball-and-socket attachment 33 makes role of crosshead and is mounted onto this holder. The ball-and-socket attachment compensates a foot slew, which takes place because of non coaxiality of axis joint and device. The crosshead is connected with itsguide 34 by thespringy detail 35. Theguide 34 is fixed ondrive supporting unit 23. This is a shin lodgment in our example. Thescrew 36 fixes the length oflevers 31. - Elements 11-16 (figures 5,6) fix
foot prop 11 thus an ankle joint is placed in sphere of axis O-O.Screw 16 adjusts an position of drivinggear 29 relative to supportingmodule 1. - Operating of the device is described by example of training of knee joint in special condition when the femur has external fixation apparatus 23 (figure 1,2).
- In this case the shin lodgment is used as fixing supporting
unit 11 supplied withfoot prop 27 withroller 28. After fixation of the lodgment on shin, thescrew 14 is loosed and by thescrew 16 and frame displacement alongside guides 12,13 the axes of joint and device are combined. Thescrew 14 fixes favorable position. The favorable length oflevers 22 is fixed byscrews 24. The device is ready to operate. - In this
condition clutches 6 are disengaged. A patient makes free joint movement. The signal from sensitive element ofoutput shafts 10 of device goes to controller. A signal of speed and amplitude of patient moving is transferred to controller in the same way. This data are used in controlling process. - The controller forms controlling signals for
motor 2,clutch 6 andelectromagnet 26. - The device operating begins with turning on of
clutch 6, then motor 2 is turning on. The winding of output shafts of motor is transmitted ontooutput shafts 9 byreduction gear 5 and by means ofelements external fixation apparatus 23. The knee joint begins to flex. - The bias of joint axis from the
output shafts 9 is compensated by displacement of connecting-rod inlink 18 and guides 21.
Claims (10)
- The device for restoring the mobility of joints contains at least one electric actuator, control system, unmoved and drive support units for adjacent segments forming joint differing thus, thatits electric actuator has a body in the form of U-type frame and has two output shafts coaxially arrange at the end of it;the middle part of U-type frame, named supporting module, has unmoved support unit;drive support unit is connected with output shafts through a mechanism for transmitting rotation between two non-coaxial shafts.
- The device as in claim 1, has a supporting module, which may be removable or telescopic and further comprising means of adjusting and fixation of unmoved supporting unit.
- The device as in claim 1 or 2 may be accomplished in form of empty body with motor inside it and motor is connected to output shaft by means of reduction gears, the body of which is constructed by the both sides of U-type frame.
- The device as in claim 1,2 or 3, has the mechanism for transmitting rotation between two non-coaxial shafts which may be accomplished in form of two links fixed on output shafts of electric actuator;each of links is connected with guide, fixed on drive support units by means of a connecting-rod;connecting-rod is joined with its guides by means of springy connection and with links by means of actuator of linear movement.
- The device as in claim 1,2 or 3, has the mechanism for transmitting rotation between two non-coaxial shafts which may be accomplished in form of levers with adjustable length, fixed onto output shifts of electric actuator, while levers are connected with common support on free ends, which has swing joint with crosshead; guide of this crosshead is mounted on drive support unit.
- The device as in claim 5 has the roller or spherical bearing is used as a crosshead, which is connected with own guides by means of springy connection.
- The device as in claim 6 has the supporting module comprises additional electric drive of fixed supporting unit.
- The device as in claim 1, 2, 3 or 7 has electric actuators comprise automate clutches.
- The device as in claim 1, 2, 3 or 8 has the orthopedic external holders which are used as support units.
- The device as in claim 1, 2, 3 or 9 has the foot support unit may comprise rollers.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU98118244 | 1998-10-08 | ||
RU98118244A RU2139701C1 (en) | 1998-10-08 | 1998-10-08 | Device for recovery of mobility in joints |
PCT/RU1999/000373 WO2000019959A1 (en) | 1998-10-08 | 1999-10-06 | Device for restoring the mobility of joints |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1120098A1 true EP1120098A1 (en) | 2001-08-01 |
EP1120098A4 EP1120098A4 (en) | 2004-08-11 |
Family
ID=20211024
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99952828A Withdrawn EP1120098A4 (en) | 1998-10-08 | 1999-10-06 | Device for restoring the mobility of joints |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1120098A4 (en) |
AU (1) | AU6489499A (en) |
HK (1) | HK1042226A1 (en) |
RU (1) | RU2139701C1 (en) |
WO (1) | WO2000019959A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008037328A1 (en) * | 2006-09-27 | 2008-04-03 | Schoenenberger Willi | Walking trainer |
US8382646B2 (en) | 2005-04-14 | 2013-02-26 | Willi Schöenenberger | Walking aid for a mechanically driven treadmill |
CN103445932A (en) * | 2013-09-13 | 2013-12-18 | 南京理工大学 | Lower limit rehabilitation walking aid capable of imitating human gait |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2641065C2 (en) * | 2016-04-26 | 2018-01-15 | Общество с ограниченной ответственностью Научно-внедренческое предприятие "ОРБИТА" (ООО НВП "ОРБИТА") | Device for restoration of knee and hip joint mobility by mechanotherapy |
RU176192U1 (en) * | 2016-11-30 | 2018-01-11 | Федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" (ФГАОУ ВО "ЮУрГУ (НИУ)") | Mechatronic device for the rehabilitation of patients with impaired lower limbs |
RU2729732C1 (en) * | 2020-04-14 | 2020-08-11 | Общество С Ограниченной Ответственностью "Орбита+" (Ооо "Орбита+") | Universal forced leg movement rehabilitation device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5327882A (en) * | 1992-09-03 | 1994-07-12 | Toronto Medical Corp. | Continuous passive motion device |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4807601A (en) * | 1985-12-20 | 1989-02-28 | Empi, Inc. | Live display appartus for setting extenson and flexion limits in continuous passive motion (CPM) system |
US4825852A (en) * | 1986-10-31 | 1989-05-02 | Sutter Biomedical, Inc. | Continuous passive motion device |
SU1468533A1 (en) * | 1987-04-06 | 1989-03-30 | Ю. А. Черн вский и И. А. Черн вский | Arrangement for developing joints of lower extremities |
US5333604A (en) * | 1992-09-16 | 1994-08-02 | Sutter Corporation | Patella exercising apparatus |
EP0676944B1 (en) * | 1993-01-04 | 1997-03-05 | Medireha Gmbh | Leg movement rail |
-
1998
- 1998-10-08 RU RU98118244A patent/RU2139701C1/en not_active IP Right Cessation
-
1999
- 1999-10-06 EP EP99952828A patent/EP1120098A4/en not_active Withdrawn
- 1999-10-06 WO PCT/RU1999/000373 patent/WO2000019959A1/en not_active Application Discontinuation
- 1999-10-06 AU AU64894/99A patent/AU6489499A/en not_active Abandoned
-
2002
- 2002-02-01 HK HK02100813.3A patent/HK1042226A1/en unknown
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5327882A (en) * | 1992-09-03 | 1994-07-12 | Toronto Medical Corp. | Continuous passive motion device |
Non-Patent Citations (1)
Title |
---|
See also references of WO0019959A1 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8382646B2 (en) | 2005-04-14 | 2013-02-26 | Willi Schöenenberger | Walking aid for a mechanically driven treadmill |
WO2008037328A1 (en) * | 2006-09-27 | 2008-04-03 | Schoenenberger Willi | Walking trainer |
AU2007302381B2 (en) * | 2006-09-27 | 2010-08-19 | Willi Schoenenberger | Walking trainer |
CN101547671B (en) * | 2006-09-27 | 2012-09-05 | 威利·舍嫩贝格尔 | Walking trainer |
US8632479B2 (en) | 2006-09-27 | 2014-01-21 | Willi Schonenberger | Walking trainer |
CN103445932A (en) * | 2013-09-13 | 2013-12-18 | 南京理工大学 | Lower limit rehabilitation walking aid capable of imitating human gait |
CN103445932B (en) * | 2013-09-13 | 2015-07-01 | 南京理工大学 | Lower limit rehabilitation walking aid capable of imitating human gait |
Also Published As
Publication number | Publication date |
---|---|
EP1120098A4 (en) | 2004-08-11 |
AU6489499A (en) | 2000-04-26 |
WO2000019959A1 (en) | 2000-04-13 |
RU2139701C1 (en) | 1999-10-20 |
HK1042226A1 (en) | 2002-08-09 |
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