CN104983544A - Wearable cervical vertebra rehabilitation medical robot - Google Patents

Wearable cervical vertebra rehabilitation medical robot Download PDF

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Publication number
CN104983544A
CN104983544A CN201510404981.0A CN201510404981A CN104983544A CN 104983544 A CN104983544 A CN 104983544A CN 201510404981 A CN201510404981 A CN 201510404981A CN 104983544 A CN104983544 A CN 104983544A
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China
Prior art keywords
cervical vertebra
actuator
medical robot
rehabilitation medical
wearable
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CN201510404981.0A
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CN104983544B (en
Inventor
杨炽夫
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Kazakhstan Tian Yu (Zhongshan) robotics Co., Ltd.
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Harbin Tianyu Rehabilitation Medical Robot Co Ltd
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Abstract

The invention provides a wearable cervical vertebra rehabilitation medical robot. The wearable cervical vertebra rehabilitation medical robot is provided with an upper headgear used for fixing the head, an upper body fixing support and a driving device. The upper headgear and the upper body fixing support are connected with actuators through spherical hinges and supports of the spherical hinges, and the actuators can be driven in various modes such as the hydraulic mode, the electric mode and the pneumatic mode. The robot can bear part of the weight of the brain or all the weight of the brain, so that cervical vertebra loads are reduced, and a patient can feel more comfortable; meanwhile, brain activities are not limited, three-degree-of-freedom motion is achieved, and cervical vertebra traction rehabilitation therapy can further be achieved according to orders of a doctor. The wearable cervical vertebra rehabilitation medical robot can be used for rehabilitation therapy and cervical vertebra sick monitoring for cervical spondylosis postoperation, cervical vertebra injury postoperation and neck spine postoperation, and is simple, small and exquisite in structure, convenient to carry and suitable for hospitals, families and the like.

Description

A kind of wearable cervical vertebra rehabilitation medical robot
Technical field
The present invention relates to a kind of cervical vertebra rehabilitation medical apparatus and instruments, belong to physical therapy appliance field.
Background technology
Cervical spondylosis is a kind of cervical vertebra degenerative disease, extensively exists in various crowd.Cervical spondylosis is mainly because intervertebral disc degradation is with outstanding, surrounding tissue and structure is caused to produce Secondary cases change thus cause a series of clinical symptoms, it creates various harmful effect to daily life and work, and initial reaction is pain, dizziness, vomiting, numbness of hand, insomnia, reflexive pain etc.If not promptly treatment, the state of an illness further develops, and also may cause irregularities watery nasal discharge, visual deterioration, the serious consequences such as facial paralysis or muscle of upper extremity atrophy; Have a strong impact on people and enjoy healthy life.
Wherein cervical traction can alleviate musculi colli spasm, increases the distance between vertebral body, removes the light compressing suffered by root, vertebral artery and spinal cord of cervical region god or stimulation, has good effect, have the effect of prevention and health care simultaneously to alleviation and treatment cervical spondylosis.But due to the easy recurrent exerbation of cervical spondylosis, the treatment time of needs is longer, and wastes time and energy to various medical institutions, therefore develops family therapy on the basis of hospitalize necessary.The present invention is intended to propose a kind of structure small portable, cervical vertebra rehabilitation medical robot simple to operate.The Wearable cervical vertebra rehabilitation medical robot that the present invention proposes can realize the motion of 3 degree of freedom; Adopt power control mode, rationally arrange the large parameter (traction angle, pull strength and pull-in time) of cervical traction three, when preventing cervical vertebra rehabilitation medical robot out of control, power output is too large simultaneously simultaneously; And doctor's instruction cervical traction can be realized by control algolithm, for the rehabilitation that cervical spondylosis, cervical spine injury, cervical region are postoperative, solve the problem of general cervical vertebra medical apparatus and instruments function singleness.
Summary of the invention
The Wearable cervical vertebra rehabilitation medical robot that the present invention proposes comprises headgear (1), three actuator (2) (actuator is made up of piston and sleeve), upper body fixed support (3), back braces (4), the upper and lower ball pivot of actuator (5) and upper and lower ball hinged supports (6).Wherein, upper headgear comprises lower jaw holder and head supporting bracket, is used for supporting head part and fixing head position.Upper and lower ball hinged support is fixedly connected with by screw with upper body fixed support with upper headgear respectively.Three actuator are arranged in both sides shoulder and front, are connected with upper and lower ball hinged support by ball pivot.The reciprocating motion that the stretching motion of actuator is gone up in the axial direction by piston and sleeve realizes.This Wearable cervical vertebra rehabilitation medical robot both can carry out neck brace to be fixed, and can carry out cervical traction again, structure is simply small and exquisite, is easy to carry and collects, and facilitates the use such as hospital, family.
Wearable cervical vertebra rehabilitation medical robot of the present invention can control the motion of three actuator (2) and then realize the motion of cervical vertebra and head 3 degree of freedom.The motion of 3 degree of freedom comprises the rotation of all around and upper and lower translation.Wearable cervical vertebra rehabilitation medical robot of the present invention adopts power control mode, and power is controllable, simple to operate, easy to use.
The rehabilitation instruction of doctor can be input to controller by Wearable cervical vertebra rehabilitation medical robot of the present invention, and then realizes the postoperative rehabilitation of cervical spondylosis, cervical spine injury, cervical region.
Accompanying drawing explanation
Fig. 1: the human body of cervical vertebra rehabilitation medical robot dresses schematic diagram.
Fig. 2, Fig. 3: the structural representation of cervical vertebra rehabilitation medical robot.
Detailed description of the invention
With reference to figure 1, Fig. 2, Fig. 3, the specific embodiment of the invention adopts following technical scheme:
Wearable cervical vertebra rehabilitation medical robot comprises headgear (1), three scalable actuator (2) (actuator is made up of piston and sleeve, and piston can stretching motion in sleeve), upper body fixed support (3), back braces (4), controller, the upper and lower ball pivot of actuator (5) and upper and lower ball hinged support (6).Upper headgear is connected with actuator by ball hinged support, ball pivot with upper body fixed support.Upper headgear comprises lower jaw holder and head supporting bracket, be respectively used to support lower jaw and fixing head, described upper body fixed support is positioned over user's both shoulders and front, is fixed on user's upper body by braces, and the type of drive of actuator realizes by hydraulic pressure, the various ways such as electronic, pneumatic; Described controller, under control model, can control the flexible of described actuator, thus drives user's head and cervical vertebra motion, and under non-controlling pattern, the uncontrolled device of actuator controls, can along with the motion of user free-extension.
This Wearable cervical vertebra rehabilitation medical robot realizes 2 degree of freedom rotations of upper headgear and the translation of 1 degree of freedom by the reciprocating motion of driven plunger relative sleeve.
Wearable cervical vertebra rehabilitation medical robot adopts power control mode, has force transducer at actuator two ends, and when the power that force transducer senses exceedes threshold value, stop the motion of actuator, when preventing cervical vertebra rehabilitation medical robot out of control, power output is too large.And doctor's instruction can be inputted to controller, control the stretching motion of described actuator according to doctor's instruction, realize the traction recovering treatment of cervical vertebra.
Compared with this field similar-type products, the present invention has following advantage: 1. automatically adjust to rectification dynamics according to wearer's own situation, have more specific aim; 2. correcting robot can by adjustment actuator, and adjustment appliance attitude, ensures that wearer conveniently can carry out every daily routines, flexibly more convenient; 3. this product adopts active actuator to correct, and effect is even more ideal.

Claims (6)

1. a Wearable cervical vertebra rehabilitation medical robot, is characterized in that: this robot comprises headgear, upper body fixed support, braces, three scalable actuator and controller, wherein:
Described upper headgear comprises lower jaw holder and head supporting bracket, is respectively used to support lower jaw and fixing head position;
Described upper body fixed support is positioned over user's both shoulders and front, is fixed on user's upper body by braces;
Described top puts and is fixed with three upper ball hinged supports, described upper body fixed support is fixed with three lower ball hinged supports, one end of each actuator is connected with a upper ball hinged support by ball pivot, the other end is also connected with a lower ball hinged support by ball pivot, described actuator is made up of piston and sleeve, and piston can stretching motion in sleeve.
Described controller can control the flexible of described actuator, thus drives user's head and cervical vertebra motion, realizes the rotation of cervical region 2 degree of freedom and the translation of 1 degree of freedom.
2. Wearable cervical vertebra rehabilitation medical robot according to claim 1, wherein said actuator is by hydraulic pressure, electronic or pneumatic mode driving.
3. the Wearable cervical vertebra rehabilitation medical robot according to any one of claim 1-2, wherein said three upper ball hinged supports are separately fixed at both sides and the lower jaw backing portion of described upper headgear; Described three lower ball hinged supports are separately fixed at the support bracket fastened dual-shoulder position in described upper body and chest locations.
4. the Wearable cervical vertebra rehabilitation medical robot according to any one of claim 1-3, wherein said controller can receive the rehabilitation instruction of doctor's input, and the stretching motion of described actuator is controlled according to described rehabilitation instruction, realize the traction recovering treatment of cervical vertebra.
5. the Wearable cervical vertebra rehabilitation medical robot according to any one of claim 1-4, wherein said robot adopts power control mode, at actuator two ends, there is force transducer, when the power that force transducer senses exceedes threshold value, stop the motion of actuator, during to prevent cervical vertebra rehabilitation medical robot out of control, power output is too large.
6. the Wearable cervical vertebra rehabilitation medical robot according to any one of claim 1-5, wherein said robot has control model and non-controlling pattern, under control model, controls the flexible of described actuator by described controller; Under non-controlling pattern, the uncontrolled device of actuator controls, can along with the motion of user free-extension.
CN201510404981.0A 2015-07-10 2015-07-10 A kind of wearable cervical vertebra rehabilitation medical robot Active CN104983544B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107961138A (en) * 2017-12-05 2018-04-27 集美大学 Multifunctional cervical vertebra intelligent health-care instrument
CN108113846A (en) * 2017-12-05 2018-06-05 集美大学 Intelligent jaw support movement locus and its driving parameter designing instrument
CN108926456A (en) * 2018-06-14 2018-12-04 芜湖易泽中小企业公共服务股份有限公司 A kind of robot for neck rehabilitation
CN109172080A (en) * 2018-08-30 2019-01-11 蚌埠医学院 A kind of Torticollis orthosis
CN112107405A (en) * 2020-10-13 2020-12-22 上海理工大学 Wearable multifunctional cervical vertebra rehabilitation power exoskeleton

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Publication number Priority date Publication date Assignee Title
US5162027A (en) * 1991-02-21 1992-11-10 Robinson Bruce R Neck exercising device and method
US5501646A (en) * 1994-08-26 1996-03-26 W. G. Miller Associates Jaw, face and neck muscle exercise apparatus
CN101292935A (en) * 2008-02-02 2008-10-29 河北工业大学 Robot for rehabilitation of anklebone
CN101933875A (en) * 2010-07-21 2011-01-05 余姚市博安医疗器械科技有限公司 Hydraulic cervical vertebra tractor
CN202665916U (en) * 2012-06-28 2013-01-16 张怡元 Cervical vertebrae retractor
US8764693B1 (en) * 2013-11-20 2014-07-01 Richard A. Graham Systems and methods for decompression and elliptical traction of the cervical and thoracic spine
CN104146848A (en) * 2013-04-03 2014-11-19 江苏安惠医疗器械有限公司 Cervical vertebra stretching device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5162027A (en) * 1991-02-21 1992-11-10 Robinson Bruce R Neck exercising device and method
US5501646A (en) * 1994-08-26 1996-03-26 W. G. Miller Associates Jaw, face and neck muscle exercise apparatus
CN101292935A (en) * 2008-02-02 2008-10-29 河北工业大学 Robot for rehabilitation of anklebone
CN101933875A (en) * 2010-07-21 2011-01-05 余姚市博安医疗器械科技有限公司 Hydraulic cervical vertebra tractor
CN202665916U (en) * 2012-06-28 2013-01-16 张怡元 Cervical vertebrae retractor
CN104146848A (en) * 2013-04-03 2014-11-19 江苏安惠医疗器械有限公司 Cervical vertebra stretching device
US8764693B1 (en) * 2013-11-20 2014-07-01 Richard A. Graham Systems and methods for decompression and elliptical traction of the cervical and thoracic spine

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107961138A (en) * 2017-12-05 2018-04-27 集美大学 Multifunctional cervical vertebra intelligent health-care instrument
CN108113846A (en) * 2017-12-05 2018-06-05 集美大学 Intelligent jaw support movement locus and its driving parameter designing instrument
CN108113846B (en) * 2017-12-05 2020-02-21 集美大学 Intelligent jaw support motion track and driving parameter design instrument thereof
CN107961138B (en) * 2017-12-05 2020-02-21 集美大学 Multifunctional cervical vertebra intelligent health care instrument
CN108926456A (en) * 2018-06-14 2018-12-04 芜湖易泽中小企业公共服务股份有限公司 A kind of robot for neck rehabilitation
CN109172080A (en) * 2018-08-30 2019-01-11 蚌埠医学院 A kind of Torticollis orthosis
CN112107405A (en) * 2020-10-13 2020-12-22 上海理工大学 Wearable multifunctional cervical vertebra rehabilitation power exoskeleton

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Effective date of registration: 20180321

Address after: 528400 Guangdong city of Zhongshan province Tsuiheng Ma An Cun intersection of "three five" project workshop of A building in the first layer, second layer, third layer, fourth layer

Patentee after: Kazakhstan Tian Yu (Zhongshan) robotics Co., Ltd.

Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction

Patentee before: HARBIN TIANYU REHABILITATION MEDICAL ROBOT CO., LTD.

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