WO2022073468A1 - Dispositif robotisé de traitement chirurgical et de rééducation - Google Patents

Dispositif robotisé de traitement chirurgical et de rééducation Download PDF

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Publication number
WO2022073468A1
WO2022073468A1 PCT/CN2021/122529 CN2021122529W WO2022073468A1 WO 2022073468 A1 WO2022073468 A1 WO 2022073468A1 CN 2021122529 W CN2021122529 W CN 2021122529W WO 2022073468 A1 WO2022073468 A1 WO 2022073468A1
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WIPO (PCT)
Prior art keywords
rehabilitation
robot
module
information
gravity
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PCT/CN2021/122529
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English (en)
Chinese (zh)
Inventor
谈斯聪
于皓
于梦非
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谈斯聪
于皓
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Application filed by 谈斯聪, 于皓 filed Critical 谈斯聪
Priority to CN202180008737.6A priority Critical patent/CN117580619A/zh
Publication of WO2022073468A1 publication Critical patent/WO2022073468A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices

Definitions

  • the invention relates to artificial intelligence technology, robot technology, medical data collection, analysis and identification technology, and belongs to the field of intelligent artificial intelligence of medical devices.
  • robotic arms supporting gravity devices, joint rehabilitation devices, pedal devices, grip devices, massage devices, remote autonomous rehabilitation therapy, using myoelectric acquisition devices, multi-sensing devices to collect muscle information, gravity pressure and other multi-sensing information.
  • the invention is intelligent, autonomous rehabilitation training, autonomous treatment, effective prevention of geriatric diseases, high-precision collection of muscles, and rehabilitation information to reduce human errors in rehabilitation treatment and achieve autonomous treatment.
  • the purpose of the present invention is to overcome the above-mentioned shortcomings and deficiencies of the prior art, and to provide a remote and autonomous surgery, rehabilitation department, a robotic device for collection and treatment, using machines to replace people, remote and autonomous collection of EMG, multi-sensor Information, using the robotic arm to carry support gravity device, joint rehabilitation device, pedal device, grip device, massage device, remote autonomous rehabilitation, and treatment.
  • the present invention also provides a voice device for human-computer interaction, remote voice commands, an autonomous moving device, a robotic arm carrying support gravity device, a joint rehabilitation device, a pedal device, a grip force device, and a massage device for remote end, self-rehabilitation, treatment.
  • Remote and autonomously controlled surgical treatment, rehabilitation robotic devices include:
  • the robot main system is connected with the robot arm module, the support/gravity device, the pedal device, the joint rehabilitation device rehabilitation module, the multi-sensing device, the grasping device, the massage device, and the myoelectric acquisition device, for realizing The main control of the robot by the main system;
  • a voice module which is connected to the main robot system for interaction and voice guidance between the main system and the user;
  • a camera visual acquisition module is connected with the robot main system and the robot arm, and is used for collecting face images, locating the face, locating the legs, arms, chest, back, waist, hands, feet, and joint positions;
  • an EMG acquisition module which is connected to the robot main system and the robotic arm, and is used to collect upper limb and lower limb muscle information, and independently adjust the training period, training intensity, and training times according to the returned muscle information;
  • the multi-sensing information acquisition module is connected with the robot main system, the robot arm, and the supporting gravity device, and is used to collect the pressure information, gravity information, and other various sensor information of the supporting gravity device. Sensor information, self-adjustment of training intensity, training times, and the upper limit of physical fitness training under the rehabilitation level;
  • the radar autonomous movement module is connected with the robot main system, and the mobile base is connected for autonomous positioning and navigation;
  • a joint rehabilitation device module is connected with the robot main system, the robot arm, supports the gravity device, and is connected with multiple sensors, and is used for the upper limb and lower limb muscle rehabilitation, joint rotation rehabilitation action, and the two arms cooperate to complete the rehabilitation action;
  • Gravity device module the gravity device module is connected with the robot main system, the robot arm, supports the gravity device, and is connected with multi-sensors and myoelectric acquisition modules, which are used to independently adjust gravity and torque according to the multi-sensor information, and the arms cooperate to complete the up and down , left and right, up, left, down, down, left, right, and incline direction stretching and flexing basic movements, aggravating movements and other rehabilitation movements;
  • Arm grip strength device the arm grip strength device module is connected with the robot main system, the robotic arm, the supporting gravity device, the multi-sensor, the myoelectric acquisition module is connected, and is used for collecting information based on multi-sensor information and myoelectricity, and adjusting the grip strength and torque independently , arm grip rehabilitation action, arm grip device for muscle rehabilitation, arm grip;
  • the pedal device module is connected with the robot main system, the robot arm, the supporting gravity device, the multi-sensor, the EMG acquisition module is connected, and is used for collecting information based on multi-sensor information, EMG information, and autonomous adjustment of the feet Stepping gravity gravity strength, torque, pedal force rehabilitation action, pedal force device is used for foot rehabilitation;
  • the massage device module is connected with the robot main system, the robot arm, the supporting gravity device, the multi-sensor, the myoelectric acquisition module is connected, and is used to independently adjust the frequency of the massage device according to the multi-sensor information, the myoelectric acquisition information, Massage intensity, rubbing method, picking method, pushing method, pressing method, point method, pinching method, pinching method, patting method, striking method, bouncing method, rolling method, palm rubbing method, finger rubbing method, vibration method, shaking method,
  • the massage methods of holding method, rubbing hair, shaking method, massaging gravity, delineating the massage range for the upper and lower limbs, and massage movements are used for massage rehabilitation.
  • the main system of the robot is connected with the voice module, and the voice module is used for interaction between the robot and the user, including voice recognition, voice and text conversion, voice guidance, voice commands, voice companionship, and voice medical question and answer.
  • the main robot system is connected to the camera visual acquisition module, and the camera visual acquisition module is used to collect face images, identify the face, chest, back, legs, arms, waist, hands, feet, joints, and return the position information of body parts , locate face, chest, back, legs, arms, waist, hands, feet, and joints.
  • the EMG acquisition module is connected to the robot main system and the robot arm, and is used to collect upper and lower limb muscle information and return muscle information.
  • the muscle information includes muscle contraction mode, static power state, muscle fatigue state, sensory nerve conduction velocity, and motor nerve. Conduction velocity, repetitive electrical stimulation, estimation of the number of motor units, sympathetic skin response, deep learning algorithm autonomously adjusts training intensity, training period, and training times.
  • the multi-sensing information acquisition module is connected to the robot main system and the robot arm, and is used to collect gravity information, pressure information, and direction information. According to the return information, the main system communicates with the multi-sensors, and adjusts the machine according to the multi-sensor information received by the main system.
  • the parameter values of the arm and gravity device are connected to the robot main system and the robot arm, and is used to collect gravity information, pressure information, and direction information.
  • the robot main system is connected with the robot arm and the gravity device module, and the joint rehabilitation device module.
  • the robot main system communicates with the robot arm and the gravity device module, and the joint rehabilitation device.
  • Based on multi-sensor information, EMG information, release and adjust gravity, torque, arms Position information, angle parameters, gravity device module receives and adjusts gravity, torque, arm position information, angle parameters, and uses the robot arm motion planning method to cooperate to complete up and down, left and right, up, left, right, down, down, left, and upper oblique directions to stretch and bend the foundation. Exercises, weighted exercises and other rehabilitation exercises.
  • the main system of the robot is connected with the radar and the mobile base, and the information collected by the radar is sent to the main system client through the communication method of messages and services to realize the scene self-built map;
  • the main system communicates with the mobile chassis: publishes the created map information and communicates with the mobile base.
  • the chassis node communicates, accepts map information, and realizes autonomous navigation; camera and communication: The image information collected by the camera is sent to the main system client through the service communication method to communicate with the robot arm to realize the collection action.
  • the robot main system is connected with the robot arm and the gravity device module, and the arm grip force device.
  • the robot main system communicates with the robot arm and the arm grip force device module. It is used to collect information based on multi-sensor information, myoelectricity, and autonomously adjust the grip strength, torque, and arm grip strength rehabilitation. Action, arm grip device for muscle rehabilitation, arm grip.
  • the robot main system is connected with the robot arm and the gravity device module, and the foot pedal device.
  • the robot main system communicates with the robot arm and the foot pedal device module, which is used to collect information based on multi-sensor information and myoelectricity, and adjust the gravity strength of the pedal independently. , torque, pedal force rehabilitation action, pedal force device for foot rehabilitation.
  • the robot main system and the massage device, the massage device module is connected with the robot main system, the robot arm, and the vision module.
  • the visual information released by the camera includes: each part of the body returns to the face, chest, back, legs, arms, waist, hands, Foot, joint position information, robot main system, massage device receives visual information, detects face, body parts, and accurately locates body positions; according to the body massage position selected by the client, rubbing method, picking method, pushing method, pressing method , point method, pinch method, pinching method, beat method, strike method, bounce method, rolling method, palm rubbing method, finger rubbing method, vibration method, shaking method, holding method, rubbing method, shaking method, frequency massage Intensity, massage gravity, positioning, moving to the body massage position, according to the action plan, massage, assist rehabilitation.
  • the invention can solve remote control robot isolation collection and treatment, autonomous collection and treatment, voice device for human-computer interaction, remote voice command through medical robot device, provides autonomous moving device, and provides robot arm carrying support gravity device , joint rehabilitation device, pedal device, grip device, massage device for distal, autonomous rehabilitation, therapy.
  • the problems of high pressure and complicated work for surgeons, rehabilitation doctors, nurses, and escorts have been improved.
  • the rehabilitation training intensity, frequency and cycle can be adjusted adaptively, which greatly improves the work efficiency.
  • the present invention can realize high-efficiency and high-precision rehabilitation training, auxiliary surgery, rehabilitation treatment, and remote autonomous rehabilitation treatment.
  • Fig. 1 is the schematic diagram of the medical robot device module in the specification of this application;
  • 100-remote control module 101-robot main system; 102-voice module;
  • 103- radar mapping positioning and navigation module 104- camera vision module; 105- support/gravity module;
  • 106-joint rehabilitation module 107-robot arm module; 108-pedal device; 109-multi-sensing acquisition module; 110-grip strength module; 111-massage module; 112- EMG acquisition module;
  • 200-client remote control terminal 201-robot main system; 202-support device; 203-joint device; 204-lifting robot arm; 205-mobile base; 206-myoelectric acquisition device; 207-foot pedal;
  • 208-gravity sensor 209-pressure sensor; 210-grip device; 211-gravity device; 212-massage device; 213-outer layer fixing device; 214-inner layer flexible device; 215-vision device; 216-voice device; 217-radar device;
  • the purpose of the present invention is to design a remote control robot that can replace human work, realize remote control machine to collect images, autonomous acquisition, autonomous mobile device, use robot arm to carry support gravity device, joint rehabilitation device, pedal device, grip device, massage device Device for distal, autonomous rehabilitation, therapy.
  • the distal and autonomously controlled surgical treatment and rehabilitation robotic devices include:
  • the electrical collection device 112 is used to realize the main control of the robot.
  • the voice module 102 is connected with the main robot system 101, and is used for interaction and voice guidance between the main control system and the user.
  • the camera acquisition module 104, the camera vision module 104 is connected with the robot main system 101 and the robot arm 107, and is used for collecting face images, locating the face, and locating the positions of the legs, arms, waist and joints.
  • the EMG acquisition module 112 is connected to the robot main system 101 and the robotic arm 107, and is used to collect upper limb and lower limb muscle information. According to the returned muscle information, the training cycle, training intensity, and training times can be adjusted autonomously.
  • the multi-sensing information acquisition module 109 is connected with the robot main system 101, the robot arm 107, and the supporting gravity device 105, and is used to collect the pressure information of the supporting gravity device 105, gravity information, and other According to the returned sensor information, it can adjust the training intensity, the number of training times, and the upper limit of physical fitness under the rehabilitation level.
  • the radar autonomous movement module 103, the autonomous movement module 103 is connected with the robot main system 101, and the mobile base is connected for autonomous positioning and navigation.
  • the joint rehabilitation device module 106 is connected with the robot main system, the robot arm 107, the supporting gravity device 105, and the multi-sensor 109 connection, which is used for upper limb and lower limb muscle rehabilitation, joint rotation rehabilitation, and double-arm cooperation. Complete recovery.
  • the gravity device module 105 the gravity device module 105 is connected with the robot main system 101, the robot arm 107, supports the gravity device 105, the multi-sensor 109, and the myoelectric acquisition module 112 is connected, and is used to adjust the gravity independently according to the multi-sensor information, Moment, the two arms cooperate to complete the basic movements of up and down, left and right, up and down, up and down, down, left, right and up incline, stretching and flexing, adding force and other rehabilitation movements.
  • the arm gripping device 110, the arm gripping device module 110 is connected to the robot main system 101, the robot arm 107, supports the gravity device 105, the multi-sensor 109, and the EMG acquisition module 112 is connected to collect the EMG based on the multi-sensor information.
  • Information self-adjusting grip strength, torque, arm grip strength rehabilitation action. Arm grip device for muscle rehabilitation, arm grip.
  • the foot pedal device 108, the foot pedal device module 108 is connected with the robot main system 101, the robot arm 107, the supporting gravity device 105, the multi-sensor 109, and the myoelectric acquisition module 112. Electrically collect information, independently adjust the strength, torque, and pedal force of the pedals for rehabilitation. Pedal force devices are used for foot rehabilitation.
  • the massage device 111, the massage device module 111 is connected with the robot main system 101, the robot arm 107, the supporting gravity device 105, the multi-sensor 109, and the myoelectric acquisition module 112 is connected to collect the information according to the multi-sensor information and the myoelectricity, Independently adjust the frequency of the massage device, massage intensity, massage methods (rubbing method, picking method, pushing method, pressing method, point method, pinching method, pinching method, slapping method, striking method, bouncing method, rolling method, palm rubbing method, Finger rubbing method, shaking method, shaking method, holding method, rubbing hair, shaking method), massage gravity, delineate massage range for upper and lower limbs, massage action, used for massage rehabilitation.
  • massage intensity massage methods (rubbing method, picking method, pushing method, pressing method, point method, pinching method, pinching method, slapping method, striking method, bouncing method, rolling method, palm rubbing method, Finger rubbing method, shaking method, shaking method, holding method, rubbing hair, shaking method), massage gravity, deline
  • Management users such as doctors and administrators communicate with the main control system 201 using the remote control terminal 200 of the client, the remote sends out control commands, the main control system 201 communicates with the robotic arm 204, and uses the camera 215 to collect face images. Joint images of upper and lower limbs, return the position information of joints, upper limbs, and lower limbs, and locate human parts.
  • the remote control module 100 remotely controls the robotic arm A, and the robotic arm B moves to the position of the body part, collects body pictures, detects the body part, and assists surgical treatment, rehabilitation training, and treatment.
  • the voice module 216 the voice device 216 includes a sound collection device, a microphone device and a speaker 216, the sound pickup device 216 can obtain voice information, input user voice through the microphone device 216 and human-computer interaction through the speaker device, voice guidance, text and voice exchange, Speech synthesis, voice wake-up.
  • the radar autonomous positioning and navigation module 217, the main control system 201 communicates with the mobile chassis 205 and the radar 217, and the information collected by the radar 217 is sent to the main system through the communication method of message and service to realize the scene self-built map. Publish the created map information to the mobile chassis node, and the mobile chassis accepts the map information to realize autonomous navigation.
  • Robot arm A, robot arm B, the main control system 201 communicates with the camera 215, the camera 215 collects the position image information of the face, joints, upper limbs, and lower limbs, locates and returns the image position information of the body part, the robot arm A, the robot arm B 204 According to the voice guidance of the voice device 216, the voice command, locate the body position, fix the upper limbs, lower limbs, the robot arm A, the robot arm B, the robot arm C A.
  • Robot arm B 204 is equipped with support/gravity device 211, support/gravity device 211 fixes the upper and lower limbs of the body, moves the robotic arm A, and robotic arm B 204 pulls the upper and lower limbs of the body, according to the position height and distance issued by the main control system 201 Information, gravity information, according to the information collected and released by the EMG acquisition device 206, gravity sensor 208, and pressure sensor 209, the robotic arm receives and subscribes muscle information, gravity, pressure, multi-sensing information, and adaptive planning according to the improved deep neural network algorithm Action, according to the planned rehabilitation action, stretch, bend, rotate the upper limbs, lower limbs, muscles according to the rotation angle, and complete the rehabilitation.
  • Robot arm A, robot arm B, the main control system 201 communicates with the camera 215, the camera 215 collects the position image information of the face, joints, upper limbs, and lower limbs, locates and returns the image position information of the body part, the robot arm A, the robot arm B 204 According to the voice guidance of the voice device 216, the voice commands, locate the body position, fix the upper limbs, lower limbs, the robot arm A A.
  • Robot arm B 204 is equipped with joint device 203, support/gravity device 211 fixes the upper limbs and lower limbs of the body, moves robotic arm A, robotic arm B, robotic arm C, robotic arm D 204 pulls the upper limbs of the body, and the joints of the lower limbs bend, stretch, and rotate.
  • the robotic arm According to the bending rotation angle, rotation coordinates, and gravity information released by the main control system 201, according to the information collected and released by the EMG acquisition device 206, gravity sensor 208, and pressure sensor 209, the robotic arm receives and subscribes to muscle information, gravity, pressure, multi-sensing Information, according to the improved deep neural network algorithm adaptive planning action, according to the planned joint action, bending, according to the rotation angle, rotating the joint to complete the rehabilitation.
  • Robot arm C, robot arm D, the main control system 201 communicates with the camera 215, the camera 215 collects the face, joint, lower limb position image information, locates and returns the body part image position information, the robot arm C, the robot arm D 204 according to the voice device 216 voice guidance, voice commands, positioning body position, immobilizing lower limbs, robotic arm C, robotic arm D204, support/gravity device 211, joint device 203, foot pedal 207 Voice guidance according to voice device 216, voice commands, moving machines Arm C, Robot Arm D 204 is equipped with a joint device 203, a support/gravity device 211 fixes the lower body of the body, moves the Robot Arm C, and the Robot Arm D 204 pulls the lower body of the body, stretches, bends, and pedals the action to the foot pedal 207, the lower body Bend, stretch, rotate, release position information, gravity information, rotation, bending angle information according to the main control system 201, collect and release information according to the myoelectric acquisition device 206, gravity sensor 208, pressure sensor
  • Robot arm A, robot arm B, the main control system 201 communicates with the camera 215, the camera 215 collects the position image information of the face, joints, upper limbs, and lower limbs, locates and returns the image position information of the body and hand parts, robot arm A, robot arm B 204 is equipped with a supporting gravity device 211 to locate the body position and fix the upper limbs according to the voice guidance and voice instructions of the voice device 216 .
  • robotic arm receives and subscribes to muscle information, gravity, pressure, multi-sensing information, according to improved depth neural
  • the network algorithm adaptively plans the movements, and a series of rehabilitation movements are based on the planned hand opening, grasping, gripping, and stretching grip strength targets.
  • Robot arm A, robot arm B, the main control system 201 communicates with the camera 215, the camera 215 collects the position image information of the face, joints, upper limbs, and lower limbs, locates and returns the image position information of the body and hand parts, robot arm A, robot arm B 204 is equipped with a massage device 212; the supporting gravity device 211 follows the voice guidance of the voice device 216, the voice command, locates the body position, the robot arm A, the robot arm B 204 moves to the massage position, according to the massage method (rubbing method) issued by the main control system 201 , picking method, pushing method, pressing method, point method, pinching method, pinching method, patting method, striking method, bouncing method, rolling method, palm rubbing method, finger rubbing method, shaking method, shaking method, holding method, rubbing method , shaking method) information, frequency, strength, gravity, pressure information, distance information, according to the information collected and released by the EMG acquisition device 206, gravity sensor 208, pressure sensor 209, the robot arm receives and subscribe

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Abstract

Dispositif robotisé de traitement chirurgical et de rééducation, utilisé pour commander à distance et de manière autonome un traitement chirurgical, comprenant un système de commande principal robotisé (101), le système de commande principal robotisé (101) étant relié à un module de bras robotisé (107), un module de support/gravité (105), un dispositif de pédale (108), un module de rééducation articulaire (106), un module d'acquisition d'informations à détection multiple (109), un module de force de préhension (110), un module de massage (111) et un module d'acquisition d'électromyographie (112) afin d'obtenir une commande principale sur le robot au moyen du système de commande principal (101) ; et comprenant en outre un module vocal (102), un module de vision de caméra (104), un module d'acquisition d'électromyographie (112), un module d'acquisition d'informations à détection multiple (109), un module de déplacement autonome radar (103), un module de rééducation articulaire (106), un module de support/gravité (105), un module de force de préhension (110), un dispositif de pédale (108) et un module de massage (111). Le dispositif robotisé de traitement chirurgical et de rééducation peut réaliser un traitement de rééducation à distance et autonome. Le dispositif utilise un client pour communiquer à distance avec le robot pour obtenir une commande à distance et exécuter de manière autonome des actions de rééducation. Le dispositif peut être appliqué à des services de chirurgie hospitalière et de rééducation, des centres de rééducation, des maisons de soins infirmiers, des établissements de soins infirmiers et des centres médicaux communautaires.
PCT/CN2021/122529 2020-10-09 2021-10-07 Dispositif robotisé de traitement chirurgical et de rééducation WO2022073468A1 (fr)

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CN103354054A (zh) * 2013-07-23 2013-10-16 上海维纽机器人有限公司 一种按摩专家的按摩手法学习***及其应用
CN107397649A (zh) * 2017-08-10 2017-11-28 燕山大学 一种基于径向基神经网络的上肢外骨骼康复机器人控制方法
CN108814597A (zh) * 2018-04-16 2018-11-16 龚映清 一种基于运动信息与肌电交互的康复训练评测方法及***
WO2019214791A1 (fr) * 2018-05-07 2019-11-14 Life Science Robotics Aps Robot destiné à être utilisé dans la rééducation des extrémités
CN108818618A (zh) * 2018-06-29 2018-11-16 华中科技大学 一种康复机器人手臂重力平衡装置
CN109350446A (zh) * 2018-10-18 2019-02-19 航天科工智能机器人有限责任公司 基于肌电信号的主被动结合上肢康复训练机器人***
CN109806113A (zh) * 2019-03-14 2019-05-28 郑州大学 一种基于自组网导航的icu病房卧式下肢康复智能交互机器人群组***
CN109820695A (zh) * 2019-04-03 2019-05-31 郑州大学 一种具有通信和自主导航移动功能的icu病房卧式双侧脑瘫下肢康复机器人
CN211585086U (zh) * 2019-11-22 2020-09-29 航天科工智能机器人有限责任公司 一种穿戴式多自由度上肢康复训练机器臂
CN110974633A (zh) * 2019-12-26 2020-04-10 上海金矢机器人科技有限公司 一种智能助行康复训练机器人
CN110960414A (zh) * 2020-01-10 2020-04-07 天寿健康科技(济南)有限公司 物联网健康机器人
CN111631726A (zh) * 2020-06-01 2020-09-08 深圳华鹊景医疗科技有限公司 上肢功能评估装置与方法及上肢康复训练***与方法

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