CN106073970B - A kind of vertebrae traction recovering robot - Google Patents
A kind of vertebrae traction recovering robot Download PDFInfo
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- CN106073970B CN106073970B CN201610368635.6A CN201610368635A CN106073970B CN 106073970 B CN106073970 B CN 106073970B CN 201610368635 A CN201610368635 A CN 201610368635A CN 106073970 B CN106073970 B CN 106073970B
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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
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses a kind of vertebrae traction recovering robot, the robot includes support base, 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 the control accurate of cervical traction angle, direction and tractive force size, can carry out comprehensive rehabilitation to cervical spondylosis patient, greatly shorten the rehabilitation duration of cervical spondylosis.
Description
【Technical field】
The present invention relates to rehabilitation medical robot field, more particularly to a kind of vertebrae traction recovering robot.
【Background technology】
Cervical vertebra is the place that mobility is maximum in backbone, can be rotated, and left and right lateral bending and front and rear is bent and stretched.The vertebra of cervical vertebra simultaneously
Between articular facets close to level, so easily there is Dislocation with locked facet.Connect occipital bone, second line of a couplet thoracic vertebrae, 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
Vertebra damage the characteristics of be：Cervical spine injury easily occurs, and fracture of cervical spine accounts for the 30% of whole spine fractures, can directly jeopardize patient
The possibility of life either high paraplegia.Cervical vertebra is up connected with skull and its structure, when the strength of head and neck surpasses
When crossing the ability that its protection structure can disperse, cervical vertebra will be damaged, and about 40% patient will have nerve in cervical spine injury
Symptom, x-ray evidence of the patient without obvious spinal injury of about 10% traumatic spinal cord injury, because cervical spine injury is dangerous
It is larger, also have larger potentially danger, so it is correct assess and and early treatment cervical spine injury and potential cervical spine injury it is non-
It is often important.Some existing patent achievements for cervical vertebrae recovery therapeutic domestic at present, and these achievements have definitely limitation,
If the angle of traction is fixed, simulates doctor's therapeutic process scarce capacity, fixation is not steady enough, wearing is not comfortable etc. enough.
【The content of the invention】
Present invention is generally directed in cervical spine injury patient, with reference to robotics, human cinology, ergonomics scheduling theory
Machine Design is carried out, is proposed a kind of with 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, technical scheme proposed by the present invention is as follows：
A kind of vertebrae traction recovering robot, the robot include support base, pillar, drag rope, traction headgear, traction
Angle regulator, adjustable seat, lead adjusting means, soft force control device, computer control and acquisition system；
The support base is used to support whole robot, and the pillar is vertically fixed on the support base；
The traction angle adjusting means is fixed on the top of the pillar, and parallel with the support base；The traction
Angle regulator includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor；The screw mandrel slide unit
The top of the cross bar is fixed on, and is used to pull this with the sliding block that can be slided on the screw mandrel slide unit, second motor
Sliding block slides on screw mandrel slide unit；A pulley has been fixedly connected with below the sliding block；The steel cable of the stay wire displacement sensor
The sliding block is connected to, for detecting the displacement of sliding block；
The soft force control device includes base, and the first motor and reducer assemblies, connection fixed on base
Axle device, torque sensing device assembly and line wheel component, the base are fixed on the support base, and the first motor is defeated by decelerator
Go out moment of torsion, shaft coupling one end connects the decelerator, and the other end connects the line wheel component, is wrapped on the line wheel component described
Drag rope.The torque sensing device assembly is arranged between shaft coupling and line wheel component, for detecting in real time and feeding back output
The size of moment of torsion；When the first motor works, it can drive line wheel component to rotate, so as to pulling traction rope rope；
Two pulleys are secured on the pillar, a pulley are secured below the cross bar, on the line wheel component
The drag rope of winding sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then passes through the cunning on sliding block
Wheel, is eventually connected to the traction headgear；
The lead adjusting means includes electric pushrod, connecting rod, rotary shaft, rotation platform, and electric pushrod, which drives, to be connected
Bar promotes rotary shaft to be rotated, fixed angle sensor in rotary shaft, and rotation platform is fixed on the rotary shaft, and the angle passes
Sensor is used for the anglec of rotation for detecting the rotary shaft, therefore can realize that rotation platform carries out ± 70 degree of rotations, described adjustable
Section seat is fixedly mounted on rotation platform；
Computer control and acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensing
Device assembly, angular transducer are connected, and the angle of traction can be calculated by the testing result of the stay wire displacement sensor, can be led to
The testing result of over-angle sensor calculates the anglec of rotation of rotary seat, can be according to the traction angle control that doctor is set
Second motor, the anglec of rotation that can be set according to doctor control the electric pushrod, can be anti-according to the torque sensing device assembly
The signal of feedback, the output torque of the first motor is controlled, realizes the soft control of tractive force；Can active control above-mentioned two motor
Work, also can passive two motors of acquisition and recording the course of work, the procedural information collected is archived in database file,
It can be worked afterwards according to the database file controlled motor, so as to reappear cervical traction process.
Preferably, the effective travel of the screw mandrel slide unit is 800mm.
Preferably, the traction angle that the traction angle adjusting means allows is -15 degree to+45 degree.
The solution have the advantages that：The robot of the present invention can realize that cervical traction angle, direction and tractive force are big
Small control accurate, comprehensive rehabilitation can be carried out to cervical spondylosis patient, when greatly shortening the rehabilitation of cervical spondylosis
Between.
【Brief description of the drawings】
Accompanying drawing described herein be for providing a further understanding of the present invention, forming the part of the application, but
Inappropriate limitation of the present invention is not formed, in the accompanying drawings：
Fig. 1 and Fig. 2 is the general structure schematic diagram of the present invention；
Fig. 3 is the traction angle adjusting means schematic diagram of robot of the present invention；
Fig. 4 is the soft force control device schematic diagram of robot of the present invention；
Fig. 5 is the drag rope and traction headgear scheme of installation of robot of the present invention；
Fig. 6 is the lead adjusting means schematic diagram of robot of the present invention；
【Embodiment】
The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment, illustrative examples therein and is said
It is bright to be only used for explaining the present invention, but it is not intended as inappropriate limitation of the present invention.
Referring to accompanying drawing 1-2, vertebrae traction recovering robot of the invention includes support base, pillar in general structure, led
It is messenger rope, traction headgear (not marked in figure), traction angle adjusting means, adjustable seat, lead adjusting means, soft
Force control device, computer control and acquisition system.
The support base is elongated, is the base of whole robot, for supporting whole robot.The pillar is vertical
It is fixed on support base, on the top of pillar, is fixedly connected horizontally disposed traction angle adjusting means, the traction angle is adjusted
Regulating device is parallel with support base.
Referring to accompanying drawing 3, it illustrates the traction angle adjusting means of robot of the present invention, the traction angle adjusting means bag
Cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor are included, the cross bar is horizontally disposed with, and is secured above the cross bar
The screw mandrel slide unit, the effective travel of the screw mandrel slide unit is 800mm, and sliding block can slide on the screw mandrel slide unit, second electricity
Machine can pull the sliding block to be slided on screw mandrel slide unit.A pulley is secured below the sliding block, for through drag rope.
The steel cable of the stay wire displacement sensor is connected to the sliding block, and for measuring the displacement of sliding block, computer control is with collection
System calculates the angle of traction by the displacement can of sliding block.Preferably, (i.e. drag rope is to cervical traction for the angle of traction
The angle of power and vertical direction) should be that -15 degree are advisable to+45 degree.
Referring to accompanying drawing 4, it illustrates the soft force control device of robot of the present invention, the soft force control device has
One base, the base are fixed on the support base, secured on base the first motor and reducer assemblies, shaft coupling,
Torque sensing device assembly and line wheel component, the first motor are connected with the decelerator, by decelerator output torque, the shaft coupling
One end driving member connection reducer, other end output are connected to line wheel component, drag rope are wrapped on the line wheel component.Institute
State torque sensing device assembly to be arranged between shaft coupling and line wheel component, for detecting and feeding back the size of output torque in real time.
When the first motor works, it can drive line wheel component to rotate, and so as to pulling traction rope rope, realize the traction to cervical vertebra.Calculate
Machine controls the signal that can be fed back with acquisition system according to the torque sensing device assembly, controls the output torque of the first motor,
Realize the soft control of tractive force.
Referring to accompanying drawing 5, it illustrates the installation settings of drag rope and traction headgear.Two are secured on the pillar
Pulley, a pulley is also secured on the cross bar of traction angle adjusting means.The pull rope wound on above-mentioned line wheel component
Rope sequentially passes through two pulleys on pillar, the pulley being then passed through on cross bar, then passes through the sliding block of traction angle adjusting means
On pulley, be eventually connected to the traction headgear.
Referring to accompanying drawing 6, it illustrates the lead adjusting means of robot of the present invention, the lead adjusting means
It is also mounted on the support base.The lead adjusting means includes electric pushrod, connecting rod, rotary shaft, angular transducer, rotation
Turn platform.The electric pushrod is used for drivening rod and promotes rotary shaft to be rotated, and the rotation platform is fixed on the rotary shaft,
Connection angle sensor in the rotary shaft, the adjustable seat are fixedly mounted on rotation platform.Based on said structure, when
Electric pushrod work when can drive rotation platform carry out ± 70 degree rotate, when rotation platform rotates, adjustable seat also with
Rotation, so as to realize the change of lead.The angular transducer can detect the angle of rotary shaft rotation, computer control
The anglec of rotation and the direction of the adjustable seat are known with the angle can that acquisition system is detected by the angular transducer.
Computer control and 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 on the other hand be able to can be gathered described with the motion of two motors of active control
The exercise data of two motors and the detection data of three sensors, by the archives data collected into database file, it
After can be worked according to the database file controlled motor, so as to reappear cervical traction process.
Two motors are controlled by computer and are controlled with acquisition system by man machine operation interface, can be completed to two
The active Loading Control (motion of i.e. direct controlled motor to draw patients with cervical) of motor, passive load information collection (i.e. elder generation
By doctor's active control, when being drawn to the patients with cervical being fixed in robot of the present invention, computer control is with collection
System records the course of work of each motor), actively reproduction control carried out to the information of collection (reappear each motor recorded
Motion process to simulate the therapeutic process of doctor).
The course of work of the present invention is as follows：
During using healing robot of the invention, patient is first sitting on adjustable seat, will be suffered from the fixing band on seat
Person's upper body and waist are fixed, and are then fixed the lower jaw of patient and occipitalia with traction headgear, are controlled by computer with gathering system
Traction angle can be set in system, doctor, and computer control is with acquisition system by adjusting the sliding block position in traction angle adjusting means
Put, realize the adjustment of traction angle, then the anglec of rotation of rotation platform, computer control and acquisition system base can be set in doctor
Electric pushrod is controlled in the anglec of rotation, to adjust the rotation platform of lead adjusting means, passes through rotation platform rotation seat
Chair, the adjustment of traction is realized, the soft force control device of last operation, cervical vertebra is drawn, its Computer control
The signal that system is fed back with acquisition system according to the torque sensing device assembly, the output torque of the first motor is controlled, realize traction
The soft control of power.Computer, which controls to gather the course of work of each motor with acquisition system and store, arrives data library text
In part, after whole process is gathered and stored, active loading is carried out to each motor according to the information of storage, reproduction is each
The output of motor, realize the simulation to medical treatment process.It can be adjusted by the loading frequency of regulation motor in distraction procedure
The speed of motor output.When reusing, rehabilitation can directly directly be carried out according to the file stored.
Described above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application scope,
The equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (3)
1. a kind of vertebrae traction recovering robot, it is characterised in that the robot includes support base, pillar, drag rope, traction
Headgear, traction angle adjusting means, adjustable seat, lead adjusting means, soft force control device, computer control with
Acquisition system；
The support base is used to support whole robot, and the pillar is vertically fixed on the support base；
The traction angle adjusting means is fixed on the top of the pillar, and parallel with the support base；The traction angle
Adjusting means includes horizontally disposed cross bar, screw mandrel slide unit, the second motor, stay wire displacement sensor；The screw mandrel slide unit is fixed
It is used to pull the sliding block in the top of the cross bar, and with the sliding block that can be slided on the screw mandrel slide unit, second motor
Slided on screw mandrel slide unit；A pulley has been fixedly connected with below the sliding block；The steel cable connection of the stay wire displacement sensor
In the sliding block, for detecting the displacement of sliding block；
The soft force control device includes base, and fixed the first motor on base and reducer assemblies, shaft coupling,
Torque sensing device assembly and line wheel component, the base are fixed on the support base, and the first motor is exported by decelerator and turned round
Square, shaft coupling one end connect the decelerator, and the other end connects the line wheel component, the traction is wrapped on the line wheel component
Rope, the torque sensing device assembly are arranged between shaft coupling and line wheel component, for detecting in real time and feeding back output torque
Size；When the first motor works, it can drive line wheel component to rotate, so as to pulling traction rope rope；
Two pulleys are secured on the pillar, a pulley is secured below the cross bar, is wound on the line wheel component
Drag rope sequentially pass through two pulleys on pillar, the pulley being then passed through on cross bar, then pass through the pulley on sliding block, most
After be connected to the traction headgear；
The lead adjusting means includes electric pushrod, connecting rod, rotary shaft, angular transducer, rotation platform, electric pushrod
Can drivening rod promote rotary shaft to be rotated, rotary shaft connection angle sensor, the angular transducer is used to detecting described
The anglec of rotation of rotary shaft, rotation platform are fixed on the rotary shaft, and the adjustable seat is fixedly mounted on rotation platform；
Computer control and acquisition system respectively with above-mentioned two motor and stay wire displacement sensor, torque sensor group
Part, angle sensor device assembly are connected, and the angle of traction can be calculated by the testing result of the stay wire displacement sensor, can be led to
The testing result for crossing the angular transducer calculates the anglec of rotation of rotary seat, and the traction angle that can be set according to doctor controls
Second motor, the anglec of rotation that can be set according to doctor control the electric pushrod, can be according to the torque sensor group
The signal of part feedback, controls the output torque of the first motor, realizes the soft control of tractive force；Can active control above-mentioned two electricity
The work of machine, also can passive two motors of acquisition and recording the course of work, the procedural information collected is archived to data library text
In part, it can be worked afterwards according to the database file controlled motor, so as to reappear cervical traction process.
2. vertebrae traction recovering robot according to claim 1, it is characterised in that the effective travel of the screw mandrel slide unit
For 800mm.
3. vertebrae traction recovering robot according to claim 1 or 2, it is characterised in that the traction angle regulation dress
The traction angle for putting permission is -15 degree 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368635.6A CN106073970B (en) | 2016-05-30 | 2016-05-30 | A kind of vertebrae traction recovering robot |
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| CN106073970A CN106073970A (en) | 2016-11-09 |
| CN106073970B true CN106073970B (en) | 2018-03-09 |
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Families Citing this family (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 |
| CN112245091B (en) * | 2020-10-30 | 2023-09-05 | 宁波大学 | Cervical vertebra rehabilitation training auxiliary robot and application method thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US20090306567A1 (en) * | 2008-06-09 | 2009-12-10 | Meyer Donald W | Cervical spine traction apparatus and method |
| CN201253279Y (en) * | 2008-09-17 | 2009-06-10 | 周建平 | Cervical vertebra multi-direction synthetic traction chair |
| 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 |
| US9241822B2 (en) * | 2012-12-31 | 2016-01-26 | 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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