【技术领域】【Technical field】
本发明涉及康复医疗机器人领域，尤其涉及一种肘膝关节牵引康复机器人及其线轮。The invention relates to the field of rehabilitation medical robots, in particular to an elbow-knee joint traction rehabilitation robot and a wire wheel thereof.
【背景技术】【Background technique】
膝关节功能障碍是膝关节及其周围骨折手术及内、外固定后常见的并发症。由于长时间制动、肢体活动减少，可致伸膝装置因血液及淋巴回流障碍造成组织水肿、纤维渗出、纤维沉积到组织间隙内，并导致周围肌肉纤维化、挛缩及粘连，髌上囊粘连以至完全消失，使股四头肌及其肌腱与股骨之间的滑动消失，因而关节活动受限。肘关节外伤后，由于内和(外)固定长期制动的影响，主要后遗症为关节组织粘连和瘢痕挛缩导致的功能障碍。临床表现为肘关节主动活动和被动活动范围受限，严重者波及肩关节及腕关节。Knee joint dysfunction is a common complication after fracture surgery and internal and external fixation of the knee joint and its surrounding areas. Due to prolonged immobilization and reduced physical activity, the knee extensor device may cause tissue edema, fiber exudation, and fiber deposition into the interstitial space due to blood and lymphatic reflux disorders, and lead to surrounding muscle fibrosis, contracture, and adhesion, and suprapatellar bursa The adhesion disappears completely, so that the sliding between the quadriceps femoris and its tendon and the femur disappears, so the joint movement is limited. After elbow joint trauma, due to the impact of long-term immobilization of internal and (external) fixation, the main sequelae are dysfunction caused by joint tissue adhesion and scar contracture. The clinical manifestations are that the active and passive range of motion of the elbow joint is limited, and in severe cases, it affects the shoulder joint and wrist joint.
肘关节外伤后，由于内和(外)固定长期制动的影响，主要后遗症为关节组织粘连和瘢痕挛缩导致的功能障碍。临床表现为肘关节主动活动和被动活动范围受限，严重者波及肩关节及腕关节After elbow joint trauma, due to the impact of long-term immobilization of internal and (external) fixation, the main sequelae are dysfunction caused by joint tissue adhesion and scar contracture. The clinical manifestation is that the active and passive range of motion of the elbow joint is limited, and in severe cases, it affects the shoulder joint and wrist joint
关节松动术：由治疗师进行被动的肘关节屈伸、旋转功能训练。需要在护理人员监督指导下做肘关节屈伸、旋转功能训练的病人。Joint mobilization: passive elbow flexion, extension and rotation training by the therapist. Patients who need to do elbow flexion, extension and rotation functional training under the supervision and guidance of nursing staff.
目前，临床的主要治疗方法有药物治疗、牵引法、按摩法、物理法。牵引疗法的治疗是由治疗师进行被动的肘关节屈伸、旋转功能训练。需要在护理人员监督指导下做肘关节屈伸、旋转功能训练的病人。不过这类疗法一定要在正规医生的指导下进行，否则很容易让病情加剧。然而，医师数量有限而患者较多时便不易使所有患者都得到及时的康复训练，此时如果借助医疗机械进行康复便有很大希望提高康复的效率和效果。随着医疗机械的不断发展，很多研究者利用机械学、力学、电磁学、机器人学等学科的研究成果，结合医学理论设计出新的康复训练方法。康复医疗机器人作为一种自动化康复医疗设备可以帮助患者进行科学而有效的康复训练来恢复其损伤部位的运动机能。目前国内针对腰椎康复治疗的已有一些专利成果，而这些成果均有一定地局限性，如能够运动的自由度较少、模拟医师治疗过程能力不足、固定不够平稳、穿戴不够舒适等。At present, the main clinical treatment methods include drug therapy, traction, massage, and physical methods. Traction therapy is performed by the therapist through passive elbow flexion and rotation training. Patients who need to do elbow flexion, extension and rotation functional training under the supervision and guidance of nursing staff. However, this type of therapy must be carried out under the guidance of a regular doctor, otherwise it is easy to aggravate the condition. However, when the number of doctors is limited and there are many patients, it is not easy for all patients to receive timely rehabilitation training. At this time, if rehabilitation is carried out with the help of medical equipment, there is great hope to improve the efficiency and effect of rehabilitation. With the continuous development of medical machinery, many researchers have used the research results of mechanics, mechanics, electromagnetism, robotics and other disciplines to design new rehabilitation training methods combined with medical theory. As a kind of automatic rehabilitation medical equipment, rehabilitation medical robot can help patients to carry out scientific and effective rehabilitation training to restore the motor function of their injured parts. At present, there are some patented results for lumbar spine rehabilitation in China, and these results have certain limitations, such as less freedom of movement, insufficient ability to simulate the doctor's treatment process, not stable enough to fix, not comfortable enough to wear, etc.
【发明内容】【Content of invention】
本发明主要针对关节功能障碍患者/老年人关节退化患者/关节损伤/胫键断裂/术后恢复/偏瘫等，结合机器人学、人体运动学、人机工程学等理论进行机械设计，多关节牵引康复机器人可满足不同程度肘关节和膝关节病患的牵引需求，还可以使医生/康复师对关节疾病物理牵引治疗方法和治疗处方的标准化。The present invention is mainly aimed at patients with joint dysfunction/senile joint degeneration/joint injury/tibial bond fracture/postoperative recovery/hemiplegia, etc., combined with robotics, human kinematics, ergonomics and other theories for mechanical design, multi-joint traction Rehabilitation robots can meet the traction needs of patients with different degrees of elbow and knee joints, and can also enable doctors/rehabilitation practitioners to standardize the physical traction treatment methods and treatment prescriptions for joint diseases.
为了达到上述目的，本发明提出的技术方案如下：In order to achieve the above object, the technical scheme proposed by the present invention is as follows:
一种肘膝关节牵引康复机器人，该机器人包括支撑组件、床主体、固定带快卸机构、牵引绳索、牵引角度调节机构、柔和力控制机构、计算机控制与采集系统；An elbow and knee joint traction rehabilitation robot, the robot includes a support assembly, a bed body, a fast-release mechanism for a fixed belt, a traction rope, a traction angle adjustment mechanism, a gentle force control mechanism, and a computer control and acquisition system;
所述支撑组件用于支撑所述机器人的各个部件；The support assembly is used to support various parts of the robot;
所述床主体用于支撑和固定患者，所述固定带快卸机构设置在床主体上，并以床主体的轴线作对称分布，用于快速连接和卸除固定带；所述床主体的下方具有一个缸，通过缸的伸缩可以调节床主体的高度；The bed body is used to support and fix the patient, and the fixing belt quick-release mechanism is arranged on the bed body, and is distributed symmetrically with the axis of the bed body, and is used for quickly connecting and removing the fixing belt; the lower part of the bed body It has a cylinder, and the height of the bed body can be adjusted through the expansion and contraction of the cylinder;
所述牵引角度调节机构用于调节牵引绳索的牵引角度，其包括丝杆滑台、控制电机和位移传感器；所述丝杆滑台垂直固定在支撑组件上，丝杆滑台上的滑块可沿着垂直方向上下滑动；所述控制电机用于拉动该滑块在丝杆滑台上滑动；所述滑块朝向床主体的一端固定了一个滑轮，用于穿过牵引绳索；所述位移传感器可以测量滑块在丝杆滑台上的位移；The traction angle adjustment mechanism is used to adjust the traction angle of the traction rope, which includes a screw mandrel slide, a control motor and a displacement sensor; the screw mandrel slide is vertically fixed on the support assembly, and the slide block on the screw mandrel slide can be Sliding up and down along the vertical direction; the control motor is used to pull the slide block to slide on the screw slide table; a pulley is fixed at the end of the slide block towards the bed body, which is used to pass the traction rope; the displacement sensor Can measure the displacement of the slider on the screw slide table;
所述柔和力控制机构包括牵引电机、减速器、联轴器、扭矩传感器和线轮；所述牵引电机与该减速器连接，通过减速器输出扭矩，所述联轴器一端用传动件连接减速器，另一端输出连接到线轮，该线轮上缠绕着牵引绳索。所述扭矩传感器设置在联轴器和线轮之间，用于实时检测和反馈输出扭矩的大小；The soft force control mechanism includes a traction motor, a reducer, a shaft coupling, a torque sensor and a wire wheel; the traction motor is connected to the reducer, and the torque is output through the reducer, and one end of the coupling is connected to reduce the speed by a transmission member. The output of the other end is connected to the reel on which the traction rope is wound. The torque sensor is arranged between the shaft coupling and the wire wheel for real-time detection and feedback of the output torque;
所述线轮包括线轮主体、两个线轮固定钉A和两个线轮固定钉B；所述线轮主体的一端连接到扭矩传感器，该扭矩传感器与线轮相连的轴具有键槽，两个线轮固定钉A通过线轮主体一端的两个沉头螺纹孔扭紧后，插入所述键槽中；所述线轮主体的另一端连接到一根支撑轴，该支撑轴通过支撑轴支座固定在支撑组件上；两个线轮固定钉B通过线轮主体另一端的两个沉头螺纹孔扭紧后，插入支撑轴的键槽内；The wire wheel includes a wire wheel main body, two wire wheel fixing nails A and two wire wheel fixing nails B; one end of the wire wheel main body is connected to a torque sensor, and the shaft of the torque sensor connected to the wire wheel has a keyway, and the two A wire wheel fixing nail A is inserted into the keyway after being tightened through two countersunk screw holes at one end of the wire wheel main body; the other end of the wire wheel main body is connected to a support shaft, and the support shaft is supported by the support shaft The seat is fixed on the support assembly; the two wire wheel fixing nails B are screwed through the two countersunk threaded holes at the other end of the wire wheel body, and then inserted into the key groove of the support shaft;
所述牵引绳索从柔和力控制机构的线轮拉出，穿过牵引角度调节机构的所述滑块上的滑轮，再固定在患者的小腿或小臂上；The traction rope is pulled out from the wire wheel of the soft force control mechanism, passed through the pulley on the slider of the traction angle adjustment mechanism, and then fixed on the patient's calf or forearm;
所述计算机控制与采集系统分别与上述控制电机、牵引电机以及上述位移传感器、扭矩传感器、缸相连接，可通过所述位移传感器的检测结果计算牵引的角度，可根据设置的牵引角度控制所述控制电机拉动滑块，可根据所述扭矩传感器反馈的信号，控制牵引电机的输出扭矩，实现牵引力的柔和控制；可控制所述缸的伸缩；可主动控制上述两个电机的工作，也可被动采集记录两个电机的工作过程，将采集到的过程信息存档到数据库文件中，之后能根据所述数据库文件控制电机工作，从而复现牵引过程。The computer control and acquisition system is respectively connected with the above-mentioned control motor, traction motor and the above-mentioned displacement sensor, torque sensor and cylinder, the angle of traction can be calculated through the detection results of the displacement sensor, and the traction angle can be controlled according to the set traction angle. Control the motor to pull the slider, and control the output torque of the traction motor according to the signal fed back by the torque sensor to achieve soft control of the traction force; it can control the expansion and contraction of the cylinder; it can actively control the work of the above two motors, and can also be passive The working process of the two motors is collected and recorded, and the collected process information is archived in a database file, and then the motor can be controlled according to the database file, thereby reproducing the traction process.
进一步地，该机器人还包括人机互动界面，所述计算机控制与采集系统通过该人机互动界面进行操作。Further, the robot also includes a human-computer interaction interface, and the computer control and acquisition system is operated through the human-computer interaction interface.
优选的，在所述床主体上设置了2-10个固定带快卸机构。Preferably, 2-10 fixing belt quick-release mechanisms are arranged on the bed body.
进一步地，所述支撑组件包括支撑床主体的组件部分，还包括支撑牵引角度调节机构和柔和力控制机构的组件部分。Further, the supporting assembly includes an assembly part supporting the main body of the bed, and also includes an assembly part supporting the traction angle adjustment mechanism and the gentle force control mechanism.
本发明的技术效果是：本发明的机器人可以实现肘关节和膝关节牵引角度和牵引力大小的精准调控，对患者可以进行全方位的康复治疗，大大缩短肘膝关节疾病的康复时间。The technical effect of the present invention is: the robot of the present invention can realize the precise control of the traction angle and traction force of the elbow and knee joints, can perform all-round rehabilitation treatment for patients, and greatly shorten the rehabilitation time of elbow and knee joint diseases.
【附图说明】【Description of drawings】
此处所说明的附图是用来提供对本发明的进一步理解，构成本申请的一部分，但并不构成对本发明的不当限定，在附图中：The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application, but do not constitute an improper limitation of the present invention. In the accompanying drawings:
图1是本发明的总体结构示意图；Fig. 1 is the overall structural representation of the present invention;
图2是本发明的牵引角度调节机构示意图；Fig. 2 is a schematic diagram of the traction angle adjustment mechanism of the present invention;
图3是本发明的柔和力控制机构示意图；Fig. 3 is a schematic diagram of a gentle force control mechanism of the present invention;
图4是本发明的线轮结构示意图。Fig. 4 is a structural schematic diagram of the wire wheel of the present invention.
【具体实施方式】【Detailed ways】
下面将结合附图以及具体实施例来详细说明本发明，其中的示意性实施例以及说明仅用来解释本发明，但并不作为对本发明的不当限定。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, wherein the schematic embodiments and descriptions are only used to explain the present invention, but not as improper limitations to the present invention.
参见附图1，本发明的肘膝关节牵引康复机器人在总体结构上包括支撑组件、床主体、固定带快卸机构、牵引绳索、牵引角度调节机构、柔和力控制机构、计算机控制与采集系统、人机互动界面。Referring to accompanying drawing 1, the elbow-knee joint traction rehabilitation robot of the present invention comprises support assembly, bed main body, fixing belt quick release mechanism, traction rope, traction angle adjustment mechanism, gentle force control mechanism, computer control and acquisition system, Human-computer interaction interface.
所述支撑组件用于支撑本发明机器人的各个部件，包括位于床主体下方支撑床主体的组件部分，还包括支撑牵引角度调节机构和柔和力控制机构的组件部分。The support assembly is used to support various components of the robot of the present invention, including an assembly part that supports the bed body under the bed body, and also includes an assembly part that supports the traction angle adjustment mechanism and the gentle force control mechanism.
所述床主体用于支撑和固定患者，在所述床主体上设置了2-10个固定带快卸机构，所述固定带快卸机构以床主体的轴线作对称分布，用于快速连接和卸除固定带。当患者的大腿或大臂放置于床主体上时，用固定带固定住大腿或大臂，固定带的两端分别连接在一个固定带快卸机构上。The bed body is used to support and fix the patient, and 2-10 fixing belt quick-release mechanisms are arranged on the bed body, and the fixing belt quick-release mechanisms are symmetrically distributed to the axis of the bed body for quick connection and Remove the strap. When the thigh or the big arm of the patient is placed on the main body of the bed, the thigh or the big arm is fixed with a fixing belt, and the two ends of the fixing belt are respectively connected to a fixing belt quick release mechanism.
在床主体的下方具有一个缸，通过缸的伸缩可以调节床主体的高度，以适应不同患者的高度需求。计算机控制与采集系统可以控制该缸的伸缩。There is a cylinder under the bed main body, and the height of the bed main body can be adjusted through the expansion and contraction of the cylinder to meet the height requirements of different patients. The computer control and acquisition system can control the expansion and contraction of the cylinder.
参见附图2，其示出了本发明的牵引角度调节机构。所述牵引角度调节机构用于调节牵引绳索的牵引角度，其包括丝杆滑台、控制电机、位移传感器。所述丝杆滑台垂直固定在支撑组件上，使得丝杆滑台的滑块可沿着垂直方向上下滑动；所述控制电机用于拉动该滑块在丝杆滑台上上下滑动；所述滑块朝向床主体的一端固定了一个滑轮，用于穿过牵引绳索；所述位移传感器可以测量滑块在丝杆滑台上的位移，计算控制与采集系统通过滑块的位移可计算出牵引绳索的牵引角度，或者根据设定的牵引角度计算出滑块的位移，然后控制所述控制电机拉动滑块到相应的位置。Referring to accompanying drawing 2, it has shown the traction angle adjusting mechanism of the present invention. The traction angle adjustment mechanism is used to adjust the traction angle of the traction rope, which includes a screw slide table, a control motor, and a displacement sensor. The screw slide is vertically fixed on the support assembly, so that the slider of the screw slide can slide up and down in the vertical direction; the control motor is used to pull the slider to slide up and down on the screw slide; the A pulley is fixed at the end of the slider facing the main body of the bed, which is used to pass through the traction rope; the displacement sensor can measure the displacement of the slider on the screw slide table, and the calculation control and acquisition system can calculate the traction through the displacement of the slider. The traction angle of the rope, or the displacement of the slider is calculated according to the set traction angle, and then the control motor is controlled to pull the slider to a corresponding position.
参见附图3，其示出了本发明的柔和力控制机构，所述柔和力控制机构包括牵引电机、减速器、联轴器、扭矩传感器和线轮；所述牵引电机与该减速器连接，通过减速器输出扭矩，所述联轴器一端用传动件连接减速器，另一端输出扭矩给线轮，该线轮上缠绕着牵引绳索。所述扭矩传感器设置在联轴器和线轮之间，用于实时检测和反馈输出扭矩的大小。当牵引电机工作时，其可带动线轮转动，从而拉动牵引绳索，实现对肘膝关节的牵引。计算机控制与采集系统可以根据所述扭矩传感器反馈的信号，控制牵引电机的输出扭矩，实现牵引力的柔和控制。Referring to accompanying drawing 3, it has shown soft force control mechanism of the present invention, and described soft force control mechanism comprises traction motor, speed reducer, shaft coupling, torque sensor and wire wheel; Described traction motor is connected with this speed reducer, The torque is output through the reducer, one end of the coupling is connected to the reducer with a transmission member, and the other end outputs the torque to the wire wheel on which a traction rope is wound. The torque sensor is arranged between the shaft coupling and the wire wheel for real-time detection and feedback of the magnitude of the output torque. When the traction motor works, it can drive the wire wheel to rotate, thereby pulling the traction rope to realize the traction to the elbow and knee joints. The computer control and acquisition system can control the output torque of the traction motor according to the signal fed back by the torque sensor, so as to realize soft control of the traction force.
参见附图4，其示出了柔和力控制机构的所述线轮的结构，该线轮包括线轮主体、两个线轮固定钉1和两个线轮固定钉2；所述线轮主体的一端连接到扭矩传感器，该扭矩传感器与线轮相连的轴具有键槽，两个线轮固定钉1通过线轮主体一端的两个沉头螺纹孔扭紧后，插入所述键槽中；所述线轮主体的另一端连接到一根支撑轴，该支撑轴通过支撑轴支座固定在支撑组件上；两个线轮固定钉2通过线轮主体另一端的两个沉头螺纹孔扭紧后，插入支撑轴的键槽内。Referring to accompanying drawing 4, it has shown the structure of the described wire wheel of gentle force control mechanism, and this wire wheel comprises wire wheel main body, two wire wheel fixing nails 1 and two wire wheel fixing nails 2; Said wire wheel main body One end of the torque sensor is connected to the torque sensor, and the shaft connecting the torque sensor with the wire wheel has a keyway, and two wire wheel fixing nails 1 are inserted into the keyway after being tightened through two countersunk threaded holes at one end of the wire wheel main body; The other end of the main body of the reel is connected to a support shaft, and the support shaft is fixed on the support assembly through the support shaft support; after the two fixing nails 2 of the reel are tightened through the two countersunk threaded holes at the other end of the reel main body , inserted into the keyway of the support shaft.
所述牵引绳索从柔和力控制机构的线轮拉出，穿过牵引角度调节机构的滑块上的滑轮，再固定在患者的小腿或小臂上。The traction rope is pulled out from the wire wheel of the soft force control mechanism, passed through the pulley on the slide block of the traction angle adjustment mechanism, and then fixed on the patient's calf or forearm.
所述计算机控制与采集系统分别与上述控制电机、牵引电机以及位移传感器、扭矩传感器相连接，一方面可以主动控制两个电机的运动，以设置牵引角度和牵引力；另一方面可以采集所述两个电机的运动数据和两个传感器的检测数据，将采集到的数据存档到数据库文件中，之后能够根据所述数据库文件控制电机工作，从而复现肘膝关节牵引过程。The computer control and acquisition system is respectively connected with the above-mentioned control motor, traction motor, displacement sensor, and torque sensor. On the one hand, it can actively control the motion of the two motors to set the traction angle and traction force; on the other hand, it can collect the two motors. The motion data of two motors and the detection data of two sensors, and the collected data are archived in a database file, and then the motor can be controlled according to the database file, so as to reproduce the elbow and knee joint traction process.
两个电机由计算机控制与采集系统通过人机互动界面进行控制，可以完成对两个电机的主动加载控制(即直接控制电机的运动来牵引患者)、被动加载信息采集(即先由医师主动控制，对固定在本发明机器人上的患者进行牵引时，计算机控制与采集系统记录每个电机的工作过程)、对采集的信息进行主动复现控制(即复现所记录的每个电机的运动过程以模拟医师的治疗过程)。The two motors are controlled by the computer control and acquisition system through the human-computer interaction interface, which can complete the active loading control of the two motors (that is, directly control the movement of the motor to pull the patient), and the passive loading information collection (that is, the doctor actively controls first). , when the patient fixed on the robot of the present invention is pulled, the computer control and acquisition system records the working process of each motor), the information collected is actively reproduced and controlled (promptly reproducing the motion process of each motor recorded) to simulate the doctor's treatment process).
本发明的工作过程如下：Working process of the present invention is as follows:
使用本发明的康复机器人时，患者先躺卧在本发明的床主体上，位置调整合适之后，先将患者大腿或大臂用固定带固定在床主体上，然后将牵引绳索固定连接到患者的小腿或小臂，通过计算机控制与采集系统，医生可调节床主体的高度，还可设置牵引角度，计算机控制与采集系统通过调整牵引角度调节装置上的滑块位置，实现牵引角度的调整，然后医生可通过计算机控制与采集系统操作柔和力控制装置，对颈椎进行牵引，其中计算机控制与采集系统根据所述扭矩传感器组件反馈的信号，控制所述牵引电机的输出扭矩，实现牵引力的柔和控制。计算机控制与采集系统还可以采集每个电机的工作过程并存储到数据库文件中，将整个过程采集并存储完毕后，根据存储的信息对每个电机进行主动加载，复现每个电机的输出，实现对医生治疗过程的模拟。通过调节电机的加载频率可以调节牵引过程中电机输出的快慢。再次使用时，可以直接根据已存储的文件直接进行康复治疗。When using the rehabilitation robot of the present invention, the patient first lies on the bed main body of the present invention. After the position is adjusted properly, the patient's thigh or arm is fixed on the bed main body with a fixing belt, and then the traction rope is fixedly connected to the patient's bed body. For the calf or forearm, through the computer control and acquisition system, the doctor can adjust the height of the main body of the bed and set the traction angle. The computer control and acquisition system adjusts the position of the slider on the traction angle adjustment device to adjust the traction angle, and then The doctor can operate the soft force control device through the computer control and acquisition system to perform traction on the cervical spine, wherein the computer control and acquisition system controls the output torque of the traction motor according to the signal fed back by the torque sensor component to achieve soft control of the traction force. The computer control and acquisition system can also collect the working process of each motor and store it in a database file. After the entire process is collected and stored, each motor is actively loaded according to the stored information to reproduce the output of each motor. Realize the simulation of the doctor's treatment process. By adjusting the loading frequency of the motor, the output speed of the motor during traction can be adjusted. When used again, rehabilitation can be carried out directly according to the stored files.
以上所述仅是本发明的较佳实施方式，故凡依本发明专利申请范围所述的构造、特征及原理所做的等效变化或修饰，均包括于本发明专利申请范围内。The above is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201610368914.2ACN106074072B (en) | 2016-05-30 | 2016-05-30 | A kind of patella ulnaris joint traction recovering robot and its line wheel |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368914.2ACN106074072B (en) | 2016-05-30 | 2016-05-30 | A kind of patella ulnaris joint traction recovering robot and its line wheel |
| Publication Number | Publication Date |
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| CN106074072A CN106074072A (en) | 2016-11-09 |
| CN106074072Btrue CN106074072B (en) | 2018-05-08 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368914.2AActiveCN106074072B (en) | 2016-05-30 | 2016-05-30 | A kind of patella ulnaris joint traction recovering robot and its line wheel |
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