CN209036530U - A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom - Google Patents
A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom Download PDFInfo
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- CN209036530U CN209036530U CN201821856415.9U CN201821856415U CN209036530U CN 209036530 U CN209036530 U CN 209036530U CN 201821856415 U CN201821856415 U CN 201821856415U CN 209036530 U CN209036530 U CN 209036530U
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- pulley
- shank
- set casing
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- upper junction
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 39
- 238000012549 training Methods 0.000 title claims abstract description 23
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 18
- 210000000689 upper leg Anatomy 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000007704 transition Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000013519 translation Methods 0.000 claims description 8
- 230000000994 depressogenic effect Effects 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 210000001699 lower leg Anatomy 0.000 abstract description 42
- 210000002414 leg Anatomy 0.000 abstract description 6
- 238000005452 bending Methods 0.000 abstract description 4
- 210000003127 knee Anatomy 0.000 abstract description 4
- 238000012546 transfer Methods 0.000 abstract description 2
- 210000003141 lower extremity Anatomy 0.000 description 10
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 210000004872 soft tissue Anatomy 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
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Abstract
The utility model relates to the adaptive knee-joint rehabilitation training ectoskeletons of multiple degrees of freedom, the ectoskeleton includes thigh bandage, set casing, self-adapting following device, shank driving plate and shank bandage, self-adapting following device includes driving pulley, synchronous pulley, transition pulley, driven pulley, upper junction plate and lower connecting plate, the ectoskeleton of the utility model is separately fixed on the thigh and shank on patient's same leg by thigh bandage and shank bandage, coaxially fixed synchronous pulley is driven with driving driving pulley by driving, synchronous pulley transfers power to transition pulley by upper transmission belt, transition pulley continues power by lower drive belts to be transferred to driven pulley, driven pulley drives the shank driving plate being secured to be swung, shank driving plate drives shank to be swung by shank bandage, pass through the ectoskeleton band Dynamic shank carries out reciprocally swinging to achieve the purpose that carry out knee joint bending knee rehabilitation training, and the utility model is compact-sized, adaptability is good.
Description
Technical field
The utility model relates to the technical field of medical rehabilitation instrument, in particular to a kind of adaptive knee joint of multiple degrees of freedom
Rehabilitation training ectoskeleton.
Background technique
With the development of science and technology social medical and health care system is universal, rehabilitation humanoid robot also develops rapidly therewith.
Lower limb rehabilitation type exoskeleton robot is under the jurisdiction of healing robot, can replace traditional medical rehabilitation teacher to the patients of physical handicaps into
The one-to-one rehabilitation training of row is trained injured muscle by limb motion, stimulates the reparation and regeneration of nervous system, make
Injury is restored or is rebuild to the greatest extent, to be finally reached the ability for restoring patient's independent ambulation.Lower limb rehabilitation
Type ectoskeleton is to realize auxiliary human leg straight configuration, the functions such as walking by the physical contact interaction of between humans and machines, and need
Part human body weight is undertaken, thus lower limb exoskeleton needs with support function and should have good coupling with human body.
Currently, many medical institutions and R&D institution pay much attention to the research of lower limb exoskeleton rehabilitation robot both at home and abroad.Knee joint is
Maximum joint in human body lower limbs, and structure is the most complicated, thus in the research process of lower limb exoskeleton to knee joint outside
Skeletal structure research is particularly important.In the establishment process of knee joint ectoskeleton model, researcher often thinks lower limb exoskeleton
There is good coupling at knee joint with human body, the movement of the two is consistent.But Human Physiology knee joint is instantaneously transported
Dynamic center curve depends on the hinged face of physical structure and shape of shin bone and femur, and everyone knee joint it is unique and
Uniqueness；Meanwhile during dressing training, the sliding friction that can be generated between ectoskeleton and human body leads to lower limb dermoskeleton
Bone and human body are there is more or less position deviation between knee joint, and deviation is bigger, and the physics of human body and ectoskeleton connects
Touching contact pressure that interface generates will be bigger, then the knee joint of wearer and neighbouring soft tissue will bear it is bigger attached
Lotus is loaded, less serious case will cause wearer and generate discomfort, and severe one will cause the secondary injury of wearer.
Utility model content
To solve the above-mentioned problems, the utility model proposes a kind of adaptive knee-joint rehabilitation training dermoskeletons of multiple degrees of freedom
Bone.
Particular content is as follows: a kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom, which includes thigh
Bandage, set casing, self-adapting following device, shank driving plate and shank bandage, it is characterised in that:
The self-adapting following device includes driving pulley, synchronous pulley, transition pulley, driven pulley, upper junction plate
And lower connecting plate, the set casing are with certain thickness cavity body, the upper end of set casing is in character cut in bas-relief shape, and obliquely downward is equipped with
Belt crosses slot, and fixes a fixed column straight up in upper end depressed area, vertically fixes on the one side of fixed column
One horizontal connector and level fixes a thigh bandage on the free end of connector, the driving pulley with it is synchronous
Belt wheel is coaxially fixed together and is fixed in the cavity body of set casing by revolute pair, on the part of set casing upper end protrusion
It is respectively equipped with one and vertical perforative through-hole is set, two are fixed on the medial surface of set casing cavity and is being located at through-hole just
Lower section and angle pulley corresponding with through-hole, driving band around its both ends after driving pulley bypass angle pulley and respectively from right
Set casing is pierced by the through-hole answered, one end of the upper junction plate is hinged on the one side of set casing, and upper junction plate is solid
Determine the axis collinear of the hinge axes and driving pulley on shell, upper junction plate and tightens the two sides that band is located at set casing, institute
The synchronous pulley stated is between driving pulley and upper junction plate, one end of the lower connecting plate and the other end of upper junction plate
Same side that is hinged and being located at upper junction plate with set casing, the transition pulley are that upper company is coaxially fixed on by revolute pair
The belt wheel with two-wheel slot on fishplate bar and lower connecting plate hinge joint, the race of inside passes through upper with synchronous pulley on transition pulley
It is driven band connection and forms V belt translation, the driven pulley is fixed on the other end of lower connecting plate, driven pulley by revolute pair
It connect to form V belt translation by lower drive belts with the race in the outside on transition pulley, the upper end of the shank driving plate is fixed
On the one side of driven pulley, one piece of link block straight down is fixed in the lower end of shank driving plate, in the side of link block
Shank bandage is connected by the sphere-pin pair crossed out on face, shank bandage and thigh bandage are respectively positioned on the same side of set casing
Face.
Preferably, one is fixed on the medial surface of the upper junction plate presses against the tensioning wheel first that transmission takes, institute
The tensioning wheel second pressed against on lower drive belts is fixed on the medial surface for the lower connecting plate stated.
Preferably, it is set on the side on the set casing where upper junction plate there are two block, upper junction plate is located at two
Between block block.
Preferably, between the upper junction plate and the ipsilateral edge of lower connecting plate successively with the hinged limit connecting rod of head and the tail
Two free ends are hinged.
Preferably, the sphere-pin pair includes spherical fixing component and bowl-shape moving link, in spherical fixation structure
Part is equipped with the pin vertical with link block vertical centerline and along spherical shape being arranged radially, and offers on moving link
The horizontal arc slide opening to match with pin, fixing component pass through spherically mounted and pass through the pin in fixing component to move
Arc slide opening on component.
The advantageous effects of the utility model
The utility model is a kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom, the fixation in the utility model
Shell keeps it relatively fixed with thigh by thigh bandage, and shank driving plate keeps it relatively fixed with shank by shank bandage, leads to
It crosses V belt translation and power is transferred to shank driving plate drive shank swing realization kneebend, the upper company in self-adapting following device
The articulated structure of fishplate bar and lower connecting plate can be swung according to the bending knee of shank and adaptability is servo-actuated, to eliminate ectoskeleton drive
When human body lower limbs carry out rehabilitation training, the position deviation that the two generates at knee joint is adapted to different human body knee joint knot
The otherness of structure and size guarantees that power can be transmitted to shank and complete thigh bandage and shank bandage phase while kneebend
Human body will not be moved, ectoskeleton is reduced to the limbs of wearer and the soft tissue of surrounding and bring additional load, raising is worn
The comfort worn avoids ectoskeleton from bringing secondary injury to human body, therefore the utility model can adapt to different human body knee joint
Multiple degrees of freedom rigid flexible system exoskeleton mechanism, improve the coupling and matching degree of ectoskeleton and human body at knee joint,
The comfort of wearing is also improved simultaneously.
Detailed description of the invention
Fig. 1 is the stereochemical structure of the adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom (set casing front partly cut-away)
Schematic diagram one；
Fig. 2 is the main view of the adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom；
Fig. 3 is the cross-sectional view in the direction A-A in Fig. 2；
Fig. 4 is the cross-sectional view in the direction B-B in Fig. 2；
Fig. 5 is the cross-sectional view in the direction C-C in Fig. 2；
Fig. 6 is the schematic perspective view two of the adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom；
Fig. 7 is the schematic perspective view of self-adapting following device and shank driving plate；
Fig. 8 is the enlarged diagram of D in Fig. 6；
In figure: 1. thigh bandages, 2. fixed columns, 3. driving bands, 4. set casings, 5. blocks, 6. belts are crossed slot, are driven on 7.
Band, 8. tensioning wheel first, 9. upper junction plates, 10. driven pulleys, 11. lower connecting plates, 12. transition pulley, 13. limit connecting rods, 14.
Lower drive belts, 15. shank driving plates, 16. link blocks, 17. sphere-pin pairs, 18. shank bandages, 19. through-holes, 20. angle pulleies,
21. driving pulley, 22. synchronous pulleys, 23. connectors, 24. tensioning wheel second, 25. fixing components, 26. moving links, 27. columns
Pin, 28. arc slide openings.
Specific embodiment
Case study on implementation one, referring to Fig. 1-8, a kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom, the ectoskeleton
Including thigh bandage, set casing, self-adapting following device, shank driving plate and shank bandage,
The self-adapting following device includes driving pulley, synchronous pulley, transition pulley, driven pulley, upper junction plate
And lower connecting plate, the set casing are with certain thickness cavity body, the upper end of set casing is in character cut in bas-relief shape, and obliquely downward is equipped with
Belt crosses slot and fixes a fixed column straight up in upper end depressed area, vertically fixes on the one side of fixed column
One horizontal connector and level fixes a thigh bandage on the free end of connector, the driving pulley with it is synchronous
Belt wheel is coaxially fixed together and is fixed in the cavity body of set casing by revolute pair, on the part of set casing upper end protrusion
It is respectively equipped with one and vertical perforative through-hole is set, two are fixed on the medial surface of set casing cavity and is being located at through-hole just
Lower section and angle pulley corresponding with through-hole, driving band around its both ends after driving pulley bypass angle pulley and respectively from right
It is pierced by set casing in the through-hole answered, by driving the stretching of band to control driving pulley rotation；Human body is contracted in using driving band
The upper generation tensile force parallel with muscle makes equipment become small in size similar to the ligament and tendon of human body, light-weight, described
One end of upper junction plate be hinged on the one side of set casing, hinge axes and driving pulley of the upper junction plate on set casing
Axis collinear, upper junction plate and tighten the two sides that band is located at set casing, the synchronous pulley be located at driving pulley and
Between upper junction plate, the other end of one end of the lower connecting plate and upper junction plate is hinged and is located at upper junction plate with set casing
Same side, the transition pulley be fixed on by revolute pair on upper junction plate and lower connecting plate hinge joint have it is double
The belt wheel of race, on transition pulley the race and synchronous pulley of inside by upper transmission band connection formation V belt translation, it is described from
Movable belt pulley is fixed on the other end of lower connecting plate by revolute pair, under the race in the outside on driven pulley and transition pulley passes through
It is driven band connection and forms V belt translation, the upper end of the shank driving plate is fixed on the one side of driven pulley, is driven in shank
One piece of link block straight down is fixed in the lower end of movable plate, small by the sphere-pin pair connection crossed out on the side of link block
Leg bandage, shank bandage and thigh bandage are respectively positioned on the same side of set casing, and the utility model can shift torque from thigh
To shank, keep the movement in joint unrelated with instantaneous centre rotary shaft, can thus release man-machine joint accurately to the stringent of the heart
Limitation.
One is fixed on the medial surface of the upper junction plate presses against the tensioning wheel first that transmission takes, the lower company
The tensioning wheel second pressed against on lower drive belts is fixed on the medial surface of fishplate bar.
Set on side on the set casing where upper junction plate there are two block, upper junction plate be located at two pieces of blocks it
Between, block plays supporting role, while also playing the effect of the deflection angle of limitation upper junction plate.
The two of limit connecting rod successively hinged with head and the tail is free between the ipsilateral edge of upper junction plate and lower connecting plate
End is hinged, and limit connecting rod plays the role of adjusting the deflection angle between upper junction plate and lower connecting plate.
The sphere-pin pair includes spherical fixing component and bowl-shape moving link, is equipped in spherical fixing component
One pin vertical with link block vertical centerline and along spherical shape being arranged radially, offers and pin phase on moving link
The arc slide opening of matched level, fixing component pass through spherically mounted and pass through pin in fixing component on moving link
Arc slide opening.Sphere-pin pair can be avoided the center line and link block for guaranteeing human calf around the axis torque perpendicular to axis
Vertical centerline it is substantially parallel, reduce the larger frictional force of bandage and limb skin surface, improve comfort, and make this
Utility model keeps being aligned during three-dimensional space motion with human body knee joint pivot center.
The utility model is a kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom, which is tied up by thigh
Band and shank bandage are separately fixed on the thigh and shank on patient's same leg, are driven by driving band driving driving pulley
Coaxially fixed synchronous pulley, synchronous pulley transfer power to transition pulley by upper transmission belt, and transition pulley passes through
Lower drive belts continue power to be transferred to driven pulley, and driven pulley drives the shank driving plate being secured to be swung, small
Leg driving plate drives shank to be swung by shank bandage, drives shank to carry out reciprocally swinging to reach by the ectoskeleton
Power is transferred to shank driving plate by V belt translation and shank is driven to swing in fact by the purpose that bending knee rehabilitation training is carried out to knee joint
While existing kneebend, the articulated structure of upper junction plate and lower connecting plate in self-adapting following device can be according to shank
Bending knee is swung and adaptability is servo-actuated, so that the two is at knee joint when eliminating ectoskeleton drive human body lower limbs progress rehabilitation training
The position deviation of generation is adapted to the otherness of different human body knee joint structure and size, and it is small to guarantee that power can be transmitted to
Thigh bandage and shank bandage will not be moved relative to human body while leg completes kneebend, reduce ectoskeleton to wearer
Limbs and the soft tissue of surrounding bring additional load, improve the comfort of wearing, ectoskeleton avoided to bring secondary wound to human body
Evil, therefore the utility model can adapt to the exoskeleton mechanism of the kneed multiple degrees of freedom rigid flexible system of different human body, improve
The coupling and matching degree of ectoskeleton and human body at knee joint, while also improving the comfort of wearing.
The utility model increases a double-movement freedom degree to adjust the position of center of rotation of the knee joint in sagittal plane
Transmission is set and played the role of, by Denavit-Hartenberg method founding mathematical models, it is practical new thus to obtain this
The space in sagittal plane of the instantaneous center of rotation of type finally obtains upper company using target deviation function and constraint condition
The length and two deflectable angles of connecting plate of fishplate bar and lower connecting plate, at this point, the instantaneous center of rotation of the utility model
Space includes space of the human body knee joint instantaneous center of rotation in sagittal plane, meanwhile, also to sliding between people-machine
The space allocation range for rubbing certain, to ensure that ectoskeleton knee joint and the mutual Instantaneous center of human body knee joint exist
It is consistent in sagittal plane.
Claims (5)
1. a kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom, which includes thigh bandage, set casing, adaptive
Answer hunting gear, shank driving plate and shank bandage, it is characterised in that:
The self-adapting following device include driving pulley, synchronous pulley, transition pulley, driven pulley, upper junction plate and under
Connecting plate, the set casing are with certain thickness cavity body, and the upper end of set casing is in character cut in bas-relief shape, and obliquely downward is equipped with belt
Slot is crossed, and fixes a fixed column straight up in upper end depressed area, one is vertically fixed on the one side of fixed column
Horizontal connector and level fixes a thigh bandage, the driving pulley and synchronous pulley on the free end of connector
It is coaxially fixed together and is fixed in the cavity body of set casing by revolute pair, on the part of set casing upper end protrusion respectively
Vertical perforative through-hole is set equipped with one, two underfaces for being located at through-hole are fixed on the medial surface of set casing cavity
And angle pulley corresponding with through-hole, driving band around its both ends after driving pulley bypass angle pulley and respectively from corresponding
Set casing is pierced by through-hole, one end of the upper junction plate is hinged on the one side of set casing, and upper junction plate is in set casing
On hinge axes and driving pulley axis collinear, upper junction plate and tighten the two sides that band is located at set casing, it is described
For synchronous pulley between driving pulley and upper junction plate, one end of the lower connecting plate and the other end of upper junction plate are hinged
And it is located at the same side of upper junction plate with set casing, the transition pulley is coaxially to be fixed on upper junction plate by revolute pair
With the belt wheel with two-wheel slot on lower connecting plate hinge joint, the race and synchronous pulley of inside pass through upper transmission on transition pulley
Band connection forms V belt translation, and the driven pulley is fixed on the other end of lower connecting plate, driven pulley and mistake by revolute pair
The race in the outside crossed on belt wheel connects to form V belt translation by lower drive belts, the upper end of the shank driving plate be fixed on from
On the one side of movable belt pulley, one piece of link block straight down is fixed in the lower end of shank driving plate, on the side of link block
Shank bandage is connected by the sphere-pin pair crossed out, shank bandage and thigh bandage are respectively positioned on the same side of set casing.
2. the adaptive knee-joint rehabilitation training ectoskeleton of a kind of multiple degrees of freedom according to claim 1, it is characterised in that: institute
One is fixed on the medial surface for the upper junction plate stated presses against the tensioning wheel first that transmission takes, the inside of the lower connecting plate
The tensioning wheel second pressed against on lower drive belts is fixed on face.
3. the adaptive knee-joint rehabilitation training ectoskeleton of a kind of multiple degrees of freedom according to claim 1, it is characterised in that: institute
It is set on side on the set casing stated where upper junction plate there are two block, upper junction plate is located between two pieces of blocks.
4. the adaptive knee-joint rehabilitation training ectoskeleton of a kind of multiple degrees of freedom according to claim 1, it is characterised in that: institute
Two free ends of limit connecting rod successively hinged with head and the tail are hinged between the ipsilateral edge of upper junction plate and lower connecting plate stated.
5. the adaptive knee-joint rehabilitation training ectoskeleton of a kind of multiple degrees of freedom according to claim 1, it is characterised in that: institute
The sphere-pin pair stated includes spherical fixing component and bowl-shape moving link, be equipped in spherical fixing component one with connect
Block vertical centerline is vertical and along the spherical pin being arranged radially, and the level to match with pin is offered on moving link
Arc slide opening, fixing component passes through spherically mounted and pin in fixing component is made to pass through the arc slide opening on moving link.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821856415.9U CN209036530U (en) | 2018-11-12 | 2018-11-12 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821856415.9U CN209036530U (en) | 2018-11-12 | 2018-11-12 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
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| CN209036530U true CN209036530U (en) | 2019-06-28 |
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| CN201821856415.9U Expired - Fee Related CN209036530U (en) | 2018-11-12 | 2018-11-12 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318208A (en) * | 2018-11-12 | 2019-02-12 | 郑州轻工业学院 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
| CN111249115A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton assembly and lower limb rehabilitation device |
| CN113367941A (en) * | 2021-06-18 | 2021-09-10 | 南开大学 | Rigid knee joint exoskeleton |
| CN117618223A (en) * | 2024-01-12 | 2024-03-01 | 北京大学第三医院（北京大学第三临床医学院） | Static progressive drafting trainer of knee joint of integrated signal detecting system |
-
2018
- 2018-11-12 CN CN201821856415.9U patent/CN209036530U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318208A (en) * | 2018-11-12 | 2019-02-12 | 郑州轻工业学院 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
| CN111249115A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton assembly and lower limb rehabilitation device |
| CN113367941A (en) * | 2021-06-18 | 2021-09-10 | 南开大学 | Rigid knee joint exoskeleton |
| CN117618223A (en) * | 2024-01-12 | 2024-03-01 | 北京大学第三医院（北京大学第三临床医学院） | Static progressive drafting trainer of knee joint of integrated signal detecting system |
| CN117618223B (en) * | 2024-01-12 | 2024-03-26 | 北京大学第三医院（北京大学第三临床医学院） | Static progressive drafting trainer of knee joint of integrated signal detecting system |
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Address after: 450002 No. 5 Dongfeng Road, Jinshui District, Henan, Zhengzhou Patentee after: ZHENGZHOU University OF LIGHT INDUSTRY Address before: 450002 No. 5 Dongfeng Road, Jinshui District, Zhengzhou, Henan, Zhengzhou Patentee before: ZHENGZHOU University OF LIGHT INDUSTRY |
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Granted publication date: 20190628 |