CN104983544B - A kind of wearable cervical vertebra rehabilitation medical robot - Google Patents
A kind of wearable cervical vertebra rehabilitation medical robot Download PDFInfo
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- 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
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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
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.
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 |
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| CN104983544A CN104983544A (en) | 2015-10-21 |
| CN104983544B true CN104983544B (en) | 2017-10-10 |
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| CN201510404981.0A Active CN104983544B (en) | 2015-07-10 | 2015-07-10 | A kind of wearable cervical vertebra rehabilitation medical robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111603720A (en) * | 2020-07-14 | 2020-09-01 | 四川大学华西医院 | Cervical vertebra function training instrument |
| CN112107405A (en) * | 2020-10-13 | 2020-12-22 | 上海理工大学 | Wearable multifunctional cervical vertebra rehabilitation power exoskeleton |
| US12048598B1 (en) | 2021-01-26 | 2024-07-30 | Bradley Curtis Johnson | System and method for head and neck support device |
Family Cites Families (7)
| 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 |
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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. |