514 results about "Shoulder joint capsule" patented technology

The invention relates to the field of biological modeling, and discloses a shoulder joint stress simulation method and system based on a three-dimensional finite element. The method comprises the following steps: acquiring three-dimensional geometric data of a shoulder joint through scanning equipment, and generating an initial grid model; dividing the preliminary calculation grid to determine an initial stress value, simulating stress transfer distribution, and generating a preliminary stress distribution field; calculating the stress gradient change rate of each grid unit and performing local subdivision to generate a stress gradient change rate distribution diagram; performing density subdivision on the grid units exceeding the change threshold to generate a refined grid model; the calculation grid is divided again, the stress value of each grid unit is calculated, and an updated stress field is generated; calculating a difference vector, judging whether the difference vector meets a convergence condition or not, and obtaining a convergence judgment result; and if not, iteratively subdividing the local grid to generate a final stress distribution field. Through adaptive grid subdivision and iterative convergence optimization, the problem of insufficient simulation precision is solved, and the accuracy is improved.

The invention relates to the technical field of computer vision, discloses a personnel positioning method, device and equipment based on detection frame correction, and is used for solving the technical problem of low personnel positioning precision caused by detection frame errors. The personnel positioning method based on detection frame correction comprises the steps that whether an initial detection frame meets preset positioning reference constraint conditions or not is determined through human body key points located in the initial detection frame, and the positioning reference constraint conditions at least include that both a left frame line and a right frame line of the initial detection frame do not have single-side deviation; if the left frame line or the right frame line has single-side offset, a shoulder joint point on the same side as the offset side is selected as a target key point, a target offset value is determined in combination with the distance between the corresponding frame lines in the initial detection frame, and the detection frame is moved and corrected, so that the corrected target detection frame meets a positioning reference constraint condition; and positioning the pixel coordinates of the midpoint of the bottom frame line of the target detection frame and a preset target homography matrix.

The invention relates to the field of medical instruments, in particular to an abduction assisting device for shoulder joints, which comprises a support, a support plate for bearing arms is hinged to the top of the support, and a driving mechanism, an adjusting mechanism, a fitting mechanism, a support mechanism and a locking mechanism are arranged on the support; the driving mechanism is used for driving the adjusting mechanism, the laminating mechanism and the supporting mechanism to operate synchronously; the adjusting mechanism is used for driving the supporting plate to rotate around the hinge point so as to adjust the abduction angle. The attaching mechanism comprises an air bag fixedly connected to the supporting plate, and the attaching mechanism is used for synchronously inflating or deflating when the angle is adjusted by the adjusting mechanism so as to be attached to the arm; the supporting mechanism is used for synchronously providing or releasing additional supporting force for the supporting plate when the adjusting mechanism adjusts the angle; the locking mechanism is used for locking the adjusting mechanism after angle adjustment is completed. The use process is simplified, the operation threshold is lowered, the rehabilitation preparation time can be saved, and the clinical use efficiency is improved.

The invention discloses a shoulder joint puncture guiding system and method based on an intelligent ultrasonic image, and the system comprises an ultrasonic image collection and preprocessing module, an anatomical structure recognition and positioning module, a puncture path planning and guiding module, a puncture operation real-time monitoring and feedback module, and a puncture result evaluation and recording module. Through intelligent ultrasonic image recognition and path planning, the technical problems that traditional shoulder joint puncture depends on doctor experience and is insufficient in precision are solved, through real-time monitoring and feedback, the technical problem that important anatomical structures are prone to being accidentally injured in the traditional puncture process is solved, the operation safety is improved, and through the intelligent puncture guiding system, the puncture guiding accuracy is improved. The technical problems that a traditional method lacks a standardized process and is poor in operation consistency are solved, and the technical problems that a traditional puncture method is long in time consumption and low in efficiency are solved through automatic anatomical structure recognition and path planning.

The invention relates to a hybrid drive type bionic light-weight nursing mechanical arm which comprises a shoulder joint module, a rope-driven elbow joint module and a rope-driven wrist joint module which are connected in sequence. The shoulder joint module is of a series-parallel structure, a first servo motor directly drives a center linkage platform to achieve forward flexion and backward extension of the shoulder, and a second servo motor and a third servo motor cooperatively drive a closed-loop structure formed by a driven branch chain unit to achieve adduction, abduction, internal rotation and external rotation of the shoulder. The elbow joint module achieves elbow bending and stretching and inward and outward rotation driven by a fifth servo motor through rope wheel transmission and gear meshing. The wrist joint module achieves forward flexion, backward extension, abduction and adduction of the wrist through a rope winding path and bevel gear meshing. Compared with the prior art, the adaptability and efficiency of the mechanical arm in rehabilitation nursing are improved, it is ensured that all the joints can work precisely and cooperatively under multi-degree-of-freedom movement, and the control precision and stability of a driving system are optimized while the high-load bearing capacity is ensured.

According to the technical scheme, the four-limb joint supporting structure comprises an upper supporting part, a lower supporting part and a connecting part, and the upper supporting part and the lower supporting part can be bent to be in an arc surface shape from the two sides and are used for being attached to the upper limb and the lower limb at the joints of a patient; the two ends of the connecting part are connected to the upper supporting part and the lower supporting part respectively and used for being attached to the joint position, and the width of the connecting part is smaller than that of the upper supporting part and that of the lower supporting part so that two grooves can be formed between the connecting part and the upper supporting part and between the connecting part and the lower supporting part. The utility model has the beneficial effects that the connecting part is formed between the upper supporting part and the lower supporting part through the groove, the connecting part is bent and attached to the joint, the generation of a break angle is avoided, the bending can be extremely simplified, no matter whether the material has enough ductility or not, the requirements can be met, the structure is simple, the complexity degree is low, the production process is simple, and the operability is high; the device is suitable for shoulder joints, elbow joints, ankles and the like, and the structural design has certain universality.

The invention discloses a central driving type three-degree-of-freedom humanoid robot shoulder joint mechanism, and belongs to the technical field of humanoid robots. The mechanism comprises a shoulder flexion and extension module, a shoulder adduction and abduction module and a shoulder inward and outward rotation module, output shafts of the three modules intersect at the same center point in space, and highly-bionic three-degree-of-freedom movement is achieved. Wherein the shoulder flexion and extension module drives a gear pair to drive a first transmission shaft to rotate through a first driving motor; the shoulder adduction and abduction module drives a gear pair and a bevel gear pair through a second driving motor to drive a circular base rack to move; and the shoulder internal and external rotation module is directly driven by a third driving motor to rotate. The rotary inertia of a moving part is remarkably reduced, the dynamic stability and the moving precision are improved, the problems that a traditional shoulder joint is large in inertia and insufficient in freedom degree are effectively solved, high flexibility and high load capacity are achieved, and the complex action requirements of the humanoid robot are met.

The invention discloses an upper limb shoulder joint accurate evaluation and rehabilitation training system and method based on a remote sensor, and is applied to the technical field of rehabilitation medical engineering.The method comprises the steps that original multi-modal data is preprocessed, shoulder joint motion data and voice data are processed in combination with baseline data, and a multi-modal standardized data set is generated; multi-dimensional feature extraction is carried out on the multi-modal standardized data set to generate a feature set, and the feature set comprises time domain features, frequency domain features, nonlinear dynamic features and voice features; on the basis of the feature set, a comprehensive evaluation score of the shoulder joint function is calculated by using a linear and nonlinear combined comprehensive scoring model; inputting the feature set and the comprehensive evaluation score into a pre-trained LSTM time sequence prediction model, predicting a rehabilitation trend and abnormal fluctuation, and generating future score change and rehabilitation inflection point early warning information; and based on the comprehensive evaluation score, the prediction result and multi-modal feature fusion analysis, generating rehabilitation training feedback and adjustment information.

The present invention discloses a rigid-flexible pneumatic component hybrid-driven robot joint system, belonging to the technical field of robots. The robot has the function of whole-body joint movement: three cylinders are connected in parallel to drive the movement of the waist joint. Multiple cylinders of the waist joint and the pneumatic muscles of the pelvis together drive the movement of the hip joint; the pneumatic motor and the pneumatic muscles in the form of antagonist muscles together drive the movement of the knee joint; four pneumatic muscles are connected in parallel to drive the movement of the ankle joint, and another two pneumatic muscles are connected to the lower end of the foot through the rear connecting shaft guide and drive the ankle joint together with the four pneumatic muscles of the ankle joint. A group of antagonist muscles in the wrist joint-elbow joint and the shoulder joint-elbow joint respectively drive the rotation of the elbow joint, and the pneumatic muscles in the form of two groups of antagonist muscles in the wrist joint-elbow joint and the wrist joint drive the movement of the wrist joint, and the pneumatic gripper has the function of clamping items. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability and flexible working mode.

The invention discloses a topological mapping monitoring and correcting method for abnormal scapular brachial rhythm after breast surgery, and belongs to the field of medical rehabilitation and computer vision. The method comprises the following steps: acquiring a trunk dynamic three-dimensional point cloud and infrared thermal imaging data; constructing a multi-layer collaborative dynamic topology network fusing a skeleton structure, soft tissue deformation and physiological activeness; extracting an intrinsic motion field and comparing the intrinsic motion field with the ideal model to generate deviation measurement; and calculating a dynamic instability index, comparing the dynamic instability index with a threshold value, and triggering optimization energy correction path calculation and instruction output. According to the method, the multi-dimensional topological mapping and dynamics prediction technology is adopted, accurate recognition and feed-forward early warning of motion abnormity under the influence of deep tissue adhesion after the breast surgery can be achieved, rehabilitation of a patient is guided through an energy consumption minimization path, and the accuracy of shoulder joint function remodeling and the individualized treatment effect are improved.

The present invention discloses a pneumatic transmission robot system based on a combination of multiple modes, belonging to the technical field of robots. The movement of the hip joint, knee joint, ankle joint, shoulder joint, elbow joint, and wrist joint of the robot is driven by pneumatic muscles, and the waist joint is driven by balloon cylinders and cylinder combinations, having the function of fully simulating the joint movement of a human. The balloon cylinder and the waist joint cylinder are connected in series as a branch chain, and three branch chains are connected in parallel to form a single-layer waist joint, and six branch chains between two layers are evenly distributed on the circumference. A group of pneumatic muscles combined with a guide wheel drive the hip joint to rotate around the Z axis, two pneumatic muscles combined with a four-bar mechanism drive the flexion and extension movement of the knee joint, and two groups of pneumatic muscles are rotatably connected to the calf bone II, and with this as a support and combined with a universal joint, the flexion, extension, adduction, and abduction movements of the ankle joint are realized. The present invention is driven by pneumatic muscles and cylinders, and has the characteristics of compact structure, combination of rigidity and flexibility, and good explosion-proof performance.

The invention belongs to the technical field of rehabilitation medicine and intelligent education technology, and discloses a muscular tension evaluation-based simulation arm model, which comprises a main body, a motor I, a motor II, a shoulder joint, an elbow joint, a motor III and a motor IV, and further comprises a visualization mechanism arranged on one side of the outer surface of the shoulder joint, the visual mechanism comprises a rotating plate fixedly connected to one side of the elbow joint; according to the device, the elastic piece can be stretched, then the connecting block can push the extrusion plate to slide in the liquid outlet pipe, then the extrusion plate can push liquid in the liquid outlet pipe into the graduated scale, and then the muscular tension grade can be judged according to the flowing distance of the liquid; finally, the rotating plate drives the extrusion plate to push the liquid into the graduated scale through the elbow joint, the muscular tension grade is judged according to the flowing distance of the liquid, students can conveniently and visually observe and feel the evaluation result, the evaluation result is recorded, and the teaching effect is improved.

The invention relates to the technical field of automobile detection equipment, in particular to a shoulder multidirectional buffer self-adaptive restraint device for a side impact dummy, which comprises a shoulder simulation assembly and a mounting seat, the mounting seat is mounted on a dummy trunk, and the shoulder simulation assembly is used for simulating human shoulder bones and muscles and comprises a connecting rod unit and an upper arm connecting seat; the upper arm connecting seat is used for connecting a dummy upper arm and / or test stress input equipment, so that the dummy upper arm and / or the test stress input equipment can receive stress and transmit the stress to the mounting seat through the connecting rod unit, and the connecting rod unit comprises a connecting rod framework and a honeycomb aluminum structure fixedly mounted outside the connecting rod framework. Multi-path transmission and buffering of stress from the upper arm connecting base to the mounting base are achieved, buffering of bones, joints, muscles and the like at the joint of the shoulder joint and the trunk on impact force can be simulated more truly, the stress condition of passengers during automobile side collision is simulated and detected more truly, and the experiment effect of a collision experiment is improved.

The embodiment of the invention provides a robot. The robot comprises a moving assembly suitable for enabling the robot to move in multiple directions; a torso assembly coupled to the moving assembly and adjustable in height relative to the moving assembly, the torso assembly including a shoulder joint portion and a neck joint portion; the bionic double arms comprise a left arm and a right arm, the left arm and the right arm are movably coupled to the two sides of the trunk assembly through shoulder joint parts so as to achieve three-degree-of-freedom movement relative to the trunk assembly, and the left arm and the right arm each comprise an elbow joint part and a wrist joint part; a large arm mechanism and a small arm mechanism coupled via the elbow joint portion to rotate relative to each other about an axis of the elbow joint portion; the execution component is coupled to the tail end, away from the large arm mechanism, of the small arm mechanism through the wrist joint part so as to achieve three-freedom-degree movement relative to the small arm mechanism; the head part is coupled to the top end of the trunk assembly through the neck joint part and located between the bionic double arms, and the head part is suitable for carrying out two-degree-of-freedom movement relative to the trunk assembly.

A robot manipulator has a base; an arm connected to the base via at least a shoulder joint; and a control system with a dynamic stability determination module. The dynamic stability determination module of the control system determines whether a dynamic stability criterion is met. If the dynamic stability criterion is met, the arm is responds compliantly to an applied force; and if the dynamic stability criterion is not met, the control system causes motion of the base in the direction of the applied force.

The invention belongs to the technical field of shoulder joint detection, and discloses a shoulder joint stability evaluation system based on surface electromyogram signals, which comprises a data acquisition module, a data processing module and an evaluation analysis module. According to the invention, by synchronously acquiring the angle signal and the surface electromyogram signal, the muscle activity dynamic change of the shoulder joint in the whole movement process can be accurately captured in real time, the evaluation accuracy is remarkably improved, and a foundation is built for accurate diagnosis; in a signal processing link, a plurality of filtering methods are comprehensively applied to carry out deep purification on original surface electromyogram signals, various interference factors such as 50Hz power frequency interference, low-frequency motion artifacts and high-frequency noise are effectively eliminated, the purity and reliability of the signals are guaranteed, and high-quality data are provided for subsequent analysis; and meanwhile, a characterization index of an amplitude absolute value mean value is introduced, so that the muscle activity intensity is reflected more visually and accurately, and the internal correlation between the shoulder joint stability and the muscle activity is deeply excavated.

The present invention discloses an active upper limb exoskeleton robot, belonging to the field of exoskeleton robot technology, comprising: a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton. The back exoskeleton is a flexible structure, the front surface of which contacts the human back, and can bend and deform along with the human spine when the human body bends. The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on either side of the back exoskeleton and are respectively rotatably mounted on the top of the back exoskeleton via shoulder joints. The shoulder joints have three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint. The robot realizes flexion / extension, internal rotation / external rotation, and adduction / abduction movements, and the robot's degrees of freedom of movement are consistent with the human joint's degrees of freedom. The elbow joint has one degree of freedom. The elastic lumbar vertebra can adapt to the bending and deformation of the human lumbar vertebra, increase the bending range, and improve wearer comfort.

The invention provides a double-pneumatic artificial muscle control method and system with overshoot constraint, and relates to the technical field of robot control. Comprising the following steps: defining error signals of a forearm muscle length, an upper arm muscle length, a shoulder joint angle and an elbow joint angle based on a dynamic model of a double-pneumatic artificial muscle system, and constructing an error signal convergence constraint term and an overshoot range constraint term; determining an energy function of the double-pneumatic artificial muscle system; based on a kinetic model and an energy function of the double-pneumatic artificial muscle system, considering the error signal convergence constraint term and the overshoot range constraint term, and designing a controller to control the forearm control input air pressure and the upper arm control input air pressure of the double-pneumatic artificial muscle system. According to the method, the error signal convergence constraint term and the overshoot range constraint term are considered, the overshoot of the system state variable is controlled within the safety constraint range, the overshoot phenomenon is avoided, and the safety performance of the system is improved.

Dynamic arm brace assemblies and methods of use are provided herein. An example device includes a torso connection member securable to a torso of a patient, a forearm support member that couples with at least a forearm of an patient, the forearm support member couples with the torso connection member so as to fix an elbow of the patient proximate the torso, the forearm support member being pivotally coupled to the torso connection member to allow for an angle between the forearm support member and a coronal plane of the patient, and a dynamic tensioning assembly that externally rotates the forearm support member and selectively sets the angle so as to stretch a shoulder capsule (capsule and adjacent tissue(s)) affected with adhesive capsulitis, reducing the adhesive capsulitis.

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

The invention provides a shoulder joint subluxation evaluation data acquisition method and system. The method comprises the steps that first shoulder joint image data of a shoulder joint area on the affected side of a patient are collected through an imaging assembly, then the imaging assembly is controlled to rotate by a preset angle value, second shoulder joint image data are collected, and then according to the first position offset of the first shoulder joint image data and the second shoulder joint image data, the first shoulder joint image data and the second shoulder joint image data are obtained. Determining an imaging assembly compensation angle according to the first position offset of the first shoulder joint image data and the second position offset of the second shoulder joint image data and the standard shoulder joint image data of the first acquisition point, and finally adjusting the imaging angle of the imaging assembly according to the imaging assembly compensation angle. Therefore, the shoulder joint subluxation evaluation data acquisition of the first acquisition point is completed, so that the standardization degree and objective consistency of the shoulder joint subluxation evaluation data acquisition are effectively improved.

The invention relates to the technical field of robots, and particularly discloses a bionic humanoid mechanical arm which comprises a shoulder joint module, a big arm module, an elbow joint module, a small arm module and a wrist joint module which are connected in sequence. The wrist joint module realizes two-degree-of-freedom flexible movement through a regular octahedron tensegrity structure, and the rotation centers of the wrist joint module naturally intersect at one point and are connected with the rolling shaft in series to form three-degree-of-freedom concurrent rotation; the length-adjustable supporting rod in the flexible structure changes the joint rigidity in real time and dynamically adapts to the load change so as to enhance the man-machine interaction safety; an elbow joint adopts a virtual pitch circle rolling mechanism, all joint-crossing driving rope paths are forced to remain unchanged, and multi-joint motion coupling is eliminated from the mechanical intrinsic level; a driving motor and a rope wheel system are arranged on the large arm module in a centralized mode, the rope tensioning state is continuously optimized in cooperation with a ratchet wheel type self-locking tension mechanism, and the tail end inertia is reduced under the condition that an elbow and wrist joint motor is completely removed.

The invention discloses a postoperative rehabilitation management method for a breast tumor patient and related equipment. The method comprises the following steps: sending an exercise rehabilitation initialization instruction to a target patient under the condition that the intelligent wearable equipment monitors that the operative limb of the target patient is in a natural sagging state; under the condition that the target patient completes the exercise rehabilitation initialization instruction, positioning a shoulder joint on the operative limb side of the target patient based on a movement track collected by an intelligent wearable device; under the condition that the target patient carries out the operation limb movement rehabilitation, the operation limb movement pose of the target patient is predicted through the intelligent wearable device based on the obtained shoulder joint positioning of the target patient, so that movement rehabilitation management is carried out. The multiple problems that postoperative rehabilitation of breast tumors is a key link in continuous treatment, but at present, patient cognition is insufficient, medical resources are not evenly distributed, a rehabilitation path is not clear, and informatization support is insufficient can be solved.

The invention discloses upper limb rehabilitation training equipment capable of being mutually used by left and right arms, which comprises a small arm elbow joint training mechanism, a big arm shoulder joint training mechanism and a left and right reversing mechanism, and is characterized in that the small arm elbow joint training mechanism is connected with the front end of the big arm shoulder joint training mechanism in a foldable manner through a folding part; the rear end of the big arm shoulder joint training mechanism is connected with the left-right reversing mechanism, and the left-right reversing mechanism is used for driving the big arm shoulder joint training mechanism to rotate relatively. According to the upper limb rehabilitation training equipment capable of being used by the left arm and the right arm, the functions of being small in size, light and easy to use are achieved, the pull rope is used for power transmission, the overall size of the equipment is optimized, daily use is more convenient through the rotating clutch mechanism used by the left arm and the right arm, and the equipment is small in size, convenient to store, simple in structure, practical and easy to operate.

A device immobilizes a shoulder joint and associated upper arm and forearm of a human patient in a selected relative position. The device comprises a platform including a planar base portion and a pair of opposed parallel side walls extending upwardly from the longitudinal edges of the base portion. The platform supportively receives and at least partially encloses the forearm of the patient. A mount defining a terminal slot is integral with at least one side wall. A belt is provided for securing around the waist of the patient. A belt clip attaches between the belt at a side of the body corresponding to the shoulder to be supported and the platform. The belt clip includes a lug projecting outwardly from the clip and corresponding in size and shape to the terminal slot for insertion into the slot, wherein the platform is suspended from the belt.

Provided is a shoulder joint structure for a figure, which makes a shoulder joint of a figure look human-like as much as possible when a corresponding arm of the figure is moved. The shoulder joint structure for a figure includes: a shoulder base part configured to form a base of a shoulder and an underarm of a figure; and an upper arm part to be coupled to the shoulder base part without a gap. The shoulder base part is pivotable about a first pivot axis relative to a body of the figure, the first pivot axis extending sideways and diagonally upward from the figure. The upper arm part is pivotable up and down about a second pivot axis relative to the shoulder base part, the second pivot axis extending in a front-and-rear direction of the figure when the figure has a corresponding arm down.

A humanoid robot comprises a head, a neck, shoulders, a waist, a hip and thighs, the shoulders are provided with arm lifting mechanisms and arm swinging mechanisms, the neck is provided with a head rotating mechanism and a head vertical swinging mechanism, and the waist is provided with a waist rotating mechanism, a front-back bending mechanism and a left-right bending mechanism. And the hip part is provided with a leg inner and outer side rotating mechanism, a thigh inner and outer side swinging mechanism and a thigh front and back swinging mechanism. The arm lifting mechanism comprises a first shoulder motor arranged on the shoulder and a shoulder joint hinged to the shoulder, and the first shoulder motor is in transmission connection with the shoulder joint; the arm swinging mechanism comprises a second shoulder motor arranged on the shoulder joint and an arm hinged to the shoulder joint, the second shoulder motor is in transmission connection with the arm, the head rotating mechanism comprises a first neck motor arranged on the neck and a second neck motor arranged on the shoulder, and the first neck motor is in transmission connection with the head; the neck part is connected with the shoulder part through a rotating shaft; a connecting rod is arranged on the rotating shaft and is in transmission connection with the second neck motor.

The utility model relates to the technical field of robots, in particular to a multi-degree-of-freedom humanoid robot which comprises a chest mechanism, a head mechanism, an upper limb mechanism and a lower limb mechanism. Wherein the chest mechanism adopts a supporting framework with a hollow structure, a control module and a power supply module are integrated in the supporting framework, the layout is reasonable, and meanwhile, the working temperature of the power supply module and the control module is prevented from being too high; visual sensors are arranged at the front end of the head mechanism and the front end of the supporting framework and used for detecting the environment and improving the motion precision of the robot. The upper limb mechanism is provided with a shoulder joint assembly and an elbow joint assembly, four-axis movement of robot arms is driven, the working requirement is met, meanwhile, a direct drive structure of a motor and a connecting rod is adopted, and the transmission efficiency is high. The lower limb mechanism is provided with a hip transmission mechanism and a leg transmission mechanism, the hip transmission mechanism is designed in an orthogonalization mode and an oppositely-arranged structure, so that the transmission mechanism is highly integrated and compact in structure, and miniaturization of the robot is achieved.

The present application relates to a kind of shoulder joint trainers, belong to medical instrument technical field, including shoulder ladder and auxiliary arm, one end of auxiliary arm is slidably arranged on the side wall of shoulder ladder, the other end of auxiliary arm is detachably worn on the upper arm of patient's arm, patient's arm is straight and extends in front of shoulder ladder, the palm surface of patient is in contact with the front end surface of shoulder ladder, and moves up and down along the setting direction of shoulder ladder, auxiliary arm slides on the side wall of shoulder ladder following the swing of the upper arm of patient's arm, auxiliary arm has brake function, auxiliary arm can be locked or release its sliding fit relationship with shoulder ladder by brake function, by being provided with auxiliary arm, when the upper limb of patient occurs shoulder weakness condition during the activity training of shoulder joint using shoulder ladder, auxiliary arm will adopt brake function, lock in the position of current shoulder ladder, realize that auxiliary arm holds patient's shoulder joint unchanged.

The utility model relates to a magnetic resonance shoulder joint coil fixing device and a magnetic resonance imaging system. The fixing device comprises a waistcoat worn on a subject; the shoulder joint coils are detachably connected with the shoulders on the two sides of the waistcoat in an attached mode, each shoulder joint coil comprises a coil carrier, a coil and a cable base, the coil carrier is formed by compositing a lining layer, a memory sponge filling layer and an outer protection layer which are sequentially distributed from inside to outside, the coil is arranged in the memory sponge filling layer, and the cable base is arranged on the outer protection layer. And the cable base is positioned outside the coil carrier and is connected with the coil. The magnetic resonance imaging system comprises the magnetic resonance shoulder joint coil fixing device. Compared with the prior art, the magnetic resonance imaging device has the advantages that the fitting degree of corresponding positions of the shoulder joint can be effectively ensured, a good image acquisition signal-to-noise ratio is ensured, and the working efficiency of MR examination of related parts of the shoulder joint can be greatly improved.