CN104983544B - A kind of wearable cervical vertebra rehabilitation medical robot - Google Patents

A kind of wearable cervical vertebra rehabilitation medical robot Download PDF

Info

Publication number
CN104983544B
CN104983544B CN201510404981.0A CN201510404981A CN104983544B CN 104983544 B CN104983544 B CN 104983544B CN 201510404981 A CN201510404981 A CN 201510404981A CN 104983544 B CN104983544 B CN 104983544B
Authority
CN
China
Prior art keywords
actuator
cervical vertebra
upper
support
motion
Prior art date
Application number
CN201510404981.0A
Other languages
Chinese (zh)
Other versions
CN104983544A (en
Inventor
杨炽夫
Original Assignee
哈尔滨天愈康复医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 哈尔滨天愈康复医疗机器人有限公司 filed Critical 哈尔滨天愈康复医疗机器人有限公司
Priority to CN201510404981.0A priority Critical patent/CN104983544B/en
Publication of CN104983544A publication Critical patent/CN104983544A/en
Application granted granted Critical
Publication of CN104983544B publication Critical patent/CN104983544B/en

Links

Abstract

The invention provides a kind of Wearable cervical vertebra rehabilitation medical robot, it has upper headgear and upper body fixed support, for fixing head and drive device;Upper headgear is connected with upper body fixed support by ball pivot and its bearing with actuator, and actuator can be driven by the various ways such as hydraulic pressure, electronic, pneumatic;The robot can undertake the part or all of weight of brain, reduce cervical vertebra and bear a heavy burden, with more preferable comfortableness, while not limiting to the motion of brain, realize the motion of 3 frees degree, can also be instructed according to doctor, realize the traction recovering treatment of cervical vertebra;The present invention rehabilitation postoperative available for cervical spondylopathy, cervical spine injury, neck and cervical vertebra morbid state monitoring, it is simple in construction compact, it is convenient for carrying, it is adaptable to hospital, family etc..

Description

A kind of wearable cervical vertebra rehabilitation medical robot

Technical field

The present invention relates to a kind of cervical vertebra rehabilitation medicine equipment, belong to physical therapy appliance field.

Background technology

Cervical spondylopathy is a kind of cervical vertebra degenerative disease, is widely present in various crowds.Cervical spondylopathy is mainly due between cervical vertebra Disc degradation and protrusion, cause surrounding tissue and structure to produce Secondary cases change so as to cause a series of clinical symptoms, it is to people Daily life and work generate various harmful effects, initial reaction is pain, dizziness, vomiting, hand fiber crops, insomnia, reflectivity Pain etc..If not treating promptly, the state of an illness further develops, it is also possible to cause irregularities runny nose, visual impairment, facial paralysis or upper limbs The serious consequences such as muscular atrophy;Have a strong impact on the life that people enjoy health.

Wherein cervical traction can alleviate the distance between musculi colli spasm, increase centrum, release neck god light root, vertebra Compressing or stimulation suffered by artery and spinal cord, to alleviate and treatment cervical spondylopathy play the role of it is good, while having prevention and health care Effect.But be due to the easy recurrent exerbation of cervical spondylopathy, it is necessary to treatment time it is longer, and take to various medical institutions are time-consuming Power, therefore development family therapy is necessary on the basis of hospitalize.The present invention is directed to propose a kind of structure small portable, Cervical vertebra rehabilitation medical robot simple to operate.Wearable cervical vertebra rehabilitation medical robot proposed by the present invention can realize 3 The motion of the free degree;Power control mode is used simultaneously, rationally sets cervical traction three big parameter (traction angle, tractive force and to lead Draw the time), while preventing that power output is too big when cervical vertebra rehabilitation medical robot is out of control;And doctor can be realized by control algolithm Raw instruction cervical traction, the rehabilitation postoperative for cervical spondylopathy, cervical spine injury, neck solves general cervical vertebra medicine equipment The problem of function is single.

The content of the invention

Wearable cervical vertebra rehabilitation medical robot proposed by the present invention includes upper headgear (1), three actuator (2) (starts Device is made up of piston and sleeve), upper body fixed support (3), back brace (4), the upper and lower ball pivot of actuator (5) and upper and lower ball pivot Bearing (6).Wherein, upper headgear includes lower jaw support and head supporting bracket, for supporting head part and fixing head position.Upper and lower ball Hinged-support is fixedly connected with upper headgear and upper body fixed support by screw respectively.Three actuator are arranged in both sides shoulder And front, it is connected by ball pivot with upper and lower ball hinged support.The stretching motion of actuator by piston and sleeve in the axial direction on Reciprocating motion realize.This Wearable cervical vertebra rehabilitation medical robot can both carry out neck brace and fix, and cervical vertebra can be carried out again and is led Draw, it is simple in construction compact, it is easy to carry and collects, facilitates hospital, family etc. to use.

The Wearable cervical vertebra rehabilitation medical robot of the present invention can control the motion of three actuator (2) and then realize neck The motion of 3 frees degree of vertebra and head.The motion of 3 frees degree include around rotation and translation up and down.The present invention Wearable cervical vertebra rehabilitation medical robot use power control mode, power is controllable, simple to operate, easy to use.

The present invention Wearable cervical vertebra rehabilitation medical robot can by the rehabilitation instruction input of doctor to controller, and then Realize the postoperative rehabilitation of cervical spondylopathy, cervical spine injury, neck.

Brief description of the drawings

Fig. 1:The human body wearing schematic diagram of cervical vertebra rehabilitation medical robot.

Fig. 2, Fig. 3:The structural representation of cervical vertebra rehabilitation medical robot.

Embodiment

With reference to Fig. 1, Fig. 2, Fig. 3, the specific embodiment of the invention is adopted the following technical scheme that:

Wearable cervical vertebra rehabilitation medical robot is comprising upper headgear (1), (actuator is by living for three scalable actuator (2) Plug and sleeve composition, piston can be with stretching motion in sleeve), upper body fixed support (3), back brace (4), controller, work The dynamic upper and lower ball pivot of device (5) and upper and lower ball hinged support (6).Upper headgear and upper body fixed support pass through ball hinged support, ball pivot and work Dynamic device is connected.Upper headgear includes lower jaw support and head supporting bracket, is respectively used to support lower jaw and fixing head, the upper body is fixed Support is positioned over user's both shoulders and front, and user's upper body is fixed on by brace, and the type of drive of actuator can pass through hydraulic pressure, electricity The various ways such as dynamic, pneumatic are realized;The controller can control the flexible of the actuator, so as to drive under control model User's head and cervical vertebra motion, under non-controlling pattern, the uncontrolled device control of actuator can be with the motion of user certainly By stretching.

The Wearable cervical vertebra rehabilitation medical robot is by driving the reciprocating motion of piston relative sleeve to realize the 2 of upper headgear The individual free degree rotates the translation with 1 free degree.

Wearable cervical vertebra rehabilitation medical robot uses power control mode, has force snesor at actuator two ends, in power When the power that sensor sensing is arrived exceedes threshold value, stop the motion of actuator, prevent from exporting when cervical vertebra rehabilitation medical robot is out of control Power is too big.And doctor's instruction can be inputted and arrive controller, the stretching motion of the control actuator is instructed according to doctor, neck is realized The traction recovering treatment of vertebra.

Compared with the field similar-type products, the present invention has following advantage:1. according to wearer's own situation to correction Dynamics automatically adjusts, more targetedly;2. correction robot can adjust rectifier posture by adjusting actuator, Ensure that wearer can conveniently carry out every daily routines, it is more convenient flexible;3. this product is rectified using active actuator Just, effect is even more ideal.

Claims (2)

1. a kind of Wearable cervical vertebra rehabilitation medical robot, it is characterised in that:The robot includes upper headgear, upper body and fixes branch Frame, brace, three scalable actuator and controller, wherein:
The upper headgear includes lower jaw support and head supporting bracket, is respectively used to support lower jaw and fixing head position;
The upper body fixed support is positioned over user's both shoulders and front, and user's upper body is fixed on by brace;
The top, which puts to be fixed with three upper ball hinged supports, the upper body fixed support, is fixed with three lower ball hinged supports, Three actuator are arranged in both sides shoulder and front, and one end of each actuator is connected by ball pivot and a upper ball hinged support Connect, the other end is connected also by ball pivot and a lower ball hinged support, and the actuator is made up of piston and sleeve, and piston is in sleeve In can be with stretching motion;
Wherein described three upper ball hinged supports are separately fixed at the both sides and lower jaw backing portion of the upper headgear;Three lower balls Hinged-support is separately fixed at the support bracket fastened dual-shoulder position in the upper body and chest locations;
The controller can control the flexible of the actuator, so as to drive user's head and cervical vertebra to move, before and after realizing neck, The rotation of the free degree of left and right 2 and the up and down translation of 1 free degree;
The controller can receive the rehabilitation instruction of doctor's input, and instruct stretching for the control actuator according to the rehabilitation Contracting motion, realizes the traction recovering treatment of cervical vertebra;
The robot uses power control mode, and power is controllable, has force snesor at actuator two ends, in force snesor sense When the power that should be arrived exceedes threshold value, stop the motion of actuator, power output is too big during preventing that cervical vertebra rehabilitation medical robot is out of control;
The robot has control model and non-controlling pattern, under control model, and the start is controlled by the controller Device it is flexible;Under non-controlling pattern, the uncontrolled device control of actuator can freely stretch with the motion of user.
2. Wearable cervical vertebra rehabilitation medical robot according to claim 1, wherein the actuator passes through hydraulic pressure, electronic Or pneumatic mode driving.
CN201510404981.0A 2015-07-10 2015-07-10 A kind of wearable cervical vertebra rehabilitation medical robot CN104983544B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510404981.0A CN104983544B (en) 2015-07-10 2015-07-10 A kind of wearable cervical vertebra rehabilitation medical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510404981.0A CN104983544B (en) 2015-07-10 2015-07-10 A kind of wearable cervical vertebra rehabilitation medical robot

Publications (2)

Publication Number Publication Date
CN104983544A CN104983544A (en) 2015-10-21
CN104983544B true CN104983544B (en) 2017-10-10

Family

ID=54295541

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510404981.0A CN104983544B (en) 2015-07-10 2015-07-10 A kind of wearable cervical vertebra rehabilitation medical robot

Country Status (1)

Country Link
CN (1) CN104983544B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108113846A (en) * 2017-12-05 2018-06-05 集美大学 Intelligent jaw support movement locus and its driving parameter designing instrument
CN107961138A (en) * 2017-12-05 2018-04-27 集美大学 Multifunctional cervical vertebra intelligent health-care instrument

Family Cites Families (7)

* 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
CN203342004U (en) * 2013-04-03 2013-12-18 江苏安惠医疗器械有限公司 Lower jaw supporting 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

Also Published As

Publication number Publication date
CN104983544A (en) 2015-10-21

Similar Documents

Publication Publication Date Title
Sugar et al. Design and control of RUPERT: a device for robotic upper extremity repetitive therapy
CN101433491B (en) Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof
US10188159B2 (en) Apparatus, system, and method for reducing head or neck trauma
He et al. Design of a robotic upper extremity repetitive therapy device
KR20040095647A (en) A traction apparatus for the cervical vertebrae
Vuillerme et al. Can a plantar pressure–based tongue-placed electrotactile biofeedback improve postural control under altered vestibular and neck proprioceptive conditions?
JP2014519945A (en) Apparatus and method for healing trauma limbs
US20100298748A1 (en) mobilizing neck support device
CN102961231B (en) Gait rehabilitation training robot
Pietrusinski et al. Robotic gait rehabilitation trainer
DE60302956T2 (en) Orthopedic arm and shoulder splint
Xing et al. A wearable device for repetitive hand therapy
KR101099063B1 (en) Arm rehabilitation device using the air muscle
CN105919772B (en) A kind of wearable hand device for healing and training
US8496007B2 (en) Asymmetrical and complexly-curved, passive, device for relieving back and spinal postural mechanical pain
Lerner et al. A robotic exoskeleton for treatment of crouch gait in children with cerebral palsy: Design and initial application
KR101173164B1 (en) Cervical vertebrae tow and cure device
Heinrich The role of physical therapy in craniofacial pain disorders: an adjunct to dental pain management
EP3225363B1 (en) Exoskeleton for assisting human movement
EP3131516B1 (en) Rehabilitation mechanism for patients confined to bed and bed comprising the rehabilitation mechanism
US20090204039A1 (en) Device and Method for Treating Neck Tension or Neck Injury
CN202822004U (en) Vertebrae inversion intelligent swing therapy machine
Gillespie et al. Toward improved sensorimotor integration and learning using upper-limb prosthetic devices
US20080004556A1 (en) Multifunctional neck brace
KR20140148042A (en) Sleeping assist appliance for preventing snoring and sleep apnea

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

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.

TR01 Transfer of patent right