69 results about "Left upper limb" patented technology

The invention discloses an upper limb rehabilitation exoskeleton robot based on serial elastic drivers and a method, and belongs to the field of medical apparatuses. The exoskeleton robot comprises a movable stand, a height adjusting module, a shoulder ascending/descending joint, an external swinging/internal shrinking joint, a flexion/extension joint, an internal rotating/external rotating joint, an elbow flexion/extension joint and a hand module, wherein the shoulder ascending/descending joint can do motions in a vertical direction by virtue of a gravity balancing mechanism; the shoulder external swinging/internal shrinking joint, the flexion/extension joint, the internal rotating/external rotating joint and the elbow flexion/extension joint are driven by virtue of the serial elastic drivers; coders are arranged in the serial elastic drivers for measuring the overall postures of exoskeleton; and a six-dimensional force sensor is arranged on the hand module for measuring human-machine interaction force. The exoskeleton robot provided by the invention has two working modes, namely a left upper limb working mode and a right upper limb working mode, so that the cost of medical rehabilitation equipment is reduced, and a plurality of rehabilitation strategies can be executed in accordance with the paralysis degree of a patient; and the joints of the robot are flexible, so that comfort and safety in a training process are enhanced.

The invention relates to an instrument for rehabilitating and training functions of upper limbs, and in particular relates to an instrument for assisting a hemiplegic patient to train the range of motion of the hand, wrist and elbow joints in the rehabilitation training period. The instrument comprises a control system, an operation panel, a display window, a detection circuit, a training plate and m*n training rods, wherein the training plate is provided with m*n small holes, and the training rods can be inserted into the small holes. The instrument can be used for enhancing the entertainment and interestingness of the rehabilitation training, urging the hemiplegic patient to insist performing rehabilitation training actively and evaluate the rehabilitation training effect and the rehabilitation degree according to the difficulty, time and achievement of rehabilitation training each time.

The invention provides an active and passive limb rehabilitation training device. The training device comprises a base, a left upper limb mechanism, a right upper limb mechanism, a left lower limb mechanism and a right lower limb mechanism, wherein the left upper limb mechanism and the right upper limb mechanism are installed on the two sides of a double-upper-limb position adjusting mechanism fixed to the base respectively, the left lower limb mechanism and the right lower limb mechanism are installed on the two sides of a double-lower-limb position adjusting mechanism fixed to the base respectively, the two lower limb mechanisms are bilaterally symmetrical, and the two upper limb mechanisms are basically bilaterally symmetrical. A right rotating shaft is rotationally installed on a rightupper limb connecting frame of the right upper limb mechanism and is connected with a piston rod on one side of a right double-side rod outlet oil cylinder and a piston rod of a first right oil cylinder through a gear-rack and guide rail-slider mechanism, a piston rod on the other side of the right double-side rod outlet oil cylinder is connected with a piston rod of a third right oil cylinder, aright connecting plate of the right lower limb mechanism is connected with a second right foot connecting rod and a fourth right coil cylinder in a hinged mode, and a piston rod of the fourth right oil cylinder is connected with a right foot swing rod in a hinged mode. A right double-side rod outlet piston cylinder is connected with a left double-side rod outlet piston cylinder through a three-position four-way valve, the fourth right oil cylinder is connected with the first right oil cylinder through a three-position four-way valve, a fourth left oil cylinder is connected with a first left oil cylinder through a three-position four-way valve, a third right piston cylinder is connected with the atmosphere and an energy accumulator through a three-position four-way valve, and a third leftpiston cylinder is connected with a hydraulic pump and an oil tank through a three-position four-way valve.

The invention provides a four-limb exoskeleton rehabilitation robot, in which a left-right exoskeleton base frame is installed on a robot turnover bed through a width adjusting guideway and a slider;a left upper limb exoskeleton and a right upper limb exoskeleton are installed at the upper ends of a left exoskeleton base frame and a right exoskeleton base frame, respectively; a left lower limb exoskeleton and a right lower limb exoskeleton are installed at the lower ends of the left exoskeleton base frame and the right exoskeleton base frame, respectively; a width adjusting mechanism is installed between the left exoskeleton base frame and the right exoskeleton base frame, and fixed on the robot turn-over bed; a shoulder height adjusting mechanism is installed at the upper parts of the left upper limb exoskeleton and the right upper limb exoskeleton, and fixed on the robot turn-over bed; a leg length adjusting mechanism is installed on the left lower limb exoskeleton and the right lower limb exoskeleton; and a left-right shoulder joint rotary mechanism, a left-right hip joint rotary mechanism, a left-right knee joint rotary mechanism and a left-right ankle joint rotary mechanism are installed on shoulder joints of the left upper limb exoskeleton and the right upper limb exoskeleton and hip joints, knee joints and ankle joints of the left lower limb exoskeleton and the right lower limb exoskeleton, respectively. The invention realizes the adjustment of size range by electric push-rod motors, and uses servo motors to control joint movement, and the invention has the characteristics of saving cost, adjusting time and simplifying control process.

The invention discloses a whole body rehabilitation robot, comprising: a bracket part, an inner bracket part, a left upper limb rehabilitation robot, a right upper limb rehabilitation robot, a left lower limb rehabilitation robot, a right lower limb rehabilitation robot, a back part and a driving control part; the bracket part is used for carrying the remaining parts; the inner bracket part is located inside the bracket part; the left upper limb rehabilitation robot is used to provide left arm rehabilitation training; the right upper limb rehabilitation robot is used to provide right arm rehabilitation training; the left lower limb rehabilitation robot is used to provide left lower limb rehabilitation training of a patient; the right lower limb rehabilitation robot is used to provide rightlower limb rehabilitation training for a patient; the back part is fixed at the inner bracket part; and the driving control part is used for controlling the movement speed and the movement angle of the left upper limb, right upper limb, left lower limb and right lower limb rehabilitation robots. The whole body rehabilitation robot of the invention can provide the patient with coordinated rehabilitation actions of limbs, so that the patient can obtain systematic effective limb rehabilitation training during a rehabilitation process.

The invention discloses a strength training device for double upper limbs. The device comprises a base, a left upper limb connecting mechanism and a right upper limb connecting mechanism, a right rotating shaft is fixed on a right handle rod of the right upper limb connecting mechanism; the right rotating shaft fixes a right oscillating rod; one L-shaped side of a right bent shaft is rotationallyand slidably connected with the right oscillating rod; the other L-shaped side of the right bent shaft is rotationally and slidably connected with the right end of a swing block; a transmission shaftis fixed in the swing block; a middle bevel gear is meshed with two bevel gears; the two bevel gears are fixed on an intermediate shaft through a one-way bearing, so the unidirectional rotation of theintermediate shaft is realized; two ends of the intermediate shaft are respectively connected with crankshafts; each crankshaft forms two crank sliding block mechanisms; the crank of each slider-crank mechanism is gradually lengthened, a groove is formed in the upper portion of the sliding block, the process that a ball gradually rises to the left end sliding block in the groove of the sliding block and then rolls into the groove of the right end sliding block along a ball channel is achieved, fun is increased for the training process, and meanwhile a trainee visually sees the exercise training amount.

The invention discloses a household upper limb rehabilitation training device with traction weights ascending continuously, and belongs to the field of rehabilitation medical instruments. The household upper limb rehabilitation training device comprises left and right upper limb mechanisms; the left and right upper limb mechanisms are arranged in bilateral symmetry; the right upper limb mechanismcomprises a right swing rod; the middle part of the right swing rod is hinged with a right rack rod; the right rack rod is meshed with a right sector gear; the right sector gear is used for driving aratchet mechanism through a slider-crank mechanism; two pawls of the ratchet mechanism are opposite in direction, so that a ratchet wheel always moves towards one direction; the ratchet mechanism is used for driving a belt transmission mechanism through a gear transmission mechanism; weights are fixed on a transmission belt in the belt transmission mechanism, the fixing positions of the weights onthe transmission belt can be adjusted; the rack rods of the left upper limb mechanism and the right upper limb mechanism are used for fixing connecting rods on the two sides through detachable structures, synchronous movement or single-side limb movement or double-side upper limb gait movement of upper limbs on the two sides of a patient is achieved, and the requirements of different patients aremet.

The invention discloses a rehabilitation robot for assisting physical therapy. The rehabilitation robot structurally comprises a left upper limb training device, a left protecting plate, a base, a right protecting plate, a massage device, a right upper limb training device and a robot body, wherein the left protecting plate is mounted on one side of the base, the right protecting plates is connected to the other side of the base, and the base is vertically arranged between the left protecting plate and the right protecting plate which are parallel to each other. Compared with the prior art, the rehabilitation robot has the advantages that by the combination of a rotation-driven translation mechanism, a quadruple gear rotating mechanism, a massage head rotating mechanism and the like, the rehabilitation robot has a forward-rotation and backward-rotation buttock massage function, upper limb rehabilitation training is achieved while the buttocks of a patient can be massaged, blood circulation is promoted favorably, lower limb edema is avoided, tension can be relieved favorably, muscle stiffness and ache can be avoided, and immunity can be increased favorably.

The invention provides a hydraulic rehabilitation training machine for bilateral upper limb associated movement. The rehabilitation training machine comprises a lifting vertical column, a left upper limb mechanism and a right upper limb mechanism; the lifting vertical column fixes a liner guiding rail through a supporting frame, the left upper limb mechanism and the right upper limb mechanism, symmetric about the symmetric surfaces in the left and right directions of a base, are installed on the left and right sides of the linear guiding rail, a right sliding block in the right upper limb mechanism is installed on the linear guiding rail, the right sliding block fixes a right oscillation cylinder supporting frame through a right connecting board, a first right oscillation cylinder and a second right oscillation cylinder are fixed onto the right oscillation cylinder supporting frame, the two ends of a right rotating shaft are fixed by the output shafts of the first right oscillation cylinder and the second right oscillation cylinder, the right rotating shaft fixes a right upper limb oscillation rod, the first right oscillation cylinder is connected with the second right oscillationcylinder in parallel, a first left oscillation cylinder is connected with a second left oscillation cylinder in parallel, two parallel oil lines are connected through a three-position four-way valve,the oil line before the joint of the second right oscillation cylinder and the first right oscillation cylinder which are in parallel connection is provided with a right two-position four-way valve, and the oil line before the joint of the first left oscillation cylinder and the second left oscillation cylinder which is in parallel connection is provided with a left two-position four-way valve.

The present application discloses home training equipment synchronously moving with upper limbs. The equipment includes a left upper limb mechanism, a right upper limb mechanism and a gas storage tank; the right upper limb mechanism includes a right upright column, a right swing arm, and a right gear, the right upright column is rotatably equipped with a right rotating shaft, the right rotating shaft is hinged to the rear part of the right swing arm, and the front part of the right swing arm is provided with a right-hand fixing device; a right connecting rod is hinged to the rear end of the right swing arm, the right gear is fixed to the right connecting rod, the right gear is hinged with a left gear of the left upper limb mechanism, and the right gear and the left gear are rotatably installed on a gear frame; the gear frame is simultaneously hinged to the upper end of a telescopic rod and a piston rod of an air cylinder, the air cylinder is fixed on the telescopic rod, the lower end of the telescopic rod is hinged with a base, and a buoy piston is installed in the gas storage tank; and an upper side cavity and a lower side cavity of the air cylinder are provided with air inlets and air outlets, and each air inlet and air outlet are provided with one one-way valve. During the expansion and contraction of the piston rod, the gas storage tank connected to the air cylinder is inflated, the buoy piston rises, and the rise height of the buoy piston is observed to stimulate or evaluate user training.

The invention discloses a household training device for synchronous movement of upper limbs. The device comprises a base, a left upper limb mechanism and a right upper limb mechanism, the left and right upper limb mechanisms are symmetrically arranged about a left-right symmetry plane of the base, the right upper limb mechanism comprises a right stand column, a right rotating shaft is rotatably mounted on the right stand column, the right rotating shaft is hinged to a right swing arm, the rear end of the right swing arm is hinged to a right connecting rod, a right gear shaft and a right gear are fixed by the right connecting rod, the right gear is meshed with a left gear of the left upper limb mechanism, the right gear shaft is rotatably connected to a gear frame, the gear frame is hingedto the upper end of a telescopic rod and a piston rod, an air cylinder is fixed at the lower end of a telescopic rod and is hinged on the base, an upper side cavity and a lower side cavity of the aircylinder are both provided with an air inlet and an air outlet, the air inlet and the air outlet are both connected to a one-way valve, an air storage tank is inflated in the piston rod stretching andretracting process, the left upper limb mechanism and the right upper limb mechanism swing up and down and left and right, the buoy piston height in the air storage tank can be observed in real time,and the training interest of a user is improved.

The invention relates to a rehabilitation bed which comprises a mattress and a base. The mattress is connected to a bracket; the lower part of the bracket is connected with a lifter; the lifter is fixed on the base; the bracket consists of the following eight independent brackets corresponding to corresponding positions of a human body when the bracket is in use: a head bracket, a left upper limb bracket, a right upper limb bracket, a body bracket, a left thigh bracket, a right thigh bracket, a left crus bracket and a right crus bracket; corresponding to the independent brackets one to one, eight independent sub mattresses are arranged; and a face mattress is embedded and connected to the middle part of a head mattress in the eight independent sub mattresses. When a patient uses the rehabilitation bed, the head, left and right hands, the body, left and right thighs and cruses are respectively enabled to move as required by drivers of the independent brackets, so that the patient is subjected to forced rehabilitation training. The rehabilitation bed has obvious treatment and rehabilitation effects on patients with physical disabilities and particularly patients with total paralysis, hemiplegia and cerebral palsy.

The disclosed stretch exercise system includes a waist harness, an upper limb extension unit having a right and a left upper limb elastic straps which are set symmetrically on the waist harness and has a wrist loop, a lower limb extension unit having a right and a left lower limb elastic strap units which are set symmetrically on the waist harness, two Achilles tendon retro-stretch angle units connecting with the right and the left lower limb elastic strap units respectively and two sole fastening units set thereon respectively to hold the feet of a user. When the disclosed system is operated, the static balance is reached with the force applied on the upper limb extension unit and the force applied on the Achilles tendon retro-stretch angle units by the user.

The invention provides a reverse-motion double-sided upper limb rehabilitation training device which comprises a Y-shaped cantilever. A bearing fixing plate adjustable in position in the front and back direction is installed at the front end of the Y-shaped cantilever allowing the height to be adjustable. A first bevel gear is installed on a fixing shaft fixed to the bearing fixing plate in a rotating mode. A left upper limb rehabilitation training mechanism and a right upper limb rehabilitation training mechanism are arranged at the two sides of the first bevel gear in the mode of being symmetrical about a patient left and right. A second bevel gear of the left upper limb rehabilitation training mechanism is meshed with the first bevel gear. The second bevel gear is connected with a right palm connecting frame through a right rotating shaft. A right arc guide rail sliding block mechanism is installed at the upper end of the right palm connecting frame and indirectly connected with a right sliding part. A first rack arranged on the right sliding part is meshed with a cylinder gear connected to the upper end of the fixing shaft in a rotating mode. A left sliding part is indirectly connected with a left guide rail sliding block mechanism. A second rack arranged on the left sliding part is meshed with the cylinder gear. The two racks are located at the two sides of the cylinder gear, and therefore the left upper limb and the right upper limb of the patient can move synchronously in the reverse directions.

The present invention discloses an orthopedic rehabilitation device for internet control. The orthopedic rehabilitation device comprises a base, a seat is fixedly connected to the rear portion of the upper end of the base, the lower end of the seat is of a hollow structure, two armrests are fixedly connected to the upper end of the seat, a control box is fixedly connected to the right end of the seat, four supporting columns are fixedly connected to the front portion of the upper end of the base, a lower limb training device is jointly connected between every two upper ends of the four supporting columns, a left upper limb training device is fixedly connected to the left portion of the upper end of the base, a right upper limb training device is fixedly connected to the right portion of the upper end of the base, the left upper limb training device and the right upper limb training device are not in contact with the base, and the left upper limb training device and the right upper limb training device are the same in structure. The orthopedic rehabilitation device for internet control is high in exercise efficiency, good in rehabilitation effect, high in stability and suitable for rehabilitation of orthopedic patients.

The invention discloses a four-limb linkage rehabilitation training device, and belongs to the field of rehabilitation medical equipment. The four-limb linkage rehabilitation training device comprises a base, a chair, a left upper limb hand training rack, a left lower limb foot training rack, a right upper limb hand training rack and a right lower limb foot training rack, wherein the left upper limb hand training rack is mounted on the left side of a fork-shaped part I; the right lower limb foot training rack is mounted on the right side of the fork-shaped part I; a fork-shaped part II is rotationally connected to a fixed shaft I; the right upper limb hand training rack is mounted on the right side of the fork-shaped part II; the left lower limb foot training rack is mounted on the left side of the fork-shaped part II; both ends of a connecting rod I are hinged to the fork-shaped part I and one swinging tray respectively; both ends of a connecting rod II are hinged to the fork-shaped part II and the other swinging tray respectively. The four-limb linkage rehabilitation training device can drive limbs unable to autokinetic movement to be subjected to rehabilitation training through autokinetic movable limbs, and can provide power by relying on movable limbs of a patient, instead of external power.

The invention discloses a multifunctional device for assisting SPECT/CT mild examination. The device comprises a headrest main body, a lens cone base and a lens cone main body; the headrest main bodyis provided with a headrest groove; the top of the headrest groove is provided with a lens cone cushion block; the lens cone cushion block is fixed on the headrest main body; the lens cone base is arranged above the lens cone cushion block; the lens cone base is fixed on the headrest main body; the lens cone main body is connected with the lens cone base through a connecting shaft in a rotating manner; a first bandage, a right upper limb bracket, a left upper limb bracket and a second bandage are fixed to two sides of the headrest groove; a second hook-and-loop fastener female buckle is arranged on the right upper limb bracket; and a third hook-and-loop fastener female buckle is arranged on the left upper limb bracket. The instrument provides an easy and mild examination process for an SPECT/CT examination patient.