CN106852700A - Shock wave treatment instrument and its control method - Google Patents
Shock wave treatment instrument and its control method Download PDFInfo
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- CN106852700A CN106852700A CN201510902727.3A CN201510902727A CN106852700A CN 106852700 A CN106852700 A CN 106852700A CN 201510902727 A CN201510902727 A CN 201510902727A CN 106852700 A CN106852700 A CN 106852700A
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- shock wave
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
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- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
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- Pathology (AREA)
- Biophysics (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiation-Therapy Devices (AREA)
- Thermotherapy And Cooling Therapy Devices (AREA)
Abstract
The invention provides a kind of shock wave treatment instrument and its control method.Wherein shock wave treatment instrument includes：Shock wave treatment handle, including impact component and treatment head, wherein impact component clash into treatment head under compressed air-driven, make treatment head coupled surge wave energy and apply shock wave to the treated sites reclined with it；Thermal infrared imager, is configured to obtain the Infrared Thermogram of the sites being treated；Treatment main frame, is connected, and be configured to export Infrared Thermogram in real time respectively with shock wave treatment handle and thermal infrared imager, and controllably to shock wave treatment handle provides compressed air to change the therapeutic scheme of shock wave treatment handle.Use the solution of the present invention, the Infrared Thermogram of the treated sites of output, the particular location of focus inflammation is determined according to Infrared Thermogram in real time, targetedly sets the therapeutic scheme of shock wave, the accuracy for the treatment of is improve, objective basis are provided for treatment personnel carry out shock wave treatment.
Description
Technical field
The present invention relates to medicine equipment, more particularly to a kind of shock wave treatment instrument and its control method.
Background technology
Shock wave be it is a kind of by vibration, high-speed motion etc. cause medium extremely compression and assemble produce energy
Sound wave with mechanical characteristic, shock wave can cause pressure, temperature, density of medium etc. in conductive process
There is great-jump-forward and change in physical property.
Due to the physical characteristic of shock wave, since last century the seventies, be applied to for shock wave to face by people
Bed therapy field, for treating calculi in urinary system.The late nineteen eighties, with the height of low energy impacts ripple
Dense tissue cracking, tissue adhesion are loosened, expansion of blood vessels and revascularization, analgesia and nerve endings closing,
Tissue damage is repaired again and the effect such as inflammation and infection control is gradually found, and promotes shock wave in medical treatment
The application study in field, occurs in that extracorporeal shock wave therapy.
Extracorporeal shock wave therapy is in the rehabilitation of bone Muscular diseases, nonunion, delayed union and tendon forceps end
Gradually promoted in the treatment of disease.Using impact head by shock wave in human body surface, shock wave passes through
Human body fluid, tissue conduction reach affected part, are repaired and are treated with to affected part.
However, the therapeutic scheme of existing shock wave treatment instrument relies primarily on the experience for the treatment of personnel, impact is set
Frequency, number of times of ripple etc., curative effect it cannot be guaranteed that, another aspect therapeutic effect also lacks objective appraisal, from
And the accuracy or reliability that result in extracorporeal impact wave therapy are greatly reduced.
The content of the invention
It is an object of the present invention to effectively improve shock wave treatment reliability and accuracy.
The present invention one is further objective is that provide a kind of evaluation meanses of shock wave treatment curative effect.
Especially, the invention provides a kind of shock wave treatment instrument, it includes：Shock wave treatment handle, bag
Impact component and treatment head are included, wherein impact component clashes into treatment head, makes treatment under compressed air-driven
Head coupled surge wave energy simultaneously applies shock wave to the treated sites reclined with it；Infrared thermal imagery
Instrument, is configured to obtain the Infrared Thermogram of the sites being treated；Treatment main frame, with shock wave treatment hand
Handle and thermal infrared imager are connected respectively, and are configured to export Infrared Thermogram in real time, and controllably to impact
Wave treatment handle provides compressed air to change impact energy, number of shocks, the impact of shock wave treatment handle
One or more in frequency.
Alternatively, above-mentioned shock wave treatment instrument also includes：Mechanical arm, for carrying the infrared of thermal infrared imager
Camera lens, so that the treated sites of infrared lens alignment；And shock wave treatment handle is by treating personnel
It is hand-held, to adjust the applying position of shock wave according to Infrared Thermogram.
Alternatively, treatment main frame includes：Air compressor, pressure is provided for producing to shock wave treatment handle
Contracting air；Man Machine Interface, the setting instruction for the treatment of personnel is come from for obtaining；Air compression control
Device, for adjusting the operational factor of air compressor according to setting instruction to change rushing for shock wave treatment handle
One or more hit in energy, number of shocks, frequency of impact.
Alternatively, treatment main frame also includes：Display module, is configured to export Infrared Thermogram in real time, and
The operational factor of delivery air compressor.
Alternatively, display module includes：One display screen, display screen is divided into Infrared Thermogram and shows
Show area and operational factor viewing area.
Alternatively, display module includes：Display screen is Touch screen, and is configured to receive treatment personnel couple
The setting of operational factor and thermal infrared imager imaging parameters.
Alternatively, treatment main frame also includes：Data processing equipment, be configured to store over the course for the treatment of is red
The impact energy of outer thermography and shock wave treatment handle, number of shocks and frequency of impact, form treatment
Archives, for subsequently transferring.
Alternatively, data processing equipment is configured to：Carry out signature analysis to Infrared Thermogram, and from having deposited
The Infrared Thermogram of characteristic matching is inquired in the treatment archives of storage, the Infrared Thermogram correspondence for inquiring is transferred
The impact energy of shock wave treatment handle, number of shocks and frequency of impact, form treatment recommendations.
According to another aspect of the present invention, a kind of control method of shock wave treatment instrument is additionally provided.The control
Method processed includes：The Infrared Thermogram of treated sites is shot, and is exported in real time；Obtain by treating
Personnel instruct according to the setting that Infrared Thermogram is input into；According to the impact for setting instruction regulation shock wave treatment instrument
One or more in impact energy, number of shocks, the frequency of impact of wave treatment handle.
Alternatively, also include after the step of shooting the Infrared Thermogram of treated sites：Storage
Infrared Thermogram over the course for the treatment of with the impact energy with shock wave treatment handle, number of shocks and
Frequency of impact, forms treatment archives, for subsequently transferring.
Shock wave treatment instrument of the invention and its control method, are generally greater than just based on focus areas of inflammation temperature
The medical treatment discovery in normal region, the Infrared Thermogram of treated sites is obtained using thermal infrared imager, and
Output, facilitates treatment personnel that the particular location of focus inflammation is determined according to Infrared Thermogram, targetedly in real time
Ground sets the therapeutic scheme of shock wave, the accuracy for the treatment of is improve, for treatment personnel carry out shock wave treatment
There is provided objective basis.
Further, shock wave treatment instrument of the invention and its control method, by thermal infrared imager and impact
Wave treatment handle carries out integrated, compact conformation, facilitates treatment personnel and is operated.
Further, shock wave treatment instrument of the present invention and its control method, can also store treatment archives,
It is easy to understand the situation of patient, output shock wave is carried out according to the therapeutic scheme for meeting illness actual conditions, and
And corresponding treatment recommendations can also be gone out by Auto-matching in treatment, further increase the efficiency of diagnosis and treatment.
According to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will
More understand of the invention above-mentioned and other purposes, advantages and features.
Brief description of the drawings
Describe that of the invention some are specific in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter
Embodiment.Identical reference denotes same or similar part or part in accompanying drawing.Art technology
Personnel are it should be understood that what these accompanying drawings were not necessarily drawn to scale.In accompanying drawing：
Fig. 1 is the schematic block diagram of shock wave treatment instrument according to an embodiment of the invention；
Fig. 2 is the structural representation of shock wave treatment instrument according to an embodiment of the invention；
Fig. 3 is the effect diagram of display screen in shock wave treatment instrument according to an embodiment of the invention；
Fig. 4 is the structural representation of the treatment main frame of shock wave treatment instrument according to an embodiment of the invention；
And
Fig. 5 is the schematic diagram of the control method of shock wave treatment instrument according to an embodiment of the invention.
Specific embodiment
Fig. 1 is the schematic block diagram of shock wave treatment instrument 100 according to an embodiment of the invention.The impact
Wave therapeutic instrument 100 can include in general manner：Shock wave treatment handle 120, thermal infrared imager 130, control
Treat main frame 110.The shock wave treatment instrument 100 of the present embodiment is by extracorporeal impact wave therapy and Infrared Thermography Technology
With reference to, determine specific treatment position using thermal infrared imager 130 and therapeutic effect is estimated, it is body
Combined use of ESWL treatment provides reliable basis.
Shock wave treatment handle 120 includes impact component and treatment head, and wherein impact component is in compressed air
Lower shock treatment head is driven, makes treatment head coupled surge wave energy and to the treated body surface position reclined with it
Put applying shock wave.Thermal infrared imager 130, is configured to obtain the Infrared Thermogram of the sites being treated.
Treatment main frame 110, is connected respectively with shock wave treatment handle 120 and thermal infrared imager 130, and
Be configured to export Infrared Thermogram in real time, and controllably to shock wave treatment handle 120 provide compressed air with
Change the treatment parameter of shock wave treatment handle 120.Treatment parameter can include impact energy, number of shocks,
One or more in frequency of impact.
Fig. 2 is the structural representation of shock wave treatment instrument 100 according to an embodiment of the invention, infrared heat
As instrument 130 is carried by mechanical arm 140, the mechanical arm 140 can by treat personnel's (doctor) manual setting or
Adjust automatically, so that the treated sites of the infrared lens alignment of thermal infrared imager 130, display screen
150 can in real time export Infrared Thermogram.Over the course for the treatment of, shock wave treatment handle 120 can be by controlling
Treatment personnel are hand-held, according to Infrared Thermogram, adjust treatment position.Because thermal infrared imager 130 is by mechanical arm
140 carry, and can allow treatment personnel intently switching impulse wave treatment handle 120, the mechanical arm 140
Universal arm can be used, direction and position is conveniently adjusted.Clinical experience and summary by inventor, it is determined that
The temperature for going out the lesions position being inflamed typically is higher than normal shell temperature, therefore treatment personnel can be right
Temperature region higher carries out treatment emphatically.
Shock wave treatment instrument 100 is additionally provided with one or more display screens, can preferably use one, Fig. 3
It is the effect diagram of display screen 150 in shock wave treatment instrument 100 according to an embodiment of the invention,
Display screen 150 can be divided into Infrared Thermogram viewing area and operational factor viewing area.Infrared Thermogram
Viewing area is used for output Infrared Thermogram in real time, and Infrared Thermogram is exported in isothermal form in figure 3,
In practical application, temperature differentiation can be carried out by color, the Infrared Thermogram in some alternative embodiments
Viewing area can determine corresponding temperature value for treating personnel with displays temperature color scale according to color.
Operational factor viewing area is used to export the operational factor of shock wave treatment handle 120.Display screen 150 can be with
From Touch screen, to receive the setting to operational factor and the imaging parameters of thermal infrared imager 130.Inflammation
The temperature of lesions position be higher than normal shell temperature, show redder color in Infrared Thermogram, by
This treatment personnel can determine more excellent treatment position.
In addition, by contrasting the Infrared Thermogram before and after treatment, therapeutic effect can also be determined, so as to be
Shock wave treatment provides objective appraisal standard.
Fig. 4 is the structure of the treatment main frame 110 of shock wave treatment instrument 100 according to an embodiment of the invention
Schematic diagram.The treatment main frame 110 can be provided with air compressor 111, Man Machine Interface 112, sky
Gas compression controller 113, display module 114.Air compressor 111 can be produced to shock wave treatment hand
Handle 120 provides compressed air；Man Machine Interface 112 is used to obtain the setting instruction for coming from treatment personnel,
To adjust treatment parameter, Man Machine Interface 112 can use various input units.Air compression controller
113 can be used for the operational factor according to setting instruction regulation air compressor 111 to change shock wave treatment
The treatment parameter (one or more in impact energy, number of shocks, frequency of impact) of handle 120.It is aobvious
Show that component 114 can in real time export the operational factor of Infrared Thermogram and delivery air compressor 111.It is excellent
Selection of land, man-machine interaction is connect and display module 114 can be directly integrated using above-mentioned Touch screen.
Additionally, treatment main frame 110 is also provided with data processing equipment 115.The data processing equipment 115
The impact energy of storage Infrared Thermogram over the course for the treatment of and shock wave treatment handle 120, number of shocks,
And frequency of impact, treatment archives are formed, for subsequently transferring.Data processing equipment 115 can also be further
The therapeutic process of each patient is recorded, case database is formed, is on the one hand easy to treatment personnel to carry out
Follow-up visit, understands therapeutic effect；It can in addition contain facilitate treatment personnel to be studied, before and after treatment
Effect, determine more excellent therapeutic scheme, the treatment for after provides foundation.
In addition, after certain treatment archives are accumulated, data processing equipment 115 can also be to Infrared Thermogram
Signature analysis is carried out, and the Infrared Thermogram of characteristic matching is inquired from the treatment archives for having stored, transferred
The therapeutic scheme of the corresponding shock wave treatment handle 120 of Infrared Thermogram of the successful case for inquiring, forms
Treatment recommendations, improve the diagnosis and treatment efficiency of doctor.
In some alternative embodiments, treatment main frame 110 can also carry out treatment archives by modes such as networks
Upload and download, using cloud formed big data case database, on the one hand facilitate examining for patient
Treat, on the other hand can also further provide for the accuracy for the treatment of recommendations.
Fig. 5 is the schematic diagram of the control method of shock wave treatment instrument 100 according to an embodiment of the invention,
The control method includes：
Step S502, shoots the Infrared Thermogram of treated sites, and exports in real time；
Step S504, obtains and is instructed according to the setting that Infrared Thermogram is input into by treating personnel；
Step S506, according to the shock wave treatment handle 120 for setting instruction regulation shock wave treatment instrument 100
Impact energy, number of shocks, frequency of impact in one or more.
Can also be stored in therapeutic process after step S502 Infrared Thermogram over the course for the treatment of with
With the treatment archives of shock wave treatment handle 120, treatment archives are formed, for subsequently transferring.It is certain in accumulation
Treatment archives after, can also be according to the characteristics of image of Infrared Thermogram, successful case controls before matching
Treatment scheme, for directly using, improves treatment success rate and therapeutic efficiency.
The shock wave treatment instrument 100 and its control method of the present embodiment are typically high in focus areas of inflammation temperature
On the basis of the discovery of normal region, the red of treated sites is obtained using thermal infrared imager 130
Outer thermography, and export in real time, facilitate treatment personnel that the specific position of focus inflammation is determined according to Infrared Thermogram
Put, one or more in impact energy, number of shocks, the frequency of impact of shock wave be targetedly set,
The accuracy for the treatment of is improve, objective basis are provided for treatment personnel carry out shock wave treatment.Further,
Shock wave treatment instrument 100 of the present invention and its control method, can also store treatment archives, be easy to understand patient
Situation, carry out output shock wave according to the therapeutic scheme for meeting illness actual conditions, and also can control
Auto-matching goes out corresponding treatment recommendations during treatment, further increases the efficiency of diagnosis and treatment.
So far, although those skilled in the art will appreciate that herein it is detailed have shown and described it is of the invention
Multiple exemplary embodiments, but, without departing from the spirit and scope of the present invention, still can be according to this
Disclosure of invention directly determines or derives many other variations or modifications for meeting the principle of the invention.Cause
This, the scope of the invention should be understood and defined as covering all these other variations or modifications.
Claims (10)
1. a kind of shock wave treatment instrument, it is characterised in that including：
Shock wave treatment handle, it includes impact component and treatment head, wherein the impact component is in compression
Air drives lower shock treatment head, makes treatment head coupled surge wave energy and to the treated body reclined with it
Epitope puts applying shock wave；
Thermal infrared imager, is configured to obtain the Infrared Thermogram of the treated sites；
Treatment main frame, is connected, and configure respectively with the shock wave treatment handle and the thermal infrared imager
Into exporting the Infrared Thermogram in real time, and it is empty controllably to the shock wave treatment handle to provide the compression
Gas is with or many in the impact energy, number of shocks, the frequency of impact that change the shock wave treatment handle
.
2. shock wave treatment instrument according to claim 1, it is characterised in that also include：
Mechanical arm, the infrared lens for carrying the thermal infrared imager, so that infrared lens alignment institute
State treated sites；And
The shock wave treatment handle is hand-held by treating personnel, and shock wave is adjusted with according to the Infrared Thermogram
Applying position.
3. shock wave treatment instrument according to claim 1, it is characterised in that the treatment main frame includes：
Air compressor, compressed air is provided for producing to the shock wave treatment handle；
Man Machine Interface, the setting instruction for the treatment of personnel is come from for obtaining；
Air compression controller, for according to the operational factor for setting the instruction regulation air compressor
With one or more in the impact energy, number of shocks, the frequency of impact that change the shock wave treatment handle.
4. shock wave treatment instrument according to claim 3, it is characterised in that the treatment main frame is also wrapped
Include：
Display module, is configured to export the Infrared Thermogram in real time, and exports the air compressor
Operational factor.
5. shock wave treatment instrument according to claim 4, it is characterised in that the display module includes：
One display screen, the display screen is divided into Infrared Thermogram viewing area and operational factor is aobvious
Show area.
6. shock wave treatment instrument according to claim 5, it is characterised in that
The display screen is Touch screen, and is configured to receive treatment personnel to the operational factor and institute
State the setting of thermal infrared imager imaging parameters.
7. shock wave treatment instrument according to any one of claim 1 to 6, it is characterised in that described to control
Treating main frame also includes：
Data processing equipment, is configured to store the Infrared Thermogram and the shock wave over the course for the treatment of
Impact energy, number of shocks and the frequency of impact of handle are treated, treatment archives is formed, for subsequently transferring.
8. shock wave treatment instrument according to claim 7, it is characterised in that the data processing equipment is also
It is configured to：
Signature analysis is carried out to the Infrared Thermogram, and feature is inquired from the treatment archives for having stored
The Infrared Thermogram matched somebody with somebody, transfers the impact energy of the corresponding shock wave treatment handle of the Infrared Thermogram for inquiring
Amount, number of shocks and frequency of impact, form treatment recommendations.
9. a kind of control method of shock wave treatment instrument, it is characterised in that including：
The Infrared Thermogram of treated sites is shot, and is exported in real time；
Obtain and instructed according to the setting that the Infrared Thermogram is input into by treating personnel；
The impact energy of the shock wave treatment handle according to the setting instruction regulation shock wave treatment instrument,
One or more in number of shocks, frequency of impact.
10. control method according to claim 9, it is characterised in that shooting treated body surface
Also include after the step of Infrared Thermogram of position：
The storage Infrared Thermogram over the course for the treatment of is with the impact energy with the shock wave treatment handle
Amount, number of shocks and frequency of impact, form treatment archives, for subsequently transferring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510902727.3A CN106852700A (en) | 2015-12-08 | 2015-12-08 | Shock wave treatment instrument and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510902727.3A CN106852700A (en) | 2015-12-08 | 2015-12-08 | Shock wave treatment instrument and its control method |
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| Publication Number | Publication Date |
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| CN106852700A true CN106852700A (en) | 2017-06-16 |
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| CN201510902727.3A Withdrawn CN106852700A (en) | 2015-12-08 | 2015-12-08 | Shock wave treatment instrument and its control method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109893766A (en) * | 2017-12-08 | 2019-06-18 | 张亮 | A kind of application with the infrared spectroscopy therapeutic equipment of big data analysis on gynecological clinic |
| CN110292713A (en) * | 2019-07-05 | 2019-10-01 | 鲍玉珍 | The THz wave of ankylosing spondylitis disease physical therapy emulates physical therapy device |
| CN110292712A (en) * | 2019-07-05 | 2019-10-01 | 鲍玉珍 | THz wave physical therapy device for lymphangioleiomyoma disease |
| CN110292711A (en) * | 2019-07-05 | 2019-10-01 | 鲍玉珍 | THz wave physical therapy device for the elderly's cerebellar atrophy disease |
| CN110448806A (en) * | 2019-08-29 | 2019-11-15 | 鲍玉珍 | THz wave physical therapy terminal, the THz wave physical therapeutic system for early metaphase Parkinson |
| CN111249146A (en) * | 2020-01-19 | 2020-06-09 | 北京道贞健康科技发展有限责任公司 | Massage navigation system and method |
| CN111375136A (en) * | 2019-10-09 | 2020-07-07 | 鲍玉珍 | Terahertz wave physiotherapy terminal and terahertz wave physiotherapy system for early and medium-term breast cancer |
| CN113995512A (en) * | 2021-02-07 | 2022-02-01 | 武汉光脉科技有限公司 | Full-automatic tracking minimally invasive laser ablation surgical robot system and treatment method thereof |
| CN114010961A (en) * | 2021-02-07 | 2022-02-08 | 武汉光脉科技有限公司 | Full-automatic tracking laser pain treatment robot system and treatment method thereof |
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2015
- 2015-12-08 CN CN201510902727.3A patent/CN106852700A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109893766A (en) * | 2017-12-08 | 2019-06-18 | 张亮 | A kind of application with the infrared spectroscopy therapeutic equipment of big data analysis on gynecological clinic |
| CN110292713A (en) * | 2019-07-05 | 2019-10-01 | 鲍玉珍 | The THz wave of ankylosing spondylitis disease physical therapy emulates physical therapy device |
| CN110292712A (en) * | 2019-07-05 | 2019-10-01 | 鲍玉珍 | THz wave physical therapy device for lymphangioleiomyoma disease |
| CN110292711A (en) * | 2019-07-05 | 2019-10-01 | 鲍玉珍 | THz wave physical therapy device for the elderly's cerebellar atrophy disease |
| CN110292713B (en) * | 2019-07-05 | 2021-12-17 | 鲍玉珍 | Terahertz wave simulation physical therapy device for physical therapy of ankylosing spondylitis |
| CN110448806A (en) * | 2019-08-29 | 2019-11-15 | 鲍玉珍 | THz wave physical therapy terminal, the THz wave physical therapeutic system for early metaphase Parkinson |
| CN111375136A (en) * | 2019-10-09 | 2020-07-07 | 鲍玉珍 | Terahertz wave physiotherapy terminal and terahertz wave physiotherapy system for early and medium-term breast cancer |
| CN111375136B (en) * | 2019-10-09 | 2021-12-28 | 鲍玉珍 | Terahertz wave physiotherapy terminal and terahertz wave physiotherapy system for early and medium-term breast cancer |
| CN111249146A (en) * | 2020-01-19 | 2020-06-09 | 北京道贞健康科技发展有限责任公司 | Massage navigation system and method |
| CN113995512A (en) * | 2021-02-07 | 2022-02-01 | 武汉光脉科技有限公司 | Full-automatic tracking minimally invasive laser ablation surgical robot system and treatment method thereof |
| CN114010961A (en) * | 2021-02-07 | 2022-02-08 | 武汉光脉科技有限公司 | Full-automatic tracking laser pain treatment robot system and treatment method thereof |
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Application publication date: 20170616 |
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