CN2330349Y - Health-recovering machine for paraparesis - Google Patents
Health-recovering machine for paraparesis Download PDFInfo
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- CN2330349Y CN2330349Y CN 97249335 CN97249335U CN2330349Y CN 2330349 Y CN2330349 Y CN 2330349Y CN 97249335 CN97249335 CN 97249335 CN 97249335 U CN97249335 U CN 97249335U CN 2330349 Y CN2330349 Y CN 2330349Y
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- slide rail
- thigh
- slide
- spherojoint
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Abstract
The utility model relates to a health-recovering machine, which particularly relates to the health-recovering machine for paraparesis. The health-recovering machine comprises a transverse shift slide block mechanism which makes use of a transverse slide block with directional and quantitative movement, a longitudinal slide rail is driven to rotate by a spherojoint, a thigh part is caused to do abduction or retraction reciprocating motion further, and the angle range of the abduction or retraction is 0-35 DEG; a thigh supporting slide mechanism which is suitable for the length of the thigh within the range of 20-60 cm; a foot sole supporting slide mechanism, wherein the range of a slide rail slope angle of the foot sole supporting seat is 12-18 DEG.
Description
Acute cerebrovascular disease (generally claiming apoplexy) and vertebral disease often make the patient produce the phenomenon of lower extremity paralysis, behind the lower extremity paralysis, its hip joint, knee joint and ankle joint, passivity joint motions for want of often and cause joint stiffness, amyotrophy, and may further cause the patient permanent laid up and produce decubital ulcer.So before the state of an illness does not worsen, physics rehabilitation that should be timely and suitable.
So answer key Shi Renli famine now, most of patients can't obtain sufficient recovery treating, causes the lower limb maimed person, can't adapt to family and social life, and be that family, society increase many burdens.
And present employed mechanical type rehabilitation machine only can help lower limb to do simple bending, uphold action, can do nothing to help hip, knee joint and ankle joint rotates, its function is still very simple, and therefore the muscle or the joint of getting a foothold fails fully to use, and causes its function to continue to degenerate.So existing rehabilitation machine still can't effectively substitute artificial rehabilitation mode.
For these reasons, if can provide the machinery of a rehabilitation telotism then can effectively substitute the part manpower.It is artificial to utilize mechanical system to replace, and makes that above-mentioned pass is energy-conservation does motion regular and at regular time and quantity, to reduce the chance that the joint stiff, amyotrophy takes place and produces decubital ulcer, should have sizable benefiting to patient and household thereof.
This utility model relates to a kind of rehabilitation machine, particularly relates to a kind of rehabilitation machine of lower extremity paralysis, and it has the function of a plurality of freedoms of motion; The lower limb that can assist to paralyse are done the motion of more freedom, help the rehabilitation of patient's lower limb of cerebrovascular and vertebral disease, can help its early recovery in positive aspects; Passive aspect can reduce the state of an illness and continue to worsen generation.
Rehabilitation machine of the present utility model is to make mechanical displacement with electric power for the driven by energy slide mechanism, produce tridimensional motion, and this range of movement and adjustable-speed are whole, hip joint, knee joint, the ankle joint that can drive patient's lower limb do on suitable cycle and the load down and abduction with in the passive exercise of contracting.
Rehabilitation machine of the present utility model comprises; One horizontal moving slider mechanism, a thigh support slide mechanism and a sole supports slide mechanism; Wherein this horizontal moving slider mechanism utilizes the horizontal moving slider with spherojoint to produce rotatablely moving of mechanism, and patient's limbs are rotated both sides to the left and right; This thigh supports slide mechanism except that having the function that supports thigh, and utilizes a thigh slide, make lower limb be able to smooth and easy carrying out in the process of contraction and stretching, extension, and the patient is also unlikely injured; This sole supports slide mechanism, and it can be for bending knee at the foot body and between extensin period, sole gets the free mobile and unlikely improper compressing that is subjected to, and this sliding mechanical also can be set horizontal by a certain angle, and sole is curved inwardly in suitable angular range.
The purpose of this utility model has three aspects:
(1) range of activity of hip joint, knee joint and the ankle joint of increase palsy lower limb, the enhancing of favourable patient's limb function;
(2) blood circulation of enhancement paralyzed limbs and joint motion are to reduce the generation of decubital ulcer; And
(3) can be flexibly for the patient to do rehabilitation, the heptan on favourable patient's limb function is multiple.
The technical solution of the utility model is to provide a kind of rehabilitation machine of lower extremity paralysis, it is characterized in that comprising:
-base defines a longitudinal axis Y by the longitudinally behind the forward direction, and this base can stably be flat on arbitrary plane;
-horizontal moving slider mechanism, it has a transverse screw, a pair of horizontal slide rail, one transverse slider, one spherojoint, one spherojoint seat, slide rail holder before one thigh, an a pair of vertical slide rail and a longitudinal screw, should to horizontal slide rail be vertical this longitudinal axis Y and be fixed on base near the front end place, this transverse screw position is between this is to horizontal slide rail, this horizontal slide rail can be driven by this transverse screw and move on to horizontal slide rail at this, this transverse slider front end has a spherojoint and connects with this spherojoint seat, this spherojoint seat connects and should hold one of vertical slide rail, and the other end of this vertical slide rail is fixed on the base;
-thigh supports slide mechanism, it is positioned at the first half of base, have first and second stock, a thigh slide and a vertical slide, one of this first stock end is pivotally to be connected with this base, the other end then pivotally is connected with one of this second stock end, the other end of this second stock pivotally is connected with this vertical slide, and this slide can move on this vertical slide rail;
-heel brace supports slide mechanism, is positioned at the latter half of of this base, has an a pair of slide rail and a foot slide, holds two ends respectively to be fixed on this base before this slide rail.
The rehabilitation machine of described lower extremity paralysis is characterized in that the transverse screw of transversing gear and longitudinal screw respectively drive rotation with a tool motor.
The rehabilitation machine of described acroparalysis is characterized in that the distance that this transverse slider moves makes this spherojoint seat be 35 ° with the angle that rotates counterclockwise clockwise.
The rehabilitation machine of described lower extremity paralysis is characterized in that the slide rail and the range of tilt angles between horizontal plane of this sole support slide mechanism is 12 ° to 18 °.
The rehabilitation machine of described lower extremity paralysis is characterized in that this thigh supports slide mechanism and comprises a thigh supporting seat in addition, and this thigh supporting seat is to be used to support thigh also can be free to slide on this first stock.
The rehabilitation machine of described lower extremity paralysis is characterized in that being connected with a flexible coupling between this longitudinal screw and the motor.
The rehabilitation machine of described lower extremity paralysis is characterized in that, the inflexed angular range of described generation sole is 5 °-15 °.
This utility model compared with the prior art advantage and good effect is very obvious, advantage of the present utility model as shown from the above technical solution is, can do the action of general lower limb bending except hotwire 52, also can start another motor 51 makes this thigh support the turn that slide mechanism 3 is made little spoke degree, so, can make patient's hip joint rotate, contract in the thigh promptly shown in Figure 2, the abduction angle.Rehabilitation machine of the present utility model, through practical test result, the hip joint angle of greatest flexion that can make the patient is 90 °-100 ° scope, in contract and the abduction angle can reach 30 °-35 °, the patient that can be fit to different heights, and can in hip joint flexing, thigh, contract, the three directions motion of abduction, ankle joint low-angle compressing motion, and can not make the patient cause secondary to injure.
Rehabilitation machine of the present utility model is a kind of novelty and unique mechanism design, and through repeatedly simulation is on probation, all can obtain excellent effect, it serves to show the value that has in the medical science rehabilitation.
Be described in detail by the rehabilitation machine of most preferred embodiment with reference to the accompanying drawings a kind of lower extremity paralysis of this utility model.In the accompanying drawing
Fig. 1 shows the definition of relevant hip joint flexion angle in this utility model;
Fig. 2 shows in this utility model and to contract in the relevant thigh position and the definition of abduction;
Fig. 3 is the vertical view of this utility model rehabilitation machine internal mechanism combination;
Fig. 4 is this utility model rehabilitation machine internal mechanism combination view before;
Fig. 5 is the transverse translation slide mechanism in this utility model rehabilitation mechanism, utilizes transverse screw to drive transverse slider, and then drives the sketch map of vertical slide rail rotation;
Fig. 6 is that this utility model rehabilitation machine supports thigh support skate machine composition;
Fig. 7 is that the sole of this utility model rehabilitation machine feet metacarpus position supports the skate machine composition;
Fig. 8 shows the position of thigh slide when thigh is upheld of this utility model rehabilitation machine;
Fig. 9 shows the position of thigh slide when the thigh flexing of this utility model rehabilitation machine; And
Figure 10 shows when hip joint makes progress flexing, the relevant position of thigh, size and sole.
Now cooperate and graphic this utility model preferred embodiment is described in detail as follows.
Fig. 1 and 2 shows respectively and contracts in the definition of hip joint flexion angle and relevant thigh position and the definition of abduction.Relevant this reality is novel, and as shown in Figures 3 and 4, this function rehabilitation machine comprises that a horizontal moving slider mechanism 2, a thigh support slide mechanism 3 and a sole supports slide mechanism 4; All mechanisms are separately fixed on the base 1.The longitudinally that wherein defines base 1 is axes of coordinates Y, and transverse direction is an X axis, and vertical X-Y plane is that Z is axial.
In this rehabilitation machine structure, this thigh supports slide mechanism 3 and comprises: one first stock 31, one second stock 32, a thigh slide 33, a thigh supporting seat 34 and a vertical slide 35.When a motor 52 starts, make via a flexible coupling 53 one of to be connected longitudinal screw 27 with it and to be driven to rotate, this vertical slide 35 just with Y-axis to moving along two parallel vertical slide rail 26 and this longitudinal screws 27.When this vertical slide 35 moves, just constitute a basic slider-crank mechanism with this first stock 31 and second stock 32.This first stock 31 is able to change angle because of the displacement that changes this vertical slide 35, and can make this vertical slide 35 produce reciprocating by the forward and reverse mutual rotation of this longitudinal screw 27, and and then makes this first stock 31 produce forward and reverse rotatablely moving.In addition, support these thigh slide 33 employing mechanisms slidably of thigh, can freely slide on this first stock 31, its detail drawing as shown in Figure 6.
This horizontal moving slider mechanism 2 comprises: the horizontal slide rail 21 of pair of parallel, a transverse screw 22, a transverse slider 23, a spherojoint 24, a spherojoint seat 25, vertical slide rail 26 of pair of parallel, a longitudinal screw 27, a pair of horizontal sliding rail rack 28; Wherein this transverse screw 22 is connected to motor 51, and this motor 51 drives this transverse screw 22 rotations when rotating, so drive this transverse slider 23 on it towards X axis along this horizontal slide rail 21 and transverse screw 22 on translation.This spherojoint 24 is arranged on this transverse slider 23, and joins with spherojoint seat 25, and this spherojoint seat 25 is around this longitudinal screw 27 axle center rotation, and Fig. 5 shows the detailed situation of its connection.Consult Fig. 3 and Fig. 4 more simultaneously, when these transverse slider 23 translations, this spherojoint 24 on it drives this spherojoint seat 25 and rotates, and then makes connection vertical slide rail 26 rotations thereon.When this vertical slide rail 26 rotates, position this and then rotation of vertical slide 25 thereon, and order about this second stock 32 and 31 rotations of first stock.
Because different patients' shank length may be also different, this utility model is in response to the difference of different patients on shank length, and ad hoc meter one heel brace props up slide mechanism 4.Fixedly one of sole sole supporting seat 45 is placed on specially designed two tilt slides 41 parallel to each other, its detail drawing as shown in Figure 7, wherein the angle of inclination of this slide rail 41 is about 15 °.The purpose of design at inclination angle is a hip joint of considering sufferer when flexing up, avoids its sole over-stressed and ankle is damaged.As Fig. 4 and shown in Figure 10, when thigh, shank and sole were fixed on original position (being the thigh flexing), shank and sole angle were A1, and A1=90 °.When thigh hip joint up during flexing, if adopt horizontal slide rail, then the angle of shank and sole is A2.If adopt tilt slide, then the angle of shank and sole is A3, is gone up by figure to show A2＜A3, and angle is more little, and the suffered pressure of expression sole is big more, and it is also high more to produce pain or injured probability, thus slide rail to design the appropriate tilt angle be necessary.In addition, if the angle of inclination is 15 °, then during 90 ° of hip joint flexings, A3 approximates 85 °, that is the sole of sufferer will be subjected to the compressing of low-angle (5 °), be equivalent to the ankle joint is bestowed the motion of passivity, so also can alleviate the stiff phenomenon of ankle joint.In brief, the feature that this sole supports slide mechanism 4 is the patient that can be fit to different shank length avoiding ankle joint injured, and can bestow low-angle reciprocating motion to ankle joint simultaneously.
As shown in Figure 4, when using this rehabilitation machine, the patient is lain low, will need the thigh of rehabilitation to be placed on the thigh supporting seat 34 of this thigh slide 33, sole is placed on this sole supporting seat 45, and fastens.Can use jogging speed earlier when starting the rehabilitation machine, during no any problem to be determined, carry out with normal speed again.
In the abduction, above-mentioned motion mode can make thigh bear the external force of drawing or pressing down in flexing reached about hip joint, and this kind external force can cause the rehabilitation subject discomfort, even caused the secondary injury.For avoiding this phenomenon, support these thigh slide 33 employing mechanisms slidably of thigh, as Fig. 8, Fig. 8 and shown in Figure 4.When the hip joint flexing, can find that this thigh slide 33 also upwards slides with respect to this first stock 31.This design except can remove above-mentioned thigh and be subjected to pull-type or pressurized outside the power effect, also in response to the difference of different sufferer thigh length, and can do a suitable adjustment, this also is one of this mechanism characteristics.
Structure of the present utility model and feature; after above-mentioned detailed description and illustration; to be more concrete; only desire to emphasize; this embodiment is only as the usefulness that illustrates the preferable mode of operation of this utility model; but not in order to limit to scope of the present utility model, other any following of this utility model spirit that do not break away from improve or change for it, all belong to this utility model protection domain.
Claims (7)
1, a kind of rehabilitation machine of lower extremity paralysis is characterized in that comprising:
-base defines a longitudinal axis Y by the longitudinally behind the forward direction, and this base can stably be flat on arbitrary plane;
-horizontal moving slider mechanism, it has a transverse screw, a pair of horizontal slide rail, one transverse slider, one spherojoint, one spherojoint seat, slide rail holder before one thigh, an a pair of vertical slide rail and a longitudinal screw, should to horizontal slide rail be vertical this longitudinal axis Y and be fixed on base near the front end place, this transverse screw position is between this is to horizontal slide rail, this horizontal slide rail can be driven by this transverse screw and move on to horizontal slide rail at this, this transverse slider front end has a spherojoint and connects with this spherojoint seat, this spherojoint seat connects and should hold one of vertical slide rail, and the other end of this vertical slide rail is fixed on the base;
-thigh supports slide mechanism, it is positioned at the first half of base, have first and second stock, a thigh slide and a vertical slide, one of this first stock end is pivotally to be connected with this base, the other end then pivotally is connected with one of this second stock end, the other end of this second stock pivotally is connected with this vertical slide, and this slide can move on this vertical slide rail;
One heel brace supports slide mechanism, is positioned at the latter half of of this base, has an a pair of slide rail and a foot slide, holds two ends respectively to be fixed on this base before this slide rail.
2, the rehabilitation machine of lower extremity paralysis according to claim 1 is characterized in that the transverse screw of transversing gear and longitudinal screw respectively drive rotation with a tool motor.
3, the rehabilitation machine of lower extremity paralysis according to claim 1 is characterized in that the distance that this transverse slider moves makes this spherojoint seat be 35 ° with the angle that rotates counterclockwise clockwise.
4, the rehabilitation machine of lower extremity paralysis according to claim 1 is characterized in that the slide rail and the range of tilt angles between horizontal plane of this sole support slide mechanism is 12 ° to 18 °.
5, the rehabilitation machine of lower extremity paralysis according to claim 1 is characterized in that this thigh supports slide mechanism and comprises a thigh supporting seat in addition, and this thigh supporting seat is to be used to support thigh also can be free to slide on this first stock.
6, the rehabilitation machine of lower extremity paralysis according to claim 2 is characterized in that being connected with a flexible coupling between this longitudinal screw and the motor.
7, the rehabilitation machine of lower extremity paralysis according to claim 4 is characterized in that, the inflexed angular range of described generation sole is 5 °-15 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97249335 CN2330349Y (en) | 1997-11-20 | 1997-11-20 | Health-recovering machine for paraparesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97249335 CN2330349Y (en) | 1997-11-20 | 1997-11-20 | Health-recovering machine for paraparesis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2330349Y true CN2330349Y (en) | 1999-07-28 |
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ID=33956269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 97249335 Expired - Lifetime CN2330349Y (en) | 1997-11-20 | 1997-11-20 | Health-recovering machine for paraparesis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2330349Y (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101385682B (en) * | 2008-10-08 | 2010-09-01 | 刘海宁 | Lower limb function rehabiliation apparatus of paraplegia patient |
| CN101829004A (en) * | 2010-04-14 | 2010-09-15 | 南京理工大学 | Bidirectional flexible knee-joint active-passive rehabilitation training device |
| CN101836930A (en) * | 2010-04-14 | 2010-09-22 | 南京理工大学 | Flexible active and passive knee-joint rehabilitation training device |
| CN102309395A (en) * | 2006-09-25 | 2012-01-11 | 松下电工株式会社 | Passive motion-type exercise assistance device |
| CN102697621A (en) * | 2012-05-29 | 2012-10-03 | 沈阳化工大学 | Rehabilitative apparatus for lower limbs |
| CN101933874B (en) * | 2009-07-01 | 2013-03-27 | 广州一康医疗设备实业有限公司 | Vertical-standing lower-limb rehabilitation system |
| CN103068447A (en) * | 2011-06-30 | 2013-04-24 | 中国科学院自动化研究所 | Crus adjustment system for rehabilitation robot |
| CN103961233A (en) * | 2014-05-15 | 2014-08-06 | 浙江大学台州研究院 | Nursing bed for physical therapy |
| CN103976853A (en) * | 2014-05-13 | 2014-08-13 | 江苏永发医用设备有限公司 | Active rehabilitation exercise bed for legs and exercise method thereof |
| CN104161644A (en) * | 2013-12-25 | 2014-11-26 | 张振峰 | Lumbar vertebra rehabilitation training machine |
| CN104352336A (en) * | 2014-10-20 | 2015-02-18 | 兰红梅 | Knee joint protection and restoration device |
| CN104382724A (en) * | 2014-11-28 | 2015-03-04 | 常宗瑜 | New type lower limb rehabilitation physiotherapy apparatus |
| WO2015139542A1 (en) * | 2014-03-21 | 2015-09-24 | 上海璟和技创机器人有限公司 | Rehabilitation training device |
| CN105055098A (en) * | 2015-08-31 | 2015-11-18 | 济南方宇文化传媒有限公司 | Multifunctional medical nursing bed |
| CN106880469A (en) * | 2017-02-24 | 2017-06-23 | 上海交通大学 | Ankle rehabilitation ESD |
| CN108771591A (en) * | 2018-06-29 | 2018-11-09 | 无锡市惠山区人民医院 | A kind of multifunctional lower limb appurtenance |
| CN109646251A (en) * | 2019-02-22 | 2019-04-19 | 四川省人民医院 | It is a kind of for the movable device of ICU patient legs |
| CN110494111A (en) * | 2017-02-21 | 2019-11-22 | 六方***公司 | Knee joint rehabilitation instrument |
| CN110575363A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | exoskeleton for lower limb rehabilitation |
| CN113499221A (en) * | 2021-07-14 | 2021-10-15 | 合肥技加医疗科技有限公司 | Lower limb multidimensional rehabilitation training device |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
-
1997
- 1997-11-20 CN CN 97249335 patent/CN2330349Y/en not_active Expired - Lifetime
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309395A (en) * | 2006-09-25 | 2012-01-11 | 松下电工株式会社 | Passive motion-type exercise assistance device |
| CN101385682B (en) * | 2008-10-08 | 2010-09-01 | 刘海宁 | Lower limb function rehabiliation apparatus of paraplegia patient |
| CN101933874B (en) * | 2009-07-01 | 2013-03-27 | 广州一康医疗设备实业有限公司 | Vertical-standing lower-limb rehabilitation system |
| CN101829004A (en) * | 2010-04-14 | 2010-09-15 | 南京理工大学 | Bidirectional flexible knee-joint active-passive rehabilitation training device |
| CN101836930A (en) * | 2010-04-14 | 2010-09-22 | 南京理工大学 | Flexible active and passive knee-joint rehabilitation training device |
| CN101836930B (en) * | 2010-04-14 | 2011-09-21 | 南京理工大学 | Flexible active and passive knee-joint rehabilitation training device |
| CN101829004B (en) * | 2010-04-14 | 2012-01-25 | 南京理工大学 | Bidirectionally flexible knee-joint active-passive rehabilitation training device |
| CN103068447B (en) * | 2011-06-30 | 2014-11-19 | 中国科学院自动化研究所 | Crus adjustment system for rehabilitation robot |
| CN103068447A (en) * | 2011-06-30 | 2013-04-24 | 中国科学院自动化研究所 | Crus adjustment system for rehabilitation robot |
| CN102697621A (en) * | 2012-05-29 | 2012-10-03 | 沈阳化工大学 | Rehabilitative apparatus for lower limbs |
| CN104161644A (en) * | 2013-12-25 | 2014-11-26 | 张振峰 | Lumbar vertebra rehabilitation training machine |
| WO2015139542A1 (en) * | 2014-03-21 | 2015-09-24 | 上海璟和技创机器人有限公司 | Rehabilitation training device |
| CN103976853A (en) * | 2014-05-13 | 2014-08-13 | 江苏永发医用设备有限公司 | Active rehabilitation exercise bed for legs and exercise method thereof |
| CN103961233A (en) * | 2014-05-15 | 2014-08-06 | 浙江大学台州研究院 | Nursing bed for physical therapy |
| CN103961233B (en) * | 2014-05-15 | 2017-01-11 | 浙江大学台州研究院 | Nursing bed for physical therapy |
| CN104352336A (en) * | 2014-10-20 | 2015-02-18 | 兰红梅 | Knee joint protection and restoration device |
| CN104382724A (en) * | 2014-11-28 | 2015-03-04 | 常宗瑜 | New type lower limb rehabilitation physiotherapy apparatus |
| CN105055098A (en) * | 2015-08-31 | 2015-11-18 | 济南方宇文化传媒有限公司 | Multifunctional medical nursing bed |
| CN110494111A (en) * | 2017-02-21 | 2019-11-22 | 六方***公司 | Knee joint rehabilitation instrument |
| CN106880469A (en) * | 2017-02-24 | 2017-06-23 | 上海交通大学 | Ankle rehabilitation ESD |
| CN108771591A (en) * | 2018-06-29 | 2018-11-09 | 无锡市惠山区人民医院 | A kind of multifunctional lower limb appurtenance |
| CN109646251A (en) * | 2019-02-22 | 2019-04-19 | 四川省人民医院 | It is a kind of for the movable device of ICU patient legs |
| CN109646251B (en) * | 2019-02-22 | 2021-03-23 | 四川省人民医院 | Device for leg movement of ICU patient |
| CN110575363A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | exoskeleton for lower limb rehabilitation |
| CN110575363B (en) * | 2019-09-25 | 2021-12-31 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton for lower limb rehabilitation |
| CN113499221A (en) * | 2021-07-14 | 2021-10-15 | 合肥技加医疗科技有限公司 | Lower limb multidimensional rehabilitation training device |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
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