CN111150611B - Ankle joint diagnosis and treatment device - Google Patents
Ankle joint diagnosis and treatment device Download PDFInfo
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- CN111150611B CN111150611B CN202010071581.3A CN202010071581A CN111150611B CN 111150611 B CN111150611 B CN 111150611B CN 202010071581 A CN202010071581 A CN 202010071581A CN 111150611 B CN111150611 B CN 111150611B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 62
- 238000003745 diagnosis Methods 0.000 title claims abstract description 37
- 210000002683 foot Anatomy 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 238000011084 recovery Methods 0.000 claims abstract description 5
- 244000309466 calf Species 0.000 claims abstract 2
- 210000003205 muscle Anatomy 0.000 claims description 9
- 239000010409 thin film Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 23
- 210000003423 ankle Anatomy 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 206010060820 Joint injury Diseases 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 241001227561 Valgus Species 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010408 film Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- 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
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
- A63B23/085—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints by rotational movement of the joint in a plane substantially parallel to the body-symmetrical-plane
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- Biophysics (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Physiology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及医疗器械技术领域，具体公开了一种踝关节诊疗装置。本发明提供的踝关节诊疗装置包括包裹部、执行机构和诊断传感器。包裹部用于包裹患者的小腿和足部。执行机构活动连接于包裹部，能够驱动患者踝关节运动。执行机构具有驱动患者的踝关节运动的助力状态、阻碍患者的踝关节运动的阻力状态、允许患者的踝关节的自由运动的卸力状态。诊断传感器设置在包裹部上，用于检测踝关节的运动状况。本发明提供的踝关节诊疗装置集诊断与治疗一体化，能够满足患者多种踝关节运动的需求，结构简单，使患者使用时摆脱使用场地的限制，有助于患者康复。
The present invention relates to the technical field of medical devices, and specifically discloses an ankle joint diagnosis and treatment device. The ankle joint diagnosis and treatment device provided by the present invention includes a wrapping part, an actuator and a diagnostic sensor. The wrapping part is used to wrap the patient's calf and foot. The actuator is movably connected to the wrapping part, and can drive the patient's ankle joint to move. The actuator has a power-assisting state for driving the patient's ankle joint movement, a resistance state for hindering the patient's ankle joint movement, and a force-unloading state for allowing the patient's ankle joint to move freely. The diagnostic sensor is arranged on the wrapping part, and is used to detect the movement status of the ankle joint. The ankle joint diagnosis and treatment device provided by the present invention integrates diagnosis and treatment, can meet the patient's needs for various ankle joint movements, has a simple structure, and allows the patient to get rid of the restrictions of the use site when using it, which is helpful for the patient's recovery.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an ankle joint diagnosis and treatment device.
Background
Ankle joint injury patient or cerebral apoplexy patient, at present usually assist with the help of apparatus carries out ankle joint rehabilitation training, and current rehabilitation training device function is single, and the integrated device of collection diagnosis and treatment is applied to the hospital and occupation area is big, and patient's use place is restricted, uses many inconveniences, and the integrated device of collection diagnosis and treatment among the prior art structure complicacy.
Disclosure of Invention
The invention aims to provide an ankle joint diagnosis and treatment device which integrates diagnosis and treatment and enables a patient to break away from the limitation of a use place when in use.
To achieve the purpose, the invention adopts the following technical scheme:
an ankle joint diagnosis and treatment device, comprising:
A wrapping portion for wrapping the lower leg and the foot of the patient;
the actuating mechanism comprises a first actuator, a second actuator and a third actuator which are all movably connected with the wrapping part, wherein the first actuator, the second actuator and the third actuator can all drive expansion and contraction, and the actuating mechanism has an assisting state for driving the movement of the ankle joint of a patient, a resistance state for blocking the movement of the ankle joint of the patient and a force unloading state for allowing the free movement of the ankle joint of the patient;
And the diagnosis sensor is arranged on the wrapping part and is used for detecting the movement condition of the ankle joint.
Preferably, the wrapping part comprises a leg sleeve and a foot sleeve which are communicated, the leg sleeve is of a cylindrical structure, and one end of the leg sleeve is movably connected to the opening of the foot sleeve.
Preferably, the actuator includes:
a first actuator having one end connected to an upper end of the left side of the leg cover and the other end connected to a front end of the foot cover;
One end of the second actuator is connected to the upper end of the right side of the leg sleeve, and the other end of the second actuator is connected to the front end of the foot sleeve;
the third actuator is arranged on the left side or the right side of the leg sleeve, one end of the third actuator is connected with the upper end of the leg sleeve, and the other end of the third actuator is connected with the rear end of the foot sleeve;
Preferably, the diagnostic sensor comprises a first inertial sensor and a second inertial sensor, wherein the first inertial sensor is arranged on the leg sleeve, and the second inertial sensor is arranged on the foot sleeve.
Preferably, the first actuator is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or pneumatic muscle, the second actuator is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or pneumatic muscle, and the third actuator is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or pneumatic muscle.
Preferably, a massage air bag is arranged at the rear part of the leg sleeve, a first air supply port capable of being opened and closed is arranged on the massage air bag, and air enters and exits the massage air bag through the first air supply port.
Preferably, the diagnostic sensor includes a plantar pressure sensor disposed inside the wrapping portion and under the foot of the patient, the plantar pressure sensor being capable of detecting a distribution of stresses on the sole of the foot.
Preferably, the plantar pressure sensor is a thin film sensor.
Preferably, the actuating mechanism is in ball hinge connection with the wrapping part, or the actuating mechanism is connected with the wrapping part through a flexible connector.
Preferably, a first fixing piece is arranged at the upper end of the leg sleeve, one end of the actuating mechanism is connected with the first fixing piece, and the other end of the actuating mechanism is connected with the foot sleeve.
The invention has the beneficial effects that the wrapping part is used for wrapping the lower leg and the foot part of a patient, and plays a role in protecting and supporting the leg and the foot part of the patient. The executing mechanism is provided with three states of a power-assisted state, a resistance state and a force-unloading state, wherein the executing mechanism provides power for a patient in the power-assisted state and is used for helping the patient to realize movement of the ankle joint so as to enable the patient to perform rehabilitation training, the executing mechanism can provide strengthening force training for the patient in the resistance state, and the executing mechanism can not only assist or resist the patient in the force-unloading state, but also can freely drive the movement of the ankle joint. The diagnosis sensor can be used for detecting the recovery condition of the ankle joint of the patient in the force unloading state by detecting the movement of the ankle joint, and can feed back the current movement condition of the patient to the executing mechanism in the resistance or power assisting state, so that the executing mechanism is in a corresponding state. The ankle joint diagnosis and treatment device provided by the invention integrates diagnosis and treatment, can meet the requirements of various ankle joint movements of patients, has a simple structure, enables the patients to get rid of the restriction of the use site when in use, and is beneficial to the rehabilitation of the patients.
Drawings
Fig. 1 is a schematic view of a structure of an ankle diagnosis and treatment apparatus for a patient according to an embodiment of the present invention;
Fig. 2 is a schematic structural view of an ankle diagnosis and treatment apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view of an actuator driving an ankle joint to be in different motion states according to an embodiment of the present invention.
In the figure:
1-a first actuator, 2-a second actuator, 3-a third actuator;
4-leg sleeve, 41-first fixing piece, 5-foot sleeve;
6-massage air bag, 61-first air inlet;
7-a first inertial sensor, 8-a second inertial sensor and 9-a plantar pressure sensor.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
In the present invention, certain azimuth words are defined, and unless otherwise indicated, the azimuth words such as "upper", "lower", "left" and "right" used herein refer to the directions of the ankle joint diagnosis and treatment device provided by the present invention, which are defined under normal use conditions and coincide with the vertical and horizontal directions shown in the drawings, and "inner" and "outer" refer to the inner and outer directions with respect to the outline of each part itself. These directional terms are used for ease of understanding and thus do not limit the scope of the invention.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The embodiment provides an ankle joint diagnosis and treatment device, integrates diagnosis and treatment, is suitable for patients with ankle joint injuries, and can help patients to recover as early as possible.
As shown in fig. 1, the ankle diagnosis and treatment apparatus provided in this embodiment includes a wrapping portion, an actuator, and a diagnosis sensor. The wrapping portion is used to wrap the lower leg and the foot of the patient. The actuating mechanism comprises a first actuator 1, a second actuator 2 and a third actuator 3 which are all movably connected to the wrapping part, and the first actuator 1, the second actuator 2 and the third actuator 3 can all drive to stretch and retract. The actuator has a power assisting state for driving movement of the ankle joint of the patient, a resistance state for blocking movement of the ankle joint of the patient, a force releasing state for allowing free movement of the ankle joint of the patient, and a diagnosis sensor provided on the wrap portion for detecting a movement condition of the ankle joint.
The wrapping part is used for wrapping the lower leg and the foot part of the patient and plays a role in protecting and supporting the leg and the foot part of the patient. The actuating mechanism is provided with three states of a power-assisted state, a resistance state and a force-unloading state, wherein the actuating mechanism provides power for a patient in the power-assisted state and is used for helping the patient to realize movement of the ankle joint, the actuating mechanism can provide strengthening strength training for the patient in the resistance state, and the actuating mechanism does not provide power assistance or resistance for the patient in the force-unloading state, so that the patient can freely drive the ankle joint to move. The diagnosis sensor can be used for detecting the recovery condition of the ankle joint of the patient in the force unloading state by detecting the movement of the ankle joint, and can feed back the current movement condition of the patient to the executing mechanism in the resistance or power assisting state, so that the executing mechanism is in a corresponding state. The ankle joint diagnosis and treatment device provided by the invention integrates diagnosis and treatment, can meet the requirements of various ankle joint movements of patients, has a simple structure, enables the patients to get rid of the restriction of the use site when in use, and is beneficial to the rehabilitation of the patients.
Specifically, the parcel portion includes shank cover 4 and foot cover 5 that are linked together, and the opening has been seted up to foot cover 5, and shank cover 4 is cylindric structure, and the one end swing joint of shank cover 4 is in the opening part of foot cover 5. In this embodiment, the wrapping portion may be made into a boot shape, and the leg cover 4 and the foot cover 5 may be integrally formed, and the wrapping portion is made of a flexible material, so that the wrapping portion located at the ankle joint does not hinder the movement of the ankle joint.
Specifically, the first actuator 1 has one end connected to the upper end of the left side of the leg cover 4 and the other end connected to the front end of the foot cover 5, the second actuator 2 has one end connected to the upper end of the right side of the leg cover 4 and the other end connected to the front end of the foot cover 5, and the third actuator 3 is provided on the left side of the leg cover 4 and has one end connected to the upper end of the leg cover 4 and the other end connected to the rear end of the foot cover 5. Of course, in other embodiments, the third actuator 3 may also be disposed on the right side of the leg cuff 4. By arranging three telescopic actuators, the three actuators are linked, so that different motions of the ankle joint are realized.
In the present embodiment, the first actuator 1, the second actuator 2 and the third actuator 3 are pneumatic cylinders. In other embodiments, the three actuators may be configured to be extendable and retractable, such as a hydraulic cylinder, an electric push rod, or pneumatic muscle. The electric push rod and the pneumatic muscle are all in the prior art, and the structure thereof is not repeated here. For simplicity, the three actuators are preferably of the same type, but of course the three actuators may be of two or three of pneumatic cylinders, hydraulic cylinders, electric pushrods or pneumatic muscles, and are not limited thereto.
As shown in fig. 2, the patient is set to an initial state of the actuator in an upright state when using the ankle joint diagnosis and treatment device, and as shown in fig. 3, fig. ①-⑥ is a schematic diagram showing that the actuator drives the ankle joint of the patient to perform dorsiflexion, toe flexion, varus, valgus, internal rotation and external rotation, respectively. By the telescopic change of one or more of the first actuator 1, the second actuator 2 and the third actuator 3, various movements of the ankle joint are realized.
As shown in fig. 2, the upper end of the leg sleeve 4 is provided with a first fixing member 41, and one end of the first actuator 1, one end of the second actuator 2, and one end of the third actuator 3 are connected to the first fixing member 41. In this embodiment, the first fixing member 41 is annular and sleeved on the upper end of the leg sleeve 4, and protruding portions are disposed on two sides of the first fixing member 41 and used for connecting with the actuating mechanism. The first fixing member 41 fixes the leg cover 4 to the leg of the patient, prevents the leg cover 4 from falling off, and the first fixing member 41 may also be used to connect the actuator and the leg cover 4.
Preferably, the actuating mechanism is in spherical hinge with the wrapping part, in this embodiment, the actuating mechanism is in spherical hinge with the first fixing member 41, that is, the first actuator 1, the second actuator 2, the third actuator 3, and the leg cover and the foot cover are connected by spherical hinge. Of course, in other embodiments, the actuator and the wrapping portion may also be connected by a flexible connector, where the flexible connector is in the prior art, and the structure thereof will not be described herein.
Specifically, the diagnostic sensor includes a first inertial sensor 7 and a second inertial sensor 8, and the first inertial sensor 7 and the second inertial sensor 8 are capable of detecting movement conditions of the ankle joint, such as detecting movement angle, speed, acceleration, and the like of the ankle joint of the patient. A first inertial sensor 7 is provided on the leg cuff 4 and a second inertial sensor 8 is provided on the foot cuff 5. In the present embodiment, the first inertial sensor 7 and the second inertial sensor 8 are buried in the wrapping portion. Preferably, the first inertial sensor 7 is arranged at a position of the leg cover close to the middle of the front of the lower leg, the second inertial sensor 8 is arranged at a position of the foot cover close to the middle of the instep, and at this time, the sensors mounted on the first inertial sensor 7 and the second inertial sensor 8 are positioned on the plane of toe flexion and dorsiflexion, so that parameter calibration of the first inertial sensor 7 and the second inertial sensor 8 is easy.
Specifically, the diagnosis sensor comprises a plantar pressure sensor 9, wherein the plantar pressure sensor 9 is arranged inside the wrapping part and located under the foot of the patient, and the plantar pressure sensor 9 can detect the stress distribution of the sole and detect whether the gravity center of the patient is deviated or not.
In the present embodiment, the plantar pressure sensor 9 is a thin film sensor. The film sensor is paved in the foot sleeve and positioned on the bottom surface under the foot of the patient, so that the pressure distribution of the whole sole can be detected, and the gravity center change of the patient is analyzed.
Specifically, the rear part of the leg sleeve 4 is provided with a massage air bag 6, the massage air bag 6 is provided with a first air supply port 61 which can be opened and closed, and air enters and exits the massage air bag 6 through the first air supply port 61. The massage air bags 6 are added to massage the legs of the patient, the massage air bags 6 form the pressing on the acupoints of the legs through the inflation and deflation processes, and a plurality of massage air bags 6 are arranged to achieve better massage effects, so that the recovery of the patient is facilitated.
In this embodiment, the actuator and the diagnostic sensor are both connected to the controller, the diagnostic sensor feeds data back to the controller, the controller analyzes the movement of the ankle of the patient, and the controller controls the actuator to drive and be in different states. The controller can be a centralized or distributed controller, for example, the controller can be a single-chip microcomputer or a plurality of distributed single-chip microcomputers, and a control program can be run in the single-chip microcomputer to further control the execution mechanism and the diagnosis sensor to realize the functions.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010071581.3A CN111150611B (en) | 2020-01-21 | 2020-01-21 | Ankle joint diagnosis and treatment device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010071581.3A CN111150611B (en) | 2020-01-21 | 2020-01-21 | Ankle joint diagnosis and treatment device |
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| CN111150611A CN111150611A (en) | 2020-05-15 |
| CN111150611B true CN111150611B (en) | 2025-01-28 |
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| CN113069321B (en) * | 2021-03-31 | 2022-12-30 | 岳阳职业技术学院 | Old nursing exercise training device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309689A (en) * | 2018-02-02 | 2018-07-24 | 哈尔滨工业大学 | A kind of gradual recovery training method based on exoskeleton robot |
| CN108338893A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
| CN212282099U (en) * | 2020-01-21 | 2021-01-05 | 深圳市大鹏新区南澳人民医院 | Ankle joint diagnosis and treatment device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104490508B (en) * | 2014-12-15 | 2017-02-22 | 中国人民解放军总医院 | Drafting brace for ankle joint contracture |
| CN104983547A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Three-degree-of-freedom wearable ankle rehabilitation medical robot |
| JP6945637B2 (en) * | 2016-10-13 | 2021-10-06 | デフィ，インコーポレーテッド | Composite footplate for biomechanical joints, control systems, and footwear |
| CN110575303B (en) * | 2019-09-30 | 2022-02-11 | 首都医科大学宣武医院 | Lower limb spasm mode comprehensive rehabilitation device based on motion therapy |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309689A (en) * | 2018-02-02 | 2018-07-24 | 哈尔滨工业大学 | A kind of gradual recovery training method based on exoskeleton robot |
| CN108338893A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
| CN212282099U (en) * | 2020-01-21 | 2021-01-05 | 深圳市大鹏新区南澳人民医院 | Ankle joint diagnosis and treatment device |
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| CN111150611A (en) | 2020-05-15 |
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