56 results about "Shoulder joint" patented technology

A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user, surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

Glenoid prosthesis with a hybrid design (combining both peg and keel designs), and surgical methods for reconstitution of a shoulder joint. The hybrid design combines both peg and keel components into one device. The hybrid glenoid component of a shoulder prosthesis includes an oval body having a concave lateral articulating surface and an opposing convex medial surface. The medial surface is provided with a plurality of pegs and a single inferior protrusion. The pegs are used to attain both a superior location as well as a central location. The inferior protrusion provides stability in the superior-to-inferior translation of the humeral head, as well as rotational articulation of the same.

Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.

The invention provides a self-motion angle calculating method facing an SRS anthropomorphic arm. The method comprises the following steps of establishing a mathematical model of the SRS configuration redundancy mechanical arm and establishing a coordinate system of shoulder joints, elbow joints and wrist joints according to the structural characteristics, calculating the self-motion angle when the pose of the tool coordinate system is given by the self-motion angle in the current state through the PID algorithm, calculating the joint space motion angle by the self-motion angle in the second step and the tool coordinate system pose and transmitting the result obtained in the third step to a lower computer controller to drive the mechanical arm and realize the motion of the given pose of the tool coordinate system. An inverse kinematics algorithm of the redundancy mechanical arm is given, compared with the traditional algorithm, the algorithm is simple, the calculating speed is fast, the analytical solution can be obtained, the solving difficulty is reduced, and the joint motion is optimized in a certain extent.

A handheld resistance exercise device is contemplated for exercise, rehabilitation, warm-up and the like, which provides resistance to muscles, tendons, joints, and fasciae in the upper body and lower back as it is actuated by a user standing a distance away from a vertical surface that is engaged with the device. Actuation thereof by the user in performing various exercise protocols provides stability for one or more muscles of the hand, elbow, shoulder girdle, shoulder blade, rib cage, as well as the inner core muscles, while also providing improved mobility for one or more of the wrist, forearm, elbow, shoulder joint, and muscles that rotate and bend the spine sideways.

The present application discloses a bidirectional suture passing instrument arranged to vertically approach soft tissue, enabling safer and more efficient surgical repair, using minimally invasive techniques, and can be used, for example, in annulus repair, meniscus repair, shoulder arthroscopy Examination, hernia repair, laparoscopic repair and wound closure.

The invention discloses a gesture control method of a gesture roaming control system. The gesture control method comprises the following steps: (1) a user obtains a control right of the gesture roaming control system, and the gesture roaming control system positions a shoulder joint corresponding to a hand of a person at the same time; (2) the user determines a comfortable movement area of the hand of the person by regarding the shoulder joint as a reference point; (3) the user carries out roaming control operation on the gesture roaming control system; (4) the gesture roaming control system detects an image transmitted by a video sensor, and determines a relative position of the comfortable movement area of the hand of the person; and (5) the relative position of the comfortable movement area of the hand of the person is mapped onto an interface of the gesture roaming control system.

A joint health exercise device and system to exercise the knee and shoulder joints of the body after an injury or surgery to the joints of the knee and shoulder and to tone and exercise the healthy joints of knees and shoulders. Use of the joint health exercise device of the invention reduces pain and swelling of the joints after an injury or surgery, decreases post surgical scar tissue formation and increases the range of motion of the shoulders, shoulder flexion, abduction, scaption and extension and speeds up functional recovery time of the knees and legs to facilitate standing, sitting and walking with the least restrictive assistive device or no assistive device at all. The joint health exercise device of the invention is light weight, portable and easy to use at home or when traveling.

The present invention provides a two-arm type robot which comprises two groups of mechanical arms (210 and 220) that can rotatablely connected through the joint and transfer the rotary force generatedby the rotation driving source, a mobile component that adjusts the height of the up-and-down movement of two groups of mechanical arm (210 and 220), and the rotation center axes (217) of the shoulder joint parts (217a and 217b) of the two groups of mechanical arms (210 and 220) which is connected with the sliding pieces (216a and 216b) are arranged to upper-and-lower coaxially; the two groups ofmechanical arms (210 and 220) can rotate around the rotation center axis (215), and the rotation center axis (217) and the rotation center axis (215) are parallel arranged in the same straight line (226) in the expansion direction of the two groups of mechanical arms (210 and 220). According to the structure the rotation radius of the two-arm type robot is minimized and the gravity center excursion is prevented in the taking out and providing of the glass substrate used by liquid crystal.

The invention discloses a main manipulator of a seven-degree-of-freedom series minimally invasive surgery robot, which relates to the main manipulator. The problem that an existing main manipulator needs to bear large inertia moment, so that operation flexibility is poor is solved. A shoulder part (1) is rotatably connected with one end of a big arm (2) in the vertical direction to form a shoulderjoint (A1); the other end of the big arm (2) is rotatably connected with one end of a forearm (3) in the vertical direction to form an elbow joint (A2); the other end of the forearm (3) is connectedwith a posture adjusting mechanism (Z) in a rotating mode in the horizontal direction to form a wrist joint (A4), the forearm (3) is connected with the elbow joint (A2) in the rotating mode in the horizontal direction to form a forearm rotating joint (A3), and the posture adjusting mechanism (Z) is a three-axis intersection mechanism. The main manipulator adopts a joint motor to output torque so as to ensure the comfort and flexibility of doctor operation. The main manipulator is used for the seven-degree-of-freedom series minimally invasive surgery robot.

A process and system for performing orthopaedic surgery with the use of computer systems and robotic assistance to remove bone, bone cement, and a bone prosthesis, typically a bone prosthesis used in hip replacement surgery, knee replacement surgery, and the like. The process for replacing one or more bone prostheses using a robotic system includes receiving image data comprising an image of each bone, including at least one prosthesis implanted within each bone; creating three-dimensional models of the prosthesis, and the bone; creating a plan for positioning new prostheses within the bone; determining the location and amount of bone and any non-bone material to be removed for the new prostheses; and removing the bone prosthesis from the bone. The inventive process may be used for the replacement of hip joints, shoulder joints, ankle joints, wrist joints, finger joints, toe joints, or other joints.

The invention discloses a mechanical arm hydraulic system, and belongs to the field of mechanical devices. The hydraulic system comprises an energy supply module, a shoulder joint module, an elbow joint module, a wrist joint pitching module, a wrist joint swinging module and a paw module; the paw module comprises a first control valve, a paw oil cylinder, an electromagnetic stop valve and a secondcontrol valve; the a oil port of the first control valve communicates with the oil supply port of the energy supply module; the b oil port of the first control valve communicates with an oil tank ofthe hydraulic system; the c oil port of the first control valve communicates with a rodless cavity of the paw oil cylinder; a rod cavity of the paw oil cylinder communicates with the a oil port of theelectromagnetic stop valve; the b oil port of the electromagnetic stop valve communicates with the a oil port of the second control valve; the b oil port of the second control valve communicates withthe oil supply port of the energy supply module; and the c oil port of the second control valve communicates with the oil tank. The reliability of a mechanical arm can be improved.

The invention relates to a high-precision advanced welding robot mechanism with six degrees of freedom. The high-precision advanced welding robot mechanism comprises a waist rotary mechanism, a shoulder swing mechanism, an elbow rotary mechanism, a forearm twisting mechanism, a wrist rotary mechanism, a welding gun clamping seat rotary mechanism, a machine base and a rotary platform. The two-dimensional translation of a plane is achieved through a mechanism formed by the shoulder swing mechanism and the elbow rotary mechanism, and a forearm execution tail end welding gun clamping seat is sent to a preset area. The position of an execution tail end within a space range is adjusted through the whole circle rotation of the rotary platform, and large work space is obtained. A welding gun posture is adjusted through the three-dimensional rotation of the forearm twisting mechanism, the wrist rotary mechanism and the welding gun clamping seat rotary mechanism. The high-precision advanced welding robot mechanism can flexibly and conveniently send a welding gun to different space points to work, good dynamics performance is obtained, the bearing loads of shoulder joints are reduced, and the excellent characteristics of high precision, high reliability and convenient maintenance are achieved.

The invention discloses a multi-joint model robot and belongs to the field of robots. The multi-joint model robot comprises an upper body shell and two arm shells. The upper body shell is connected with the arm shells through rotary swing mechanisms. First motors of the rotary swing mechanisms drive the arm shells to rotate around output shafts of the corresponding first motors for simulating rotation of shoulders of a human body, and the shoulders have one degree of freedom; under the effect of first reduction boxes and second motors of the rotary swing mechanisms, the arm shells are driven to rotate around output shafts of the corresponding first reduction boxes for simulating the swing actions of the shoulders of the human body, and the shoulders have one degree of freedom, so that the shoulder joints of the multi-joint model robot have two degrees of freedom; direct-current brushless planetary gear motors are used as the first motors, and common small motors capable of being put into the arm shells are used as the second motors, so that the multi-joint robot is not as costly as a conventional multi-joint model robot using a steering gear, and the functions of the multi-joint model robot are achieved.

The invention discloses a medicinal composition containing zaltoprofen and a capsule preparation method thereof. The medicinal composition containing the zaltoprofen has the efficacies of treating chronic rheumotoid arthrosis, deforming arthritis, lower back pain, periarthritis of shoulder, neck, shoulder and wrist syndrome as well as anti-inflammatory analgesic efficacies after surgery, trauma and tooth extraction. The medicinal composition is formed by processing through a scientific and reasonable production process. The medicinal composition has the advantages of definite functions, controllable quality and safety in taking. The medicinal composition is simple in preparation method and can be prepared by conventional equipment.

A manikin (1) comprising jointed body parts that are configurable to (1) closely mimic natural movement of corresponding body parts of a real baby and / or (2) closely mimic a range of poses or postures of a real baby. The baby manikin (1) includes a neck joint (11) (articulated ball and socket joint), a waist joint (12) (articulated ball and socket joint), a hip joint (13) (double ball and socket joint), two knee joints (14) (pin joints), two ankle joints (15) (articulated ball and socket joints), two shoulder joints (16) (double ball and socket joints), two elbow joints (17) (pin joints), and two wrist joints (18) (articulated ball and socket joints).

The invention relates to an instrument in the field of medical rehabilitation apparatuses, in particular to an upper-limb rehabilitation training robot. The upper-limb rehabilitation training robot is composed of a spherical-pair motion mechanism, a rectangular-coordinate-system tri-axial linkage system and an upper-limb bracket system; the rectangular-coordinate-system tri-axial linkage system provide three mobile degrees of freedom and can realize multi-degree-of-freedom passive training of a shoulder joint. By the arrangement that the spherical-pair motion mechanism is connected with the upper-limb bracket support and the rectangular-coordinate-system tri-axial linkage system and the spherical-pair motion mechanism provides the three mobile degrees of freedom, a patient can perform rotational training autonomously under the condition that the shoulder joint is subjected to passive training through traction force provided by the rectangular-coordinate-system tri-axial linkage system, and rotation stimulus of a big arm of the upper limb can be thereby increased; a stepping motor on an upper-limb big-arm bracket drives an upper-limb forearm bracket to rotate through a transmission gear and a transmission shaft, forearm flexion rotation training can be realized, and multi-degree-of-freedom complex rehabilitation training of the shoulder joint and an elbow joint is realized; the upper-limb rehabilitation training robot is stable and reliable in mechanism, flexible in motion, low in cost and simple and practical.

The invention discloses a control system of a hair follicle extraction structure, which comprises an upper computer for controlling the hair follicle extraction structure and four sub-control systems,and the four sub-control systems are all in communication connection with the upper computer. Wherein the first sub-control system controls a rough adjustment screw and an arc-shaped sliding block ofthe hair follicle extraction structure, the second sub-control system controls a fine adjustment screw and an electron microscope lifting component, the third sub-control system controls a fine adjustment lifting component, a shoulder joint and an elbow joint, and the fourth sub-control system controls a tool bit to stretch out and draw back to extract hair follicles. The working process of the telescopic control system is shot and guided by a binocular global camera and an electron microscope. The hair follicle extractor is high in automation degree and capable of continuously extracting hair follicles, and the working intensity of an operator is reduced; according to the hair follicle extractor, target hair follicles can be accurately extracted, damage to the scalp of a user is avoided,and the working efficiency is improved; meanwhile, the manual operation steps are few and simple, and the requirements for the technology and experience of operators are lowered.

The invention discloses a robot arm device which comprises a base. A waist joint driving motor and a supporting part are arranged on the base. A body is arranged on the supporting part. The waist joint driving motor is connected with the supporting part through a first piston rod. One end of the body is rotatably connected with a big arm. An elbow joint driving motor is rotatably connected to the supporting part and is rotatably connected with a small arm through a second piston rod. A shoulder joint driving motor is arranged at the other end of the body, is rotatably connected with the body, and is rotatably connected with the big arm through a third piston rod. The big arm is rotatably connected with the small arm. The robot arm device is simple in structure, and has higher flexibility and large working space, and relevant kinematics analysis can be carried out conveniently.

The invention provides a scapular glenoid bone grafting device under a minimally invasive condition. The device comprises a sleeve, a threading rod and a handle, wherein the sleeve is provided with achannel; the threading rod is movably inserted into the channel in a penetrating mode; the sleeve is detachably connected with the handle; a first wedge-shaped face is arranged at one end of the sleeve; a thin groove and a wide groove are formed in the side wall of the threading rod; and a second wedge-shaped face is arranged at the end, close to a bone grafting block, of the threading rod. A method for the device comprises the following steps of S1, driving an anchor into a corresponding area under an arthroscope; S2, enabling the sleeve to be contacted and matched with the bone grafting area; S3, placing the bone grafting block into the sleeve; S4, pushing the bone grafting block into the bone grafting area; S5, fixing the bone grafting block; and S6, after the bone grafting block is fixed, removing a Kirschner wire, and suturing a wound. The bone grafting device is high in threading efficiency, high in positioning precision and capable of effectively avoiding slippage, rotation anddisplacement of the bone grafting block in the bone grafting process and reducing the damage to blood vessels, nerves and other tissues of shoulder joints due to the bad phenomenon of the bone grafting block in the bone grafting process.

The invention discloses a shoulder arthroscopy operation traction frame, and relates to the technical field of medical instruments. The traction frame comprises a base, a support upright column, a cross beam and a traction rope, wherein the lower end of the support upright column is fixedly arranged on the base, a rotatable adjusting rod is arranged at the upper end of the support upright column,the cross beam is fixedly arranged at the upper end of the adjusting rod, the left and right ends of the cross beam are each provided with a fixed pulley, a rotating shaft is arranged at the left endof the cross beam, a wheel frame is fixedly arranged on the rotating shaft, a guide pulley is arranged on the wheel frame, the guide pulley is located at the lower left of the left fixed pulley, the central axis of the rotating shaft is vertical, the central axis of the rotating shaft is tangent to the left fixed pulley and the guide pulley, the traction rope is wound around the guide pulley, theleft fixed pulley and the right fixed pulley, a tray used for placing a balancing weight is fixedly arranged at the right end of the traction rope, and a dynamometer used for metering the pulling force is bound to the left end of the traction rope. The traction frame provided by the invention is suitable for a shoulder arthroscopy operation.

The invention provides a rotator cuff patch and a preparation method thereof. The rotator cuff patch has a three-dimensional nano net structure and is prepared from raw materials containing a fibrinogen compound and polylactic acid-caprolactone. The rotator cuff patch is prepared by adding a fibrinogen compound solution and a polylactic acid-caprolactone solution into the same volume tube of an electrostatic spinning machine, or respectively adding the fibrinogen compound solution and the polylactic acid-caprolactone solution into different volume tubes of the electrostatic spinning machine, carrying out electrostatic spinning, and then drying. The rotator cuff patch provided by the invention has a nanoscale three-dimensional structure similar to an extracellular matrix and good hydrophilicity; the tendon can be formed in the shoulder joint cavity after being implanted for about 6 weeks, and the tendon and the shoulder joint bone tissue form tendon-bone healing; about 24 weeks after implantation, the maximum force of the regenerated rotator cuff tissue is recovered to 95-100% of that of the normal side. The rotator cuff patch can be used for bridging or strengthening treatment of large and ultra-large rotator cuff tissue tearing.

The invention relates to a comprehensive function rehabilitation training device for senile weak patients which comprises a main supporting frame. A rotatable seat frame is installed on the main supporting frame in a suspended mode, a seat is installed in the seat frame, upper limb comprehensive exercise devices are arranged on the upper portion and in front of the seat, and a lower limb comprehensive exercise device is arranged on the lower portion of the seat. The upper limb comprehensive exercise device comprises a grip strength exercise device and a double-arm lifting opening and closing exercise device, and the lower limb exercise device comprises a foot supporting plate, an elastic telescopic rod, an ankle limiting rod and a limiting rod support. According to the invention, the senile weak patient can comprehensively exercise four limbs, the blood circulation of the four limbs is promoted, the muscle strength of the limbs is enhanced, and the senile weak syndrome is comprehensively resisted. The grip strength exercise device can be used for exercising palm parts and enhancing far-end circulation. The double-arm lifting opening and closing exercise device can be used for exercising shoulder joints, improving the flexibility and coordination of active movement of a finger system, promoting movement of hand muscles and cervical vertebra, and enabling a patient to do foot-pad exercise and lower limb flexion and extension movement.

The invention relates to a traditional Chinese medicine composition for treating scapulohumeral periarthritis. The traditional Chinese medicine composition is prepared from, by weight, 3-18 parts of cassia twigs, 40-52 parts of radix angelicae, 2-18 parts of red peony rots, 2-28 parts of gentiana macrophylla pall. and 3-18 parts of turmeric. The traditional Chinese medicine composition is prepared from pure natural herb, can effectively relieve the discomfort of shoulder joints, and is free of obvious toxic and side effects, low in price and convenient to use.

The invention relates to a shoulder arthroscopic surgery positioning device and a using method thereof. The shoulder arthroscopic surgery positioning device comprises a positioning rod, an arc-shapedsupporting arm and a guide sleeve, wherein a hemispherical rotating head and a probe are arranged at the two ends of the positioning rod respectively; the hemispherical rotating head is rotationally connected with one end of the arc-shaped supporting arm; a positioning screw hole is formed in the arc-shaped supporting arm; the positioning screw hole is aligned with the semispherical rotating head;a locking screw is arranged in the positioning screw hole; the top end of the probe coincides with the axis of the arc-shaped supporting arm; a sliding groove is formed in the arc-shaped supporting arm; and the guide sleeve penetrates through the sliding groove, and the axis of the guide sleeve is aligned with the top end of the probe. The positioning device is used for positioning a working channel during the shoulder arthroscopic surgery, the operation angle in the three-dimensional space can be rapidly adjusted, an operator is prevented from reinstalling the positioner after the working channel deviates, the surgery time is effectively shortened, and the complication risk is reduced.

The invention discloses a spring return type rope-driven mechanical arm which is provided with a base supporting plate, a driving mechanism is installed on one side of the base supporting plate, the head end of an upper arm is installed on the other side of the base supporting plate, and the tail end of the upper arm is installed at the head end of a middle arm through a shoulder joint torsion spring. The tail end of the middle arm is installed at the head end of the small arm through an elbow joint torsion spring. According to the mechanical arm, the mechanical arm joint is driven by the spring return type rope, the tail end of the driving rope is fixed to the mechanical arm rod, the distance between the driving rope and the joint is far, and the force arm acted by the rope is large. The rope tension is much smaller under the condition of the same load, so that the power required by the driving motor can be greatly reduced, the power consumption is reduced, and the utilization rate of energy is further improved.