CN101797204A - Rehabilitative manipulator for hand burns and scalds - Google Patents
Rehabilitative manipulator for hand burns and scalds Download PDFInfo
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- CN101797204A CN101797204A CN 201010133810 CN201010133810A CN101797204A CN 101797204 A CN101797204 A CN 101797204A CN 201010133810 CN201010133810 CN 201010133810 CN 201010133810 A CN201010133810 A CN 201010133810A CN 101797204 A CN101797204 A CN 101797204A
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Abstract
The invention discloses a rehabilitative manipulator for hand burns and scalds, which comprises a mechanical finger, a palm rod, a mechanical wrist and a control system. The structure of the rehabilitative manipulator for the hand burns and scalds is adaptive to a human hand; and the manipulator can realize all degrees of freedom that the human hand has through driving, can guide knuckles and wrist joints to perform corresponding movement in the hand burns and scalds treating and rehabilitating process, exercises the joints and facilitates rehabilitating the skin elasticity, so that the hand functions of the rehabilitated palm are rehabilitated maximally. During the treatment, the manipulator can form variable distance between fingers, avoids forming a web structure, and solves the problems that fingers are respectively wrapped by thick gauze to avoid conglutination between the fingers in the conventional method, so airtightness of a wound surface is caused, the rehabilitation time is prolonged and the rehabilitation of the functions between the fingers is not facilitated. The rehabilitative manipulator for the hand burns and scalds has great significance for early rehabilitating hand functions, relieving the pain of burns and scalds patients, reducing treatment cost and the like.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, relate in particular to a kind of rehabilitative manipulator for hand burns and scalds.
Background technology
Burn and scald is the damage by tissues such as the skins due to the reasons such as hot water, steam, flame, strong acid, highly basic, electric current, lonizing radiation.And daily domestic hot water or flame burn and scald are comparatively common.Burn and scald can bring bigger misery to the patient, and convalescence is longer.Particularly for the child of LEARNING TO WALK just, range of activity is big, and self-protection ability is very poor, and curiosity is strong again, and serious burn and scald very easily takes place.And child's burn and scald pilosity is born in hand, and for the above burn and scald of dark two degree of hand, skin injury is darker, treat more time-consuming, sometimes also need to do skin grafting, may stay serious cicatrix or health a part contracture deformity, cause dysfunction even maimed person.Particularly hand accounts for 65% in the human body burn, and serious hands burn and scald can make hand function partly or entirely lose.Webbed scar forms generation is often arranged between scar hyperplasia of leaving over behind the wound healing and finger, metacarpophalangeal joints caused by scar, finger, not only causes the hands dysfunction, also has a strong impact on patient's quality of life, causes the patients ' psychological illness.The overall process of not only early stage, the hospitalization of rehabilitation behind the hands burn and scald through burn and scald, and continue up to the front and back of leave hospital back and reduction operation.
In the prior art, the rehabilitation maneuver that the treatment of hand burn and scald does not adapt so far, finger-joint and carpal joint are owing to cicatrization (especially webbed scar forms between the finger), skin follow the string behind the wound healing, cause the hand deformity, the finger activity is obviously limited, hands dysfunction and even forfeiture, even still can not recover by long exercise hand function.For fear of the problems referred to above, traditional method is for the treatment of hand burn and scald, adopts thick dressing
Finger is wrapped up one by one, but shortcoming is: can not effectively prevent web shape structure; Secondly blocked up dressing is bound up a wound, and is unfavorable for the empyrosis wound surface healing even causes complication such as fester, and prolongs rehabilitation duration.
Therefore, the treatment and the rehabilitation maneuver that need a kind of hand burn and scald, can incremental guiding finger-joint in hand empyrosis wound surface healing and rehabilitation course, carpal joint moves accordingly, is beneficial to the reduction cicatrization when tempering the joint, keeps skin elasticity to greatest extent; Simultaneously can reduce or suppress webbed scar formation between finger, at utmost keep the hands function, alleviate burn and scald patient's misery, shorten recovery period.
Summary of the invention
In view of this, the invention provides a kind of rehabilitative manipulator for hand burns and scalds, can incremental guiding finger-joint in hand empyrosis wound surface healing and rehabilitation course, carpal joint moves accordingly, is beneficial to the reduction cicatrization when tempering the joint, keeps skin elasticity to greatest extent; Simultaneously can reduce or suppress webbed scar formation between finger, at utmost keep the hands function, alleviate burn and scald patient's misery, shorten recovery period.
A kind of rehabilitative manipulator for hand burns and scalds of the present invention comprises mechanical finger, palm bar, mechanical wrist and control system;
Described mechanical finger is corresponding with human finger, and each mechanical finger includes dactylus, and the hinged formation articulations digitorum manus of single-degree-of-freedom between the adjacent dactylus, each articulations digitorum manus all are provided with and drive the servomotor I that dactylus rotates around hinge axes; Be provided for being enclosed within the collar of human finger dactylus on each dactylus;
Described palm bar is corresponding with mechanical finger, the front end of each palm bar and the whole articulations digitorum manus of the corresponding hinged formation of mechanical finger tail end single-degree-of-freedom; Each whole articulations digitorum manus all is provided with the servomotor II that the driving device finger rotates around hinge axes;
The machinery wrist comprises that palm supports and fixed arm, and described palm supports and the hinged formation carpal joint of fixed arm single-degree-of-freedom; Described carpal joint is provided with and drives the servomotor III that the palm support is rotated around hinge axes; Be provided on the fixed arm fixed arm is fixed on retainer ring on the human arm;
Described palm bar tail end is hinged on palm with the mode single-degree-of-freedom that can rotate and supports in plane, palm place, and the servomotor IV that driving palm bar rotates around hinge axes is set;
Described servomotor I, servomotor II, servomotor III and servomotor IV all control by control system.
Further, the described collar and retainer ring are the split ring structure, and the outside bending in opening both sides forms two bending parts, passes the screw rod that two bending parts are provided for sealing and adjusting the cover ring diameter; Retainer ring is the split ring structure, and the outside bending in opening both sides forms two bending parts, passes the retainer ring screw rod that two bending parts are provided for sealing and adjusting the retainer ring diameter;
Further, the dactylus of described mechanical finger and palm bar be the Collapsible structure for being made up of sleeve pipe all, and sleeve pipe comprises inner sleeve and trocar sheath, and radially threaded engagement is passed trocar sheath lock-screw is set;
Further, described fixed arm is fixedlyed connected with retainer ring removably; Radially be oppositely arranged two on the described retainer ring and be used for the connecting portion of fixedlying connected with fixed arm;
Further, described control system comprises and is used to control servomotor I, servomotor II, servomotor III and servomotor IV and gathers the controller of its turn signal and be used to show the display and the print-out device of servomotor I, servomotor II, servomotor III and servomotor IV information; Described servomotor I, servomotor II, servomotor III and servomotor IV connect power supply by controller;
Further, by the hinged formation articulations digitorum manus of motor shaft single-degree-of-freedom of servomotor I, servomotor I shell is fixed in a wherein dactylus between the adjacent dactylus of mechanical finger, and the motor shaft of servomotor I and another dactylus are in the circumferencial direction secure fit; The front end of palm bar is put in order articulations digitorum manus with corresponding mechanical finger tail end by the hinged formation of motor shaft single-degree-of-freedom of servomotor II, and servomotor II shell is fixed in the palm bar, and the motor shaft of servomotor II and mechanical finger tail end are in the circumferencial direction secure fit; Described palm support and fixed arm are by the hinged formation carpal joint of motor shaft single-degree-of-freedom of servomotor III; Servomotor III shell is fixed in fixed arm, and the motor shaft of servomotor III and palm are supported on the circumferencial direction secure fit; Described palm bar tail end is hinged in the palm support with the mode single-degree-of-freedom that can rotate in plane, palm place by the motor shaft of servomotor IV, servomotor IV shell is fixed in palm to be supported, and the motor shaft of servomotor IV and palm bar tail end are in the circumferencial direction secure fit;
Further, in the adjacent dactylus of mechanical finger, wherein a dactylus end is provided with the vertical hinged groove of dactylus, and it is hinged with it that another dactylus end embeds hinged groove; The fixed arm front end is provided with the fixed arm hinged groove, and palm supports vertical projection is set backward, and it is hinged with it that described vertical projection embeds the fixed arm hinged groove; Described palm supports the finger hinged groove is set, and it is hinged with it that the mechanical finger tail end embeds the finger hinged groove;
Further, described collar internal circular surfaces is provided with flexible thin layer.
Beneficial effect of the present invention is: the rehabilitative manipulator for hand burns and scalds that adopts structure of the present invention, adopt the structure that adapts with human hands, by driving whole degree of freedom of realizing that staff has, can incremental guiding finger-joint in hand empyrosis wound surface healing and rehabilitation course, carpal joint moves accordingly, be beneficial to the reduction cicatrization when tempering the joint, keep skin elasticity to greatest extent, thereby make the palm after the rehabilitation recover original function; When treatment, can make the variable distance of formation between the finger, simultaneously can reduce or suppress webbed scar formation between finger, at utmost keep the hands function, and avoid with thicker gauze parcel finger, thereby avoid the finger by the burn and scald epidermis because of the airtight rehabilitation duration that prolongs, when alleviating burn and scald patient's misery the reduction medical expense.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is a structural perspective of the present invention;
Fig. 2 is a dactylus longitudinal profile view;
Fig. 3 is a palm bar longitudinal profile view;
Fig. 4 is the thimble structure sketch map;
Fig. 5 is a control principle block diagram of the present invention.
The specific embodiment
Fig. 1 is a structural perspective of the present invention, Fig. 2 is a dactylus longitudinal profile view, Fig. 3 is a palm bar longitudinal profile view, Fig. 4 is the thimble structure sketch map, Fig. 5 is a control principle block diagram of the present invention, as shown in the figure: rehabilitative manipulator for hand burns and scalds comprises mechanical finger, palm bar 6, mechanical wrist and control system;
Described mechanical finger is corresponding with human finger, and each mechanical finger includes dactylus 1, and the hinged formation articulations digitorum manus of single-degree-of-freedom between the adjacent dactylus 1, each articulations digitorum manus all are provided with and drive the servomotor I 2 that dactylus rotates around hinge axes; Be provided for being enclosed within the collar 3 of human finger dactylus on each dactylus 1;
Described palm bar 6 is corresponding with mechanical finger, and mechanical finger is five, and the palm bar also is five, the front end of each palm bar 6 and the whole articulations digitorum manus of the corresponding hinged formation of mechanical finger tail end single-degree-of-freedom; Each whole articulations digitorum manus all is provided with the servomotor II 5 that the driving device finger rotates around hinge axes; As shown in the figure, nine of the total articulations digitorum manus of five mechanical fingers (corresponding) with human finger, totally five of whole articulations digitorum manus, corresponding servomotor I 2 is nine, servomotor II 5 is five;
The machinery wrist comprises palm support 8 and fixed arm 9, described palm support 8 and the hinged formation carpal joint of fixed arm 9 single-degree-of-freedoms; Described carpal joint is provided with and drives the servomotor III12 that palm support 8 is rotated around hinge axes; Be provided on the fixed arm 9 fixed arm 9 is fixed on retainer ring 10 on the human arm;
Described palm bar 6 tail ends are hinged on palm with the mode single-degree-of-freedom that can rotate and support on 8 in plane, palm place, and the servomotor IV7 that driving palm bar 6 rotates around hinge axes is set;
Described servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV 7 all control by control system.
In the present embodiment, the described collar 3 and retainer ring 10 are the split ring structure, the outside bending in opening both sides forms two bending parts, pass the screw rod that two bending parts are provided for sealing and adjusting the cover ring diameter, as shown in Figure 4, retainer ring structure and thimble structure be identical aspect the technical program, just the diameter difference; Screw rod 4 on the collar can directly be spun on the bending part by screw thread, also can directly pass bending part and the size by nut check and adjustment collar diameter; The thimble structure of present embodiment can adapt to the finger that is used for different sizes by collar screw rod adjustment cover ring diameter, makes the present invention have stronger versatility; Retainer ring is the split ring structure, the outside bending in opening both sides forms two bending parts, pass the retainer ring screw rod that two bending parts are provided for sealing and adjusting the retainer ring diameter, retainer ring 10 structures of present embodiment can be adjusted the retainer ring diameter by retainer ring screw rod 11, adaptation is used for fixing on different arms, further makes the present invention have stronger versatility.
In the present embodiment, the dactylus 1 of described mechanical finger and palm bar 6 be the Collapsible structure for being made up of sleeve pipe all, and sleeve pipe comprises inner sleeve and trocar sheath, and radially threaded engagement is passed trocar sheath lock-screw is set; As shown in the figure, dactylus 1 comprises inner sleeve 1b and trocar sheath 1a, and lock-screw 1c threaded engagement is passed trocar sheath 1a and pressed closer inner sleeve 1b outer surface; Palm bar 6 comprises inner sleeve 6b and trocar sheath 6a, and lock-screw 6c threaded engagement is passed trocar sheath 6a and pressed closer inner sleeve 6b outer surface; In the present embodiment, dactylus 1 and palm bar 6 adjustable length, the palm applicable to different sizes further makes the present invention have stronger versatility.
In the present embodiment, described fixed arm 9 is fixedlyed connected with retainer ring 10 removably, adopts counter-sunk screw by outwards connecting in the retainer ring 10 in the present embodiment, is connected firmly, and easy accessibility does not cause the uncomfortable of human body; Radially be oppositely arranged two on the described retainer ring 10 and be used for the connecting portion 10a of fixedlying connected with fixed arm, as shown in the figure, radially relative connecting portion is the connecting hole that screw is passed on the retainer ring 10; During use, change the connection orientation of retainer ring 10 and fixed arm 9, can make the present invention be applicable to the right-hand man, have stronger versatility.
In the present embodiment, described control system comprises and is used to control servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV7 and gathers the controller 13 of its turn signal and be used to show the display 14 and the print-out device 15 of servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV7 information; Described servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV7 connect power supply 16 by controller 13; The action parameter in each joint of instant observation, and by printout, for research hand burn and scald recovers to provide theoretical foundation; And can realize automatic control.
In the present embodiment, pass through the hinged formation articulations digitorum manus of motor shaft single-degree-of-freedom of servomotor I 2 between the adjacent dactylus 1 of mechanical finger, servomotor I 2 shells are fixed in a wherein dactylus, and the motor shaft of servomotor I 2 and another dactylus are in the circumferencial direction secure fit; The front end of palm bar 6 is put in order articulations digitorum manus with corresponding mechanical finger tail end by the hinged formation of motor shaft single-degree-of-freedom of servomotor II 5, servomotor II 5 shells are fixed in palm bar 6, and the motor shaft of servomotor II 5 and mechanical finger tail end are in the circumferencial direction secure fit; Described palm support 8 and fixed arm 9 are by the hinged formation carpal joint of motor shaft single-degree-of-freedom of servomotor III12; Servomotor III12 shell is fixed in fixed arm 9, and the motor shaft of servomotor III12 and palm support 8 in the circumferencial direction secure fit; Described palm bar 6 tail ends are hinged in the palm support 8 with the mode single-degree-of-freedom that can rotate in plane, palm place by the motor shaft of servomotor IV7, servomotor IV7 shell is fixed in palm and supports 8, and the motor shaft of servomotor IV7 and palm bar 6 tail ends are in the circumferencial direction secure fit; Directly form articulated structure by motor shaft, make compact conformation of the present invention, installing/dismounting is easy.
In the present embodiment, in the adjacent dactylus 1 of mechanical finger, wherein a dactylus 1 end is provided with the vertical hinged groove of dactylus, and it is hinged with it that another dactylus 1 end embeds hinged groove; Fixed arm 9 front ends are provided with the fixed arm hinged groove, and palm supports 8 vertical projection is set backward, and it is hinged with it that described vertical projection embeds fixed arm 9 hinged groove; Described palm supports 8 the finger hinged groove is set, and it is hinged with it that the mechanical finger tail end embeds the finger hinged groove; Undertaken hingedly by the hinged groove structure, can limit between the dactylus preferably and mechanical finger and the palm degree of freedom between supporting, meet simulation of human body and learn principle.
In the present embodiment, the described collar 3 internal circular surfaces are provided with flexible thin layer 3a, can adopt layer of silica gel, and flexible thin layer and the human finger contact skin of having embraced the thin layer gauze can effectively be protected its epidermis.
The present invention points correspondence with the patient and gos deep in the collar of corresponding mechanical finger in use, the corresponding collar of each dactylus, and the thin layer gauze is twined in human finger and collar corresponding position, prevents the skin of grinding away, and it is suitable to adjust collar degree of tightness; Outside other position of finger according to circumstances is exposed to, be beneficial to healing; The retainer ring fixed cover on arm, is formed the fulcrum of carpal joint, whole articulations digitorum manus and articulations digitorum manus action; As required, control the running of each servomotor by control system: each servomotor I controls by control system, can arbitrarily control any one articulations digitorum manus separately, and is same, each servomotor II controls by control system, can arbitrarily control any one whole articulations digitorum manus separately; Servomotor III finishes carpal control by control system control, and each servomotor IV controls by control system, can arbitrarily control the distance between any adjacent mechanical finger separately; This shows that the present invention can be according to actual needs, the motion according to the degree of freedom positive guide burn and scald hands of human body hands reaches the effect that keeps skin elasticity, fast track rehabilitation in the rehabilitation course, can avoid serious sequela occurring behind the burn and scald as far as possible.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of the technical program, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1. a rehabilitative manipulator for hand burns and scalds is characterized in that: comprise mechanical finger, palm bar, mechanical wrist and control system;
Described mechanical finger is corresponding with human finger, and each mechanical finger includes dactylus, and the hinged formation articulations digitorum manus of single-degree-of-freedom between the adjacent dactylus, each articulations digitorum manus all are provided with and drive the servomotor I that dactylus rotates around hinge axes; Be provided for being enclosed within the collar of human finger dactylus on each dactylus;
Described palm bar is corresponding with mechanical finger, the front end of each palm bar and the whole articulations digitorum manus of the corresponding hinged formation of mechanical finger tail end single-degree-of-freedom; Each whole articulations digitorum manus all is provided with the servomotor II that the driving device finger rotates around hinge axes;
The machinery wrist comprises that palm supports and fixed arm, and described palm supports and the hinged formation carpal joint of fixed arm single-degree-of-freedom; Described carpal joint is provided with and drives the servomotor III that the palm support is rotated around hinge axes; Be provided on the fixed arm fixed arm is fixed on retainer ring on the human arm;
Described palm bar tail end is hinged on palm with the mode single-degree-of-freedom that can rotate and supports in plane, palm place, and the servomotor IV that driving palm bar rotates around hinge axes is set;
Described servomotor I, servomotor II, servomotor III and servomotor IV all control by control system.
2. rehabilitative manipulator for hand burns and scalds according to claim 1, it is characterized in that: the described collar and retainer ring are the split ring structure, the outside bending in opening both sides forms two bending parts, passes the screw rod that two bending parts are provided for sealing and adjusting the cover ring diameter; Retainer ring is the split ring structure, and the outside bending in opening both sides forms two bending parts, passes the retainer ring screw rod that two bending parts are provided for sealing and adjusting the retainer ring diameter.
3. rehabilitative manipulator for hand burns and scalds according to claim 2, it is characterized in that: the dactylus of described mechanical finger and palm bar be the Collapsible structure for being made up of sleeve pipe all, sleeve pipe comprises inner sleeve and trocar sheath, and radially threaded engagement is passed trocar sheath lock-screw is set.
4. rehabilitative manipulator for hand burns and scalds according to claim 3 is characterized in that: described fixed arm is fixedlyed connected with retainer ring removably; Radially be oppositely arranged two on the described retainer ring and be used for the connecting portion of fixedlying connected with fixed arm.
5. rehabilitative manipulator for hand burns and scalds according to claim 4 is characterized in that: described control system comprises and is used to control servomotor I, servomotor II, servomotor III and servomotor IV and gathers the controller of its turn signal and be used to show the display and the print-out device of servomotor I, servomotor II, servomotor III and servomotor IV information; Described servomotor I, servomotor II, servomotor III and servomotor IV connect power supply by controller.
6. rehabilitative manipulator for hand burns and scalds according to claim 5, it is characterized in that: the hinged formation articulations digitorum manus of motor shaft single-degree-of-freedom that passes through servomotor I between the adjacent dactylus of mechanical finger, servomotor I shell is fixed in a wherein dactylus, and the motor shaft of servomotor I and another dactylus are in the circumferencial direction secure fit; The front end of palm bar is put in order articulations digitorum manus with corresponding mechanical finger tail end by the hinged formation of motor shaft single-degree-of-freedom of servomotor II, and servomotor II shell is fixed in the palm bar, and the motor shaft of servomotor II and mechanical finger tail end are in the circumferencial direction secure fit; Described palm support and fixed arm are by the hinged formation carpal joint of motor shaft single-degree-of-freedom of servomotor III; Servomotor III shell is fixed in fixed arm, and the motor shaft of servomotor III and palm are supported on the circumferencial direction secure fit; Described palm bar tail end is hinged in the palm support with the mode single-degree-of-freedom that can rotate in plane, palm place by the motor shaft of servomotor IV, servomotor IV shell is fixed in palm to be supported, and the motor shaft of servomotor IV and palm bar tail end are in the circumferencial direction secure fit.
7. rehabilitative manipulator for hand burns and scalds according to claim 6 is characterized in that: in the adjacent dactylus of mechanical finger, wherein a dactylus end is provided with the vertical hinged groove of dactylus, and it is hinged with it that another dactylus end embeds hinged groove; The fixed arm front end is provided with the fixed arm hinged groove, and palm supports vertical projection is set backward, and it is hinged with it that described vertical projection embeds the fixed arm hinged groove; Described palm supports the finger hinged groove is set, and it is hinged with it that the mechanical finger tail end embeds the finger hinged groove.
8. rehabilitative manipulator for hand burns and scalds according to claim 7 is characterized in that: described collar internal circular surfaces is provided with flexible thin layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101338106A CN101797204B (en) | 2010-03-26 | 2010-03-26 | Rehabilitative manipulator for hand burns and scalds |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101338106A CN101797204B (en) | 2010-03-26 | 2010-03-26 | Rehabilitative manipulator for hand burns and scalds |
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| CN101797204A true CN101797204A (en) | 2010-08-11 |
| CN101797204B CN101797204B (en) | 2012-05-09 |
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| CN105055120A (en) * | 2015-07-23 | 2015-11-18 | 朱玉根 | Finger stretcher |
| CN106003130A (en) * | 2016-07-28 | 2016-10-12 | 苏州高通机械科技有限公司 | Manipulator |
| CN106142119A (en) * | 2016-07-28 | 2016-11-23 | 苏州高通机械科技有限公司 | A kind of clamp-type mechanical hand |
| CN106806091A (en) * | 2017-03-03 | 2017-06-09 | 李子木 | A kind of robot therapeutic equipment and its treatment method for treating cerebral embolism sequela rehabilitation |
| CN109009883A (en) * | 2018-09-20 | 2018-12-18 | 麦志邦 | A kind of Multifunctional hand device for healing and training |
| CN109172265A (en) * | 2018-08-31 | 2019-01-11 | 京东方科技集团股份有限公司 | Finger exoskeleton robot |
| CN109568085A (en) * | 2018-12-27 | 2019-04-05 | 广州云瑞信息科技有限公司 | A kind of safety-type manipulator of rehabilitation training of upper limbs robot |
| CN111658281A (en) * | 2020-06-08 | 2020-09-15 | 昆明医科大学第二附属医院 | Recovered stopper of skin burn between finger |
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| CN109172265B (en) * | 2018-08-31 | 2022-02-25 | 京东方科技集团股份有限公司 | Finger exoskeleton robot |
| CN109009883A (en) * | 2018-09-20 | 2018-12-18 | 麦志邦 | A kind of Multifunctional hand device for healing and training |
| WO2020056807A1 (en) * | 2018-09-20 | 2020-03-26 | 麦志邦 | Multifunctional hand rehabilitation training device |
| CN109568085A (en) * | 2018-12-27 | 2019-04-05 | 广州云瑞信息科技有限公司 | A kind of safety-type manipulator of rehabilitation training of upper limbs robot |
| CN111658281A (en) * | 2020-06-08 | 2020-09-15 | 昆明医科大学第二附属医院 | Recovered stopper of skin burn between finger |
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