CN114041962A - Bone setting method of full-automatic bone setting device - Google Patents
Bone setting method of full-automatic bone setting device Download PDFInfo
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Abstract
The invention discloses a bone setting method of a full-automatic bone setting device, which has the technical scheme that the method comprises the following steps of S1, scanning the outline of a human body and acquiring 3D human body outline data of the human body; s2, scanning the human body spine outline and acquiring human body 3D spine data; s3, generating an operation scheme of the bone-setting device based on the human body 3D human body contour data and the human body 3D spine data; s4, determining the initial position, the moving stroke, the moving speed and the acting force of the bone-setting device based on the operation scheme; s5, determining an operation scheme and starting to operate the bone setting device, the invention aims to provide a bone setting method of a full-automatic bone setting device, which can accurately detect a human body and apply impact force in the direction vertical to a vertebral joint to a vertebral herniation point of the human body after determining a treatment scheme, so that a disc of the lumbar disc herniation can be returned to the original position, thereby changing the extrusion of the lumbar disc herniation on nerve roots and naturally recovering the human body.
Description
Technical Field
The invention relates to a bone setting device, in particular to a bone setting method of a full-automatic bone setting device.
Background
The modern life and work pressure is large, the living habits of people are changed, and more patients with spondylopathy are suffered. To a certain extent, people are tolerant and persist in the work and life of the sick people. Over time, diseases such as cervical spondylosis and lumbar intervertebral disc protrusion gradually develop. The existing treatment methods are as follows: the western medicine is basically an operation and a drug therapy, and has good effect. But the recovery period in the later period of the operation is long. The medicament has large side effect and brings great burden to the patient in economy and body. The existing traditional Chinese medicine bone setting method, acupuncture and moxibustion and the like can not accurately and timely solve the problem of pain of patients, and can only achieve a long-time relieving state.
The treatment method of the existing lumbar vertebra treatment instrument comprises the following steps: firstly, the unilateral lumbar vertebrae physiological curvature problem of solving the patient, through heat treatment local muscle and joint flexibility, recycle the negative pressure lumbar vertebrae of lying and make it form physiological curvature in the certain time, nevertheless lumbar disc herniation patient feels, can not resume normal, does not really change the position of lumbar disc herniation and makes its focus still exist. The desired goal is not achieved. Another method is a traction bed, which works according to the following principle: the mechanical stretching is carried out on the lumbar disease patient, the intervertebral space is enlarged to reduce the extrusion of the lumbar disc herniation on nerves and spinal cords, the purpose of relieving is achieved, the traction treatment course is long, and the effect is not obvious. Because the lumbar vertebra gap is stretched by mechanical force in the traction process, the force is large, local muscle and ligament can be pulled, secondary injury is caused, and the pain of a patient is increased. If the stretching force is small, the relieving effect of pulling the intervertebral space apart to reduce the extruded nerve can not be achieved. The various treatment methods do not achieve the expected effect on the lumbar spondylosis.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a full-automatic bone setting method of a bone setting device, which can accurately detect a human body and apply impact force in the direction vertical to spinal joints to the lumbar disc herniation points after a treatment scheme is determined so as to return the intervertebral discs of the lumbar disc herniation to the original positions, thereby changing the extrusion of the lumbar disc herniation on nerve roots and naturally restoring the human body.
In order to achieve the purpose, the invention provides the following technical scheme: a full-automatic bone setting method of a bone setting device comprises the steps of S1, scanning the outline of a human body and acquiring the 3D human body outline data of the human body;
s2, scanning the human body spine outline and acquiring human body 3D spine data;
s3, generating an operation scheme of the bone-setting device based on the human body 3D human body contour data and the human body 3D spine data;
s4, determining the initial position, the moving stroke, the moving speed and the acting force of the bone-setting device based on the operation scheme;
s5, determining the operation scheme and starting to operate the bone-setting device.
The invention is further configured to: said S1 is preceded by a preparation step Sa,
the Sa comprises Sa1, and a person lies on the bed body;
sa2, fixing the position of the human body;
sa3, adjusting the bed angle.
The invention is further configured to: and a step Sb is also included between the Sa2 and the Sa3, and the human body is subjected to a pre-stretching step.
The invention is further configured to: s1 comprises that S11 drives the laser scanning device to scan the human body in sequence through the movable frame;
s12, acquiring external contour data of the human body;
s13, the external contour data is transmitted to the control computer.
The invention is further configured to: the S2 comprises a driving sensor S21 attached to the back of the human body;
s22, driving the sensor to scan the human vertebra through the movable frame;
s23, acquiring human vertebra data;
s24, transmitting the spine data to the control computer.
The invention is further configured to: the step S3 includes the steps of constructing a bone-setting plan generating algorithm with a self-learning function, and inputting human body parameters, bone-setting method data and corresponding bone-setting equipment operation methods into the bone-setting plan generating algorithm to obtain a final bone-setting equipment operation method.
The invention is further configured to: the S3 includes, S31, receiving the outer contour data and the spine data;
s32, establishing an external muscle structure model according to the external contour data;
s33, establishing an internal skeleton structure model according to the vertebra data;
and S34, inputting the external muscle structure model and the skeleton structure model into the bone shaping plan generating algorithm to generate the operation plan of the bone shaping equipment.
The invention is further configured to: the S4 concretely comprises the steps of S41 generating the initial position, the moving stroke, the moving speed and the acting force of the bone-setting device;
and S42, generating confirmation information for the operator to confirm.
The invention is further configured to: the step S4 further comprises a step S43 of carrying out simulation display on the bone-setting action and the effect after bone setting through the control terminal and confirming the results by an operator.
The invention is further configured to: the step S5 includes applying an impact force perpendicular to the spinal joint by a manipulator.
In conclusion, the invention has the following beneficial effects: the method comprises the steps of firstly scanning the external contour and the internal skeleton contour of a human body through a detection device to generate a corresponding external muscle structure model and an internal skeleton structure model, inputting the external muscle structure model and the internal skeleton structure model into a processing model of a control computer, automatically generating an operation scheme of the bone shaping device, and transmitting the operation scheme into the bone shaping device, so that the bone shaping device carries out treatment operation on the human body at a corresponding position according to the operation scheme, firstly moving a reset head of the bone shaping device to a specified position, then setting a moving track, a moving speed and force acting on the human body, and replacing manual operation of a doctor through the bone shaping device, thereby greatly freeing human resources.
The device and the operation method of the device not only can fully automatically detect the self outline and skeleton state of the human body, but also can automatically analyze the pathology and provide a targeted operation scheme based on the detection result, and impact force in the direction perpendicular to the vertebral joint is applied to the salient point of the affected part of the human body. So that the disc with the lumbar disc herniation can be restored to the original position. Thereby changing the extrusion of the lumbar disc herniation to the nerve. The human body can be naturally recovered.
Drawings
Fig. 1 is a schematic view illustrating a process of a bone-setting method of a fully automatic bone-setting device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1, in order to achieve the above object, the present invention provides the following technical solutions: a full-automatic bone setting method of a bone setting device comprises the steps of S1, scanning the outline of a human body and acquiring the 3D human body outline data of the human body;
s2, scanning the human body spine outline and acquiring human body 3D spine data;
s3, generating an operation scheme of the bone-setting device based on the human body 3D human body contour data and the human body 3D spine data;
s4, determining the initial position, the moving stroke, the moving speed and the acting force of the bone-setting device based on the operation scheme;
s5, determining the operation scheme and starting to operate the bone-setting device.
According to the design of the invention, the external contour and the internal skeleton contour of the human body are scanned by the detection equipment to generate the corresponding external muscle structure model and the internal skeleton structure model, then the external muscle structure model and the internal skeleton structure model are input into the processing model of the control computer, the operation scheme of the bone-setting device is automatically generated and transmitted into the bone-setting device, so that the bone-setting device carries out treatment operation on the human body at the corresponding position according to the operation scheme, the reduction head of the bone-setting device is moved to the specified position at first, the moving track, the moving speed and the force acting on the human body are set, and the manual operation of a doctor is replaced by the bone-setting equipment, so that the human resources are greatly liberated.
The device and the operation method of the device not only can fully automatically detect the self outline and skeleton state of the human body, but also can automatically analyze the pathology and provide a targeted operation scheme based on the detection result, and impact force in the direction perpendicular to the vertebral joint is applied to the salient point of the affected part of the human body. So that the disc with the lumbar disc herniation can be restored to the original position. Thereby changing the extrusion of the lumbar disc herniation to the nerve. The human body can be naturally recovered.
S1 is preceded by a preparation step Sa,
sa comprises Sa1, and people lie on the bed body;
sa2, fixing the position of the human body;
sa3, adjusting the bed angle.
A step Sb is also included between the Sa2 and the Sa3, and the human body is subjected to a pre-stretching step.
This Sa and Sb's design can make human both feet liftoff through adjusting device when the human body lies on the bed body, can make human lumbar vertebrae joint relax the intervertebral disc clearance nature like this and enlarge the accuracy of the detection of not only convenient earlier stage but also make things convenient for follow-up treatment operation.
The human body can be prevented from shifting in the detection process to influence the subsequent detection structure, and the fixing mode can be designed in the form of a binding belt.
S1 includes that S11 drives the laser scanning device to scan the human body in turn through the movable frame;
s12, acquiring external contour data of the human body;
s13, the external contour data is transmitted to the control computer.
S2 includes, S21, the driving sensor is attached to the back of the human body;
s22, driving the sensor to scan the human vertebra through the movable frame;
s23, acquiring human vertebra data;
s24, transmitting the spine data to the control computer.
S3 includes building a self-learning osteopathy scheme generation algorithm, inputting human parameters, osteopathy method data and corresponding osteopathy device operation methods into the osteopathy scheme generation algorithm to obtain a final osteopathy device operation method.
The bonesetting plan generation algorithm with the self-learning function may be a deep learning-based convolutional neural network model.
S3 includes, S31, receiving the outer contour data and the spine data;
s32, establishing an external muscle structure model according to the external contour data;
s33, establishing an internal skeleton structure model according to the vertebra data;
and S34, inputting the external muscle structure model and the skeleton structure model into the bone shaping plan generating algorithm to generate the operation plan of the bone shaping equipment.
S4 includes S41 generating the initial position, the moving stroke, the moving speed and the acting force of the bone-setting device;
and S42, generating confirmation information for the operator to confirm.
The step S4 further includes a step S43 of performing a simulation display of the bone-setting action and the effect after the bone-setting through the control terminal, and confirming the result by the operator.
When the operation method of the bone-setting equipment generated by the bone-setting scheme generation algorithm with the self-learning function is used for equipment operators or doctors to check, the operation scheme generated by the program is rechecked based on the scanned human body data and the spine data and by combining the actual situation of the bone-setting person; the operating scheme is adjusted if necessary.
If the treatment plan is generated for a long time and the position of the body of the patient relative to the bone-setting bed is changed (for example, the patient goes out of the bed to wait for the treatment plan), the focus of the patient needs to be repositioned to ensure that the bone-setting position is accurate, and therefore, the secondary scanning is carried out.
S5 includes applying an impact force perpendicular to the spinal joint via a manipulator.
To achieve the above object, the present invention provides the following apparatus: a full-automatic bone setting device comprises a bed body, a human body external 3D contour scanning device, a human body 3D spine scanning device, an automatic arm body and a control terminal, wherein the human body external 3D contour scanning device and the human body 3D spine scanning device are arranged on the bed body and are connected to the bed body in a sliding mode, and the human body external 3D contour scanning device is used for scanning the outline of a human body and generating outline information;
the human body 3D spine scanning device is used for scanning the human body spine contour and generating spine contour information;
the control terminal is respectively in communication connection with the human body external 3D contour scanning device and the human body 3D spine scanning device, and is used for receiving the outer contour information and the spine contour information and generating a 3D contour image and a treatment scheme;
the automatic arm body is in communication connection with the control terminal and is used for performing treatment operation according to a treatment scheme.
The bed body is provided with a movable frame and a driving device for driving the movable frame to move, the human body external 3D contour scanning device and the human body 3D spine scanning device are both arranged on the movable frame, and the driving device is in communication connection with the control terminal.
The driving device comprises a guide rail and a driving motor, the guide rail is embedded in the bed body and extends along the length direction of the bed body, and when a person to be detected lies along the length direction of the bed body, the driving motor drives the human body external 3D contour scanning device and the human body 3D spine scanning device to move and scan a human body. The driving motor can push the moving frame to move along the direction of the guide rail, other structures such as a screw rod structure and the like can be adopted as the guide structure besides the guide rail structure, and the stable movement of the moving frame can be realized, so that the stable scanning work of the human body external 3D contour scanning device and the human body 3D spine scanning device on the human body is realized.
In addition, in order to avoid removing the frame and cause the inconvenient bed of lying of patient, be provided with the upset subassembly that is used for driving the removal frame and carries out the upset in the one end of the bed body, when drive arrangement drove the removal frame and remove the one end to the bed body, make the below of removing the frame upset to the bed body through the upset subassembly to avoid rising up and lying to the patient and cause the interference, and this upset subassembly can be for forming the operation structure of chain and gear with the guide rail combination.
The bed body is including bed board and bedstead and adjusting device, and bed board length direction's one side sets up with the bedstead is articulated, and adjusting device is used for driving the bed board and upwards overturns along the hinged end, and adjusting device and control terminal communication are connected. Adjusting device drives actuating cylinder including driving, drives actuating cylinder and is connected the setting with the bed board and keeps away from one side of hinged end.
This adjusting device's design can make patient both feet liftoff through adjusting device when the patient lies on the bed body, can make human lumbar vertebrae joint relax the intervertebral disc clearance nature like this and enlarge the accuracy of the detection of not only making things convenient for the earlier stage but also make things convenient for follow-up to carry out the treatment operation. Besides the driving cylinder, the adjusting device can also adopt other lifting devices.
The automatic arm body comprises a data receiving unit, a data processing unit and an operation unit, wherein the data receiving unit is in communication connection with the control terminal and is used for receiving the treatment scheme transmitted by the control terminal;
the data processing unit is electrically connected with the data receiving unit and is used for generating an operation scheme according to the treatment scheme;
the operation unit is electrically connected with the data processing unit and is used for carrying out treatment operation according to the operation scheme.
The determined treatment scheme is sent to the automatic arm through a control terminal (a control computer), the automatic arm converts the treatment scheme into an operation scheme of the automatic arm through a data processing unit, and the operation scheme comprises the following steps: initial position, force, angle, manipulation speed, etc. of the robotic arm. The treatment scheme can be directly converted into an operation scheme through the control computer, and the control of the automatic arm is realized. The advantage of the first method over the second method is that when the robot arm body is self-formed into a complete mechanical system, the robot arm body can identify a new part after a part of the robot arm body is replaced, thereby achieving subsequent automatic adjustment.
The operation unit comprises a reset head and a servo mechanism part, the servo mechanism part is electrically connected with the data processing unit, the reset head is arranged on the servo mechanism part, and the servo mechanism part is used for driving the reset head to press the spine position of the patient. The servo mechanism part controls an acting force-displacement curve (ensuring force and speed) to simulate the technique and realize the aim of accurate reset.
The reset head comprises an adjusting disk arranged on the servo mechanism part and a plurality of mechanical silica gel fingers arranged on the adjusting disk, the diameters of the mechanical silica gel fingers are different in size, the adjusting disk is electrically connected with the data processing unit, and the adjusting disk is used for adjusting the positions of the mechanical silica gel fingers.
Design of different mechanical silicone fingers: 1. since the bone sizes of different patients are different, the mechanical silicone fingers with the corresponding sizes are selected according to the corresponding sizes (or the mechanical silicone fingers with the corresponding sizes are selected according to specific conditions), so that the optimal treatment effect is achieved. 2. Different methods are realized by selecting a plurality of mechanical silica fingers at different positions.
The adjusting disc comprises a mounting disc and a control piece for driving the mechanical silica gel fingers to extend out or retract. The design of this adjustment disk is through accomodating, stretching out to indicate to control mechanical silica gel, avoids a plurality of mechanical silica gel to indicate influence the operation in the time simultaneously.
The servo mechanism part comprises a telescopic part, an angle adjusting part and a pressing part which are sequentially arranged on the mounting part, and the telescopic part is used for adjusting the position of the reset head away from the patient;
the angle adjusting part is used for adjusting the angular position relation between the reset head and the patient;
the pressing part is used for adjusting the downward pressure degree and the downward pressing stroke of the reset head.
The telescopic part comprises an outer rod arranged on the mounting part, an inner rod connected in the outer rod in a sliding manner and a driving piece for driving the inner rod to move.
The angle adjusting part comprises a rotating head hinged on the telescopic part and a rotating motor driving the rotating head to rotate. This angle adjustment portion can adopt universal regulation structure, and the convenience is adjusted according to patient's the appearance of lying.
The pressing part comprises a driving cylinder for driving the reset head to move.
The above-mentioned telescopic manner of the telescopic portion, the adjusting manner of the angle adjusting portion, and the driving manner of the pressing portion may be replaced by other similar structures capable of achieving the corresponding functions.
The telescopic part, the angle adjusting part and the pressing part can perfectly simulate the bone-setting manipulation and directly carry out targeted therapy on the affected part through the automatic arm. Short time, quick effect, no pain, low cost and the like. The effect is obvious.
The reset head is also provided with a force sensor which is used for monitoring the pressure and the vertebra state of the patient in real time and feeding back the monitoring result to the control terminal.
The design of this strength sensor, real-time supervision according to the pressure intensity and vertebra feedback power at the in-process of pressing to know the treatment progress, conveniently in time adjust, thereby guarantee the validity of treatment.
The bed body is provided with a fixing device for fixing the body posture of the patient. The bed body is provided with a one-key reset switch for controlling the reset of the adjusting device, the human body external 3D contour scanning device and the human body 3D spine scanning device.
This one key reset switch's design can make things convenient for operating personnel to control, reaches convenient quick effect. The fixing device is used for fixing the body of a patient, avoids deviation in the detection process and influences the subsequent detection structure, and can be designed in the form of a binding belt.
The human body external 3D contour scanning device comprises a laser scanner. The laser scanner is a non-contact measurement used to scan the patient's back contour and generate an external muscle structure model.
The human body 3D vertebra scanning device comprises a pressing device and a plurality of pressure sensors arranged on the pressing device. The human body 3D spine scanning device is in contact type measurement and is used for pressing and detecting the spine structure of a patient and generating an internal skeleton structure model; the sensor regeneration system is composed of parallel high-precision pressure sensors.
The pressing device can move up and down and is used for controlling the pressure sensor to be in contact with the spine of a patient.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. A bone setting method of a full-automatic bone setting device is characterized by comprising the following steps: step S1, scanning the outline of the human body and acquiring the 3D human body outline data of the human body;
s2, scanning the human body spine outline and acquiring human body 3D spine data;
s3, generating an operation scheme of the bone-setting device based on the human body 3D human body contour data and the human body 3D spine data;
s4, determining the initial position, the moving stroke, the moving speed and the acting force of the bone-setting device based on the operation scheme;
s5, determining the operation scheme and starting to operate the bone-setting device.
2. The bone-setting method of a full-automatic bone-setting device as claimed in claim 1, wherein: said S1 is preceded by a preparation step Sa,
the Sa comprises Sa1, and a person lies on the bed body;
sa2, fixing the position of the human body;
sa3, adjusting the bed angle.
3. The bone-setting method of a full-automatic bone-setting device as claimed in claim 2, wherein: and a step Sb is also included between the Sa2 and the Sa3, and the human body is subjected to a pre-stretching step.
4. The bone-setting method of a full-automatic bone-setting device as claimed in claim 1, wherein: s1 comprises that S11 drives the laser scanning device to scan the human body in sequence through the movable frame;
s12, acquiring external contour data of the human body;
s13, the external contour data is transmitted to the control computer.
5. The bone-setting method of a full-automatic bone-setting device as claimed in claim 1, wherein: the S2 comprises a driving sensor S21 attached to the back of the human body;
s22, driving the sensor to scan the human vertebra through the movable frame;
s23, acquiring human vertebra data;
s24, transmitting the spine data to the control computer.
6. The bone-setting method of a full-automatic bone-setting device as claimed in claim 1, wherein: the step S3 includes the steps of constructing a bone-setting plan generating algorithm with a self-learning function, and inputting human body parameters, bone-setting method data and corresponding bone-setting equipment operation methods into the bone-setting plan generating algorithm to obtain a final bone-setting equipment operation method.
7. The bone-setting method of a full-automatic bone-setting device as claimed in claim 6, wherein: the S3 includes, S31, receiving the outer contour data and the spine data;
s32, establishing an external muscle structure model according to the external contour data;
s33, establishing an internal skeleton structure model according to the vertebra data;
and S34, inputting the external muscle structure model and the skeleton structure model into the bone shaping plan generating algorithm to generate the operation plan of the bone shaping equipment.
8. The bone-setting method of a full-automatic bone-setting device as claimed in claim 7, wherein: the S4 concretely comprises the steps of S41 generating the initial position, the moving stroke, the moving speed and the acting force of the bone-setting device;
and S42, generating confirmation information for the operator to confirm.
9. The bone-setting method of a full-automatic bone-setting device as claimed in claim 8, wherein: the step S4 further comprises a step S43 of carrying out simulation display on the bone-setting action and the effect after bone setting through the control terminal and confirming the results by an operator.
10. The bone-setting method of a full-automatic bone-setting device as claimed in claim 1, wherein: the step S5 includes applying an impact force perpendicular to the spinal joint by a manipulator.
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