CN106073970A - A kind of vertebrae traction recovering robot - Google Patents
A kind of vertebrae traction recovering robot Download PDFInfo
- Publication number
- CN106073970A CN106073970A CN201610368635.6A CN201610368635A CN106073970A CN 106073970 A CN106073970 A CN 106073970A CN 201610368635 A CN201610368635 A CN 201610368635A CN 106073970 A CN106073970 A CN 106073970A
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- China
- Prior art keywords
- traction
- motor
- robot
- adjusting means
- slide block
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
Abstract
The invention discloses a kind of vertebrae traction recovering robot, this robot includes supporting seat, pillar, drag rope, traction headgear, traction angle adjusting apparatus, adjustable seat, lead adjusting means, soft force control device, computer control and acquisition system.The robot of the present invention can realize cervical traction angle, direction and the control accurate of pull strength size, cervical spondylosis patient can be carried out omnibearing rehabilitation, be greatly shortened the rehabilitation duration of cervical spondylosis.
Description
[technical field]
The present invention relates to rehabilitation medical robot field, particularly relate to a kind of vertebrae traction recovering robot.
[background technology]
Cervical vertebra is the place that in spinal column, mobility is maximum, it is possible to rotate, left and right lateral bending and front and back bending and stretching.The vertebra of cervical vertebra simultaneously
Between articular facets close to level, so Dislocation with locked facet easily occurs.Connect occipital bone, second line of a couplet thoracic vertebra, cervical vertebra vertebra on cervical vertebra simultaneously
Body rear is neck marrow, and upper cervical part of esophagus is oblongata, has vital center, is damaged to nerve, is in a bad way, can be with threat to life.So neck
The feature of vertebra damage is: cervical spine injury is susceptible to, and fracture of cervical vertebra accounts for the 30% of whole spinal fracture, can directly jeopardize patient
Life or the probability of high paraplegia.Cervical vertebra is connected with skull and structure thereof up, when the strength of head and cervical region surpasses
When crossing its protection structure institute's scattered ability of energy, cervical vertebra is by damaged, and in cervical spine injury, the patient of about 40% will have nerve
Symptom, the patient of the traumatic spinal cord injury of about 10% is without the x-ray evidence of obvious spinal cord injury, owing to cervical spine injury is dangerous
Relatively big, also have bigger potentially danger, so correct assessment and and early treatment cervical spine injury and potential cervical spine injury non-
The most important.The most domestic more existing patent achievements for cervical vertebrae recovery therapeutic, and these achievements all have limitation definitely,
If the angle of traction fix, simulate doctor's therapeutic process scarce capacity, fixing not steadily, dress the most comfortable etc..
[summary of the invention]
Present invention is generally directed in cervical spine injury patient, in conjunction with robotics, kinesiology, ergonomics scheduling theory
Carry out Machine Design, propose a kind of have multiple degrees of freedom training direction, the vertebrae traction recovering therapeutic machine of multi-modal training form
Device people.
In order to achieve the above object, the technical scheme that the present invention proposes is as follows:
A kind of vertebrae traction recovering robot, this robot includes supporting seat, pillar, drag rope, traction headgear, traction
Angle regulator, adjustable seat, lead adjusting means, soft force control device, computer control and acquisition system；
Described support seat is used for supporting whole robot, and described pillar is vertically fixed on described support seat；
Described traction angle adjusting means is fixed on the top of described pillar, and parallel with described support seat；Described traction
Angle regulator includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor；Described screw mandrel slide unit
Being fixed on the top of described cross bar, and have the slide block that can slide on this screw mandrel slide unit, described second motor is used for pulling this
Slide block slides on screw mandrel slide unit；Fix below described slide block and be connected to a pulley；The steel cable of described stay wire displacement sensor
It is connected to described slide block, for detecting the displacement of slide block；
Described soft force control device includes base, and the first motor fixing on base and reducer assemblies, connection
Axial organ, torque sensor assembly and line wheel assembly, described base is fixed on described support seat, and the first motor is defeated by decelerator
Going out moment of torsion, shaft coupling one end connects described decelerator, and the other end connects described line wheel assembly, this line wheel assembly is wrapped described
Drag rope.Described torque sensor assembly is arranged between shaft coupling and line wheel assembly, for detection in real time and feedback output
The size of moment of torsion；When the first motor work, it can rotate by band moving-wire wheel assembly, thus pulling traction rope rope；
Secure two pulleys on described pillar, below described cross bar, secure a pulley, on described line wheel assembly
The drag rope being wound around sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then passes through the cunning on slide block
Wheel, is eventually connected to described traction headgear；
Described lead adjusting means includes electric pushrod, connecting rod, rotary shaft, rotation platform, and electric pushrod drives even
Bar promotes rotary shaft to rotate, fixed angle sensor in rotary shaft, and rotation platform is fixing on the rotary shaft, and described angle passes
Sensor, for detecting the anglec of rotation of described rotary shaft, therefore can realize rotation platform and carry out ± 70 degree of rotations, described adjustable
Joint seat is fixedly mounted on rotation platform；
Described computer control with acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensing
Device assembly, angular transducer are connected, and can be calculated the angle of traction by the testing result of described stay wire displacement sensor, can lead to
The testing result of over-angle sensor calculates the anglec of rotation of rotary seat, can control described according to the traction angle that doctor is arranged
Second motor, can control described electric pushrod according to the anglec of rotation that doctor is arranged, can be anti-according to described torque sensor assembly
The signal of feedback, controls the output moment of torsion of the first motor, it is achieved the soft control of pull strength；Can actively control above-mentioned two motor
Work, it is possible to the work process of passive two motors of acquisition and recording, is archived to the procedural information collected in database file,
Motor work can be controlled according to described database file afterwards, thus reappear cervical traction process.
Preferably, the effective travel of described screw mandrel slide unit is 800mm.
Preferably, the traction angle that described traction angle adjusting means allows is that-15 degree are to+45 degree.
The solution have the advantages that: it is big that the robot of the present invention can realize cervical traction angle, direction and pull strength
Little control accurate, can carry out omnibearing rehabilitation to cervical spondylosis patient, when being greatly shortened the rehabilitation of cervical spondylosis
Between.
[accompanying drawing explanation]
Accompanying drawing described herein is used to provide a further understanding of the present invention, constitutes the part of the application, but
It is not intended that inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 and Fig. 2 is the population structure schematic diagram of the present invention；
The traction angle adjusting means schematic diagram of Tu3Shi robot of the present invention；
The soft force control device schematic diagram of Tu4Shi robot of the present invention；
The drag rope of Tu5Shi robot of the present invention and traction headgear scheme of installation；
The lead adjusting means schematic diagram of Tu6Shi robot of the present invention；
[detailed description of the invention]
The present invention is described in detail, illustrative examples therein and saying below in conjunction with accompanying drawing and specific embodiment
Bright being only used for explains the present invention, but is not intended as inappropriate limitation of the present invention.
Seeing accompanying drawing 1-2, the vertebrae traction recovering robot of the present invention includes supporting seat, pillar, leading on population structure
Messenger rope, traction headgear (not marking in figure), traction angle adjusting means, adjustable seat, lead adjusting means, soft
Force control device, computer control and acquisition system.
Described support seat is elongated, is the base of whole robot, is used for supporting whole robot.Described pillar is vertical
Being fixed on support seat, on the top of pillar, be fixedly connected horizontally disposed traction angle adjusting means, this traction angle is adjusted
Regulating device is parallel with supporting seat.
See accompanying drawing 3, it illustrates the traction angle adjusting means of robot of the present invention, this traction angle adjusting means bag
Including cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor, described cross bar is horizontally disposed with, fixed above at described cross bar
Described screw mandrel slide unit, the effective travel of this screw mandrel slide unit is 800mm, and slide block can slide on this screw mandrel slide unit, described second electricity
Machine can pull this slide block to slide on screw mandrel slide unit.A pulley is secured, for through drag rope below described slide block.
The steel cable of described stay wire displacement sensor is connected to described slide block, and for measuring the displacement of slide block, computer controls and gathers system
System just can calculate the angle of traction by the displacement of slide block.Preferably, (i.e. drag rope is to cervical traction for the angle of traction
The angle of power and vertical direction) should spend for-15 degree to+45 and be advisable.
Seeing accompanying drawing 4, it illustrates the soft force control device of robot of the present invention, described soft force control device has
One base, this base is fixed on described support seat, base secures the first motor and reducer assemblies, shaft coupling,
Torque sensor assembly and line wheel assembly, the first motor is connected with this decelerator, exports moment of torsion, described shaft coupling by decelerator
One end driving member connection reducer, other end output is connected to line wheel assembly, this line wheel assembly is wrapped drag rope.Institute
State torque sensor assembly to be arranged between shaft coupling and line wheel assembly, for detection in real time and the size of feedback output moment of torsion.
When the first motor work, it can rotate by band moving-wire wheel assembly, thus pulling traction rope rope, it is achieved the traction to cervical vertebra.Calculate
Machine controls to control the output moment of torsion of the first motor according to the signal of described torque sensor assembly feedback with acquisition system,
Realize the soft control of pull strength.
See accompanying drawing 5, it illustrates drag rope and the installation settings of traction headgear.Described pillar secures two
Pulley, also secures a pulley on the cross bar of traction angle adjusting means.The pull rope being wound around on above-mentioned line wheel assembly
Rope sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then passes through the slide block of traction angle adjusting means
On pulley, be eventually connected to described traction headgear.
See accompanying drawing 6, it illustrates the lead adjusting means of robot of the present invention, described lead adjusting means
It is also mounted on described support seat.This lead adjusting means includes electric pushrod, connecting rod, rotary shaft, angular transducer, rotation
Turn platform.Described electric pushrod promotes rotary shaft to rotate for drivening rod, and described rotation platform is fixing on the rotary shaft,
Connection angle sensor in described rotary shaft, described adjustable seat is fixedly mounted on rotation platform.Based on said structure, when
Platform can be rotated carry out ± 70 degree of rotations during electric pushrod work, when rotation platform rotates, adjustable seat also with
Rotation, thus realize the change of lead.Described angular transducer can detect the angle that rotary shaft rotates, and computer controls
With the anglec of rotation and the direction that acquisition system just can know described adjustable seat by the angle that this angular transducer detects.
Described computer control with acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensing
Device assembly, angular transducer are connected, and on the one hand can actively control the motion of two motors, on the other hand can gather described
The detection data of the exercise data of two motors and three sensors, by the archives data that collects to database file, it
After can control motor work according to described database file, thus reappear cervical traction process.
Two motors are controlled to be controlled by man machine operation interface with acquisition system by computer, can complete two
The active Loading Control (the most directly controlling the motion of motor to draw patients with cervical) of motor, passive load information collection are (the most first
Actively being controlled by doctor, when drawing the patients with cervical being fixed in robot of the present invention, computer controls and gathers system
System records the work process of each motor), carry out the information gathered actively reappearing controls (each motor that i.e. reproduction is recorded
Motor process with simulate doctor therapeutic process).
The work process of the present invention is as follows:
When using the healing robot of the present invention, patient is first sitting on adjustable seat, will suffer from the fixing band on seat
Person's upper body and waist are fixed, and then lower jaw and the occipitalia of patient are fixed with traction headgear, are controlled by computer and gather system
System, doctor can arrange traction angle, and computer controls with acquisition system by adjusting the slide block position in traction angle adjusting means
Putting, it is achieved the adjustment of traction angle, then doctor can arrange the anglec of rotation of rotation platform, and computer controls and acquisition system base
Electric pushrod is controlled, to adjust the rotation platform of lead adjusting means, by rotation platform rotation seat in this anglec of rotation
Chair, it is achieved the adjustment of traction, the soft force control device of last operation, draws cervical vertebra, its Computer control
The signal that system and acquisition system are fed back according to described torque sensor assembly, controls the output moment of torsion of the first motor, it is achieved traction
The soft control of power.Computer controls to gather the work process of each motor with acquisition system and store data library text
In part, after whole process collection storing, carry out actively loading to each motor according to the information of storage, reappear each
The output of motor, it is achieved the simulation to medical treatment process.Can be regulated in distraction procedure by the loading frequency of regulation motor
The speed of motor output.When reusing, directly can directly carry out rehabilitation according to the file stored.
The above is only the better embodiment of the present invention, thus all according to the structure described in present patent application scope,
The equivalence that feature and principle are done changes or modifies, in the range of being all included in present patent application.
Claims (3)
1. a vertebrae traction recovering robot, it is characterised in that this robot includes supporting seat, pillar, drag rope, traction
Headgear, traction angle adjusting means, adjustable seat, lead adjusting means, soft force control device, computer control with
Acquisition system；
Described support seat is used for supporting whole robot, and described pillar is vertically fixed on described support seat；
Described traction angle adjusting means is fixed on the top of described pillar, and parallel with described support seat；Described traction angle
Adjusting means includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor；Described screw mandrel slide unit is fixed
Above described cross bar, and having the slide block that can slide on this screw mandrel slide unit, described second motor is used for pulling this slide block
Screw mandrel slide unit slides；Fix below described slide block and be connected to a pulley；The steel cable of described stay wire displacement sensor connects
In described slide block, for detecting the displacement of slide block；
Described soft force control device includes base, and the first motor fixing on base and reducer assemblies, shaft coupling,
Torque sensor assembly and line wheel assembly, described base is fixed on described support seat, and the first motor is turned round by decelerator output
Square, shaft coupling one end connects described decelerator, and the other end connects described line wheel assembly, and this line wheel assembly is wrapped described traction
Rope.Described torque sensor assembly is arranged between shaft coupling and line wheel assembly, for detection in real time and feedback output moment of torsion
Size；When the first motor work, it can rotate by band moving-wire wheel assembly, thus pulling traction rope rope；
Secure two pulleys on described pillar, below described cross bar, secure a pulley, described line wheel assembly is wound around
Drag rope sequentially pass through two pulleys on pillar, the pulley being then passed through on cross bar, then pass through the pulley on slide block,
After be connected to described traction headgear；
Described lead adjusting means includes electric pushrod, connecting rod, rotary shaft, angular transducer, rotation platform, electric pushrod
Rotary shaft can be promoted to rotate by drivening rod, rotary shaft connection angle sensor, described angular transducer is used for detecting described
The anglec of rotation of rotary shaft, rotation platform is fixing on the rotary shaft, and described adjustable seat is fixedly mounted on rotation platform；
Described computer control with acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensor group
Part, angular transducer assembly are connected, and can be calculated the angle of traction by the testing result of described stay wire displacement sensor, can lead to
The testing result crossing described angular transducer calculates the anglec of rotation of rotary seat, can control according to the traction angle that doctor is arranged
Described second motor, can control described electric pushrod according to the anglec of rotation that doctor is arranged, can be according to described torque sensor group
The signal of part feedback, controls the output moment of torsion of the first motor, it is achieved the soft control of pull strength；Can actively control above-mentioned two electricity
The work of machine, it is possible to the work process of passive two motors of acquisition and recording, is archived to data library text by the procedural information collected
In part, motor work can be controlled according to described database file afterwards, thus reappear cervical traction process.
Vertebrae traction recovering robot the most according to claim 1, it is characterised in that the effective travel of described screw mandrel slide unit
For 800mm.
3. according to the vertebrae traction recovering robot described in claim 1-2, it is characterised in that described traction angle adjusting means
The traction angle allowed is that-15 degree are to+45 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368635.6A CN106073970B (en) | 2016-05-30 | 2016-05-30 | A kind of vertebrae traction recovering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368635.6A CN106073970B (en) | 2016-05-30 | 2016-05-30 | A kind of vertebrae traction recovering robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106073970A true CN106073970A (en) | 2016-11-09 |
| CN106073970B CN106073970B (en) | 2018-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610368635.6A Active CN106073970B (en) | 2016-05-30 | 2016-05-30 | A kind of vertebrae traction recovering robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618964A (en) * | 2017-01-19 | 2017-05-10 | 河南省中瑞机器人科技有限公司 | Rehabilitation robot realizing neck movement |
| CN107550617A (en) * | 2017-09-21 | 2018-01-09 | 淮海工学院 | A kind of medicine equipment traction recovering system based on acceleration transducer |
| CN111839459A (en) * | 2020-07-06 | 2020-10-30 | 俞杭平 | Cervical vertebra assessment rehabilitation system based on cloud platform |
| CN112245091A (en) * | 2020-10-30 | 2021-01-22 | 宁波大学 | Cervical vertebra rehabilitation training auxiliary robot and application method thereof |
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| CN2511261Y (en) * | 2001-10-29 | 2002-09-18 | 周晓东 | Dynamic cervical vertebral tractor |
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| CN201755299U (en) * | 2010-07-16 | 2011-03-09 | 常州市钱璟康复器材有限公司 | Microcomputer traction therapeutic apparatus for cervical vertebra |
| US20140188027A1 (en) * | 2012-12-31 | 2014-07-03 | King Abdulaziz University | Portable cervical traction device |
| CN204636907U (en) * | 2015-02-13 | 2015-09-16 | 青岛市中心医院 | A kind of spinal surgery traction chair |
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| US5129881A (en) * | 1991-09-18 | 1992-07-14 | Pope Michael J | Counter-stressing traction system |
| CN2511261Y (en) * | 2001-10-29 | 2002-09-18 | 周晓东 | Dynamic cervical vertebral tractor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618964A (en) * | 2017-01-19 | 2017-05-10 | 河南省中瑞机器人科技有限公司 | Rehabilitation robot realizing neck movement |
| CN107550617A (en) * | 2017-09-21 | 2018-01-09 | 淮海工学院 | A kind of medicine equipment traction recovering system based on acceleration transducer |
| CN111839459A (en) * | 2020-07-06 | 2020-10-30 | 俞杭平 | Cervical vertebra assessment rehabilitation system based on cloud platform |
| CN112245091A (en) * | 2020-10-30 | 2021-01-22 | 宁波大学 | Cervical vertebra rehabilitation training auxiliary robot and application method thereof |
| CN112245091B (en) * | 2020-10-30 | 2023-09-05 | 宁波大学 | Cervical vertebra rehabilitation training auxiliary robot and application method thereof |
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| Publication number | Publication date |
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| CN106073970B (en) | 2018-03-09 |
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