CN107296675A - A kind of spine recovering machine people - Google Patents
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Abstract
本发明涉及一种脊柱康复机器人，所述机器人包括床体、颈椎角度调节装置、腰椎角度调节装置、手臂角度调节装置、头部角度调节装置、控制机箱，所述控制机箱包括柔和牵引装置和计算机控制与采集系统。本发明的机器人可以实现颈腰椎牵引角度、牵引力大小的精准调控，对脊柱疾病患者可进行有效的康复治疗，极大地缩短脊柱疾病的康复时间。
The invention relates to a spine rehabilitation robot, the robot includes a bed body, a cervical vertebra angle adjustment device, a lumbar vertebra angle adjustment device, an arm angle adjustment device, a head angle adjustment device, and a control case, and the control case includes a soft traction device and a computer Control and acquisition system. The robot of the present invention can realize the precise control of the traction angle and traction force of the cervical and lumbar vertebrae, can perform effective rehabilitation treatment for patients with spinal diseases, and greatly shorten the rehabilitation time of spinal diseases.
Description
【技术领域】【Technical field】
本发明属于康复医疗护理机器人领域，尤其涉及一种对脊柱进行康复治疗的机器人。The invention belongs to the field of rehabilitation medical care robots, in particular to a robot for rehabilitation treatment of the spine.
【背景技术】【Background technique】
脊柱是人体承重的支柱，是躯干的中轴，运动的枢纽，是保护中枢神经、脊髓和神经根的重要结构。脊柱又是人体中出现退变较早、变化较大的组织结构，由于年龄的增加，纤维开始变性，弹力下降，椎间盘组织退变，脊柱高度下降，出现脊柱的失稳；在长期参与脊柱运动和负重过程中，将产生累积性劳损，加上外伤、姿势不当等诱因，导致发生脊柱疾病。The spine is the weight-bearing pillar of the human body, the central axis of the trunk, the hub of movement, and an important structure that protects the central nervous system, spinal cord and nerve roots. The spine is also a tissue structure that degenerates earlier and changes greatly in the human body. Due to the increase of age, the fibers begin to degenerate, the elasticity decreases, the intervertebral disc tissue degenerates, the height of the spine decreases, and the spine becomes unstable; In the process of weight-bearing and weight-bearing, there will be cumulative strain, coupled with trauma, improper posture and other incentives, leading to spinal diseases.
由于颈腰椎段的活动度较大，故颈椎病和腰椎病的发病率最高。目前虽然对脊柱疾病的治疗方法虽多，但疗效不同，许多学者主张非手术疗法，其中包括制动、牵引、按摩、物理疗法等有一定疗效；对于胸椎间盘突出、中央型腰椎间盘突出、腰椎管狭窄症的患者的治疗效果不太明显。目前治疗脊柱类疾病的治疗设备以手动或微机控制的牵引治疗机为主，存在设备简单、功能单一、精确度较差的情况。Due to the large range of motion in the cervical and lumbar segments, the incidence of cervical spondylosis and lumbar spondylosis is the highest. Although there are many treatment methods for spinal diseases at present, the curative effects are different. Many scholars advocate non-surgical therapy, including immobilization, traction, massage, physical therapy, etc., which have certain curative effects; for thoracic disc herniation, central lumbar disc herniation, lumbar Patients with tube stenosis have less obvious therapeutic effect. At present, the treatment equipment for spinal diseases is mainly manual or computer-controlled traction therapy machines, which are simple in equipment, single in function, and poor in accuracy.
【发明内容】【Content of invention】
为了解决现有技术中的上述问题，本发明主要针对脊柱损伤患者，结合机器人学、人体运动学、人体工程学等理论进行设计，提出一种脊柱牵引康复机器人。In order to solve the above-mentioned problems in the prior art, the present invention is mainly aimed at patients with spinal injuries, and is designed in combination with theories of robotics, human kinematics, ergonomics, etc., and proposes a spinal traction rehabilitation robot.
本发明采用的技术方案具体如下：The technical scheme that the present invention adopts is specifically as follows:
一种脊柱康复机器人，该机器人包括床体、颈椎角度调节装置、腰椎角度调节装置、手臂角度调节装置、头部角度调节装置、控制机箱，其中：A spinal rehabilitation robot, the robot includes a bed body, a cervical spine angle adjustment device, a lumbar spine angle adjustment device, an arm angle adjustment device, a head angle adjustment device, and a control box, wherein:
所述床体包括床头组件、床身组件和连接支架，所述床头组件位于床体的床头，用于支撑所述控制机箱，头组件和床身组件之间通过所述连接支架互相连接，所述床身组件用于支撑上述四个角度调节装置；The bed body includes a bed head assembly, a bed body assembly and a connecting bracket. The bed head assembly is located at the head of the bed body and is used to support the control cabinet. The head assembly and the bed body assembly are connected to each other through the connection bracket. connected, the bed assembly is used to support the above four angle adjustment devices;
所述控制机箱包括柔和牵引装置和计算机控制与采集系统；所述柔和牵引装置包括底座，以及在底座上固定的第一电机、减速器、拉压力传感器组件和线轮组件；所述底座固定在控制机箱内，第一电机与减速器的一端连接，并通过所述减速器输出扭矩，减速器的另一端连接所述线轮组件，该线轮组件上缠绕着牵引绳索，所述牵引绳索用于牵引颈椎和腰椎，所述拉压力传感器连接所述牵引绳索，用于实时检测和反馈输出扭矩的大小；计算机控制与采集系统可根据所述拉压力传感器反馈的信号，获取牵引绳索的牵引力，并通控制第一电机的输出来控制牵引力；The control cabinet includes a soft traction device and a computer control and acquisition system; the soft traction device includes a base, and a fixed first motor, a reducer, a pull pressure sensor assembly and a wire wheel assembly on the base; the base is fixed on In the control box, the first motor is connected to one end of the reducer, and the torque is output through the reducer, and the other end of the reducer is connected to the wire wheel assembly, and the wire wheel assembly is wound with a traction rope, and the traction rope is used for For pulling the cervical spine and lumbar spine, the tension and pressure sensor is connected to the traction rope for real-time detection and feedback of the output torque; the computer control and acquisition system can obtain the traction force of the traction rope according to the signal fed back by the tension and pressure sensor, and controlling the traction force by controlling the output of the first motor;
所述颈椎角度调节装置包括第一电动推杆、第一床板和牵引支架，所述第一床板设置在床身组件上方，第一床板的一端铰接在所述床身组件上，所述牵引支架位于床板上方，牵引支架的一端铰接在控制机箱上，另一端铰接在所述第一床板上；所述第一电动推杆设置在床板下方，其一端铰接在床身组件上，另一端铰接在所述床板下方；计算机控制与采集系统可以控制第一电动推杆，并通过第一电动推杆的位移计算出颈椎牵引角度，所述颈椎牵引角度是牵引支架与垂直方向的夹角；The cervical spine angle adjustment device includes a first electric push rod, a first bed board and a traction bracket, the first bed board is arranged above the bed assembly, one end of the first bed board is hinged on the bed assembly, and the traction bracket Located above the bed board, one end of the traction bracket is hinged on the control cabinet, and the other end is hinged on the first bed board; the first electric push rod is arranged below the bed board, one end is hinged on the bed assembly, and the other end is hinged on Below the bed board; the computer control and acquisition system can control the first electric push rod, and calculate the cervical traction angle through the displacement of the first electric push rod, and the cervical traction angle is the angle between the traction bracket and the vertical direction;
所述腰椎角度调节装置包括第二床板和第二电动推杆，所述第二床板设置在床身组件上方，其一端铰接在所述床身组件上，所述第二电动推杆设置在床板下方，其一端铰接在床身组件上，另一端铰接在所述第二床板下方；The lumbar angle adjustment device includes a second bed board and a second electric push rod, the second bed board is arranged above the bed assembly, one end of which is hinged on the bed assembly, and the second electric push rod is arranged on the bed board Below, one end of which is hinged on the bed assembly, and the other end is hinged below the second bed board;
所述头部角度调节装置包括第三床板和单控气弹簧，所述第三床板设置在床身组件上方，其靠近床头的一端铰接在所述床身组件上，所述单控气弹簧一端铰接在床身组件上，另一端铰接在所述第三床板上，可用于推拉第三床板；The head angle adjustment device includes a third bed board and a single control gas spring, the third bed board is arranged above the bed assembly, and its end close to the head of the bed is hinged on the bed assembly, and the single control gas spring One end is hinged on the bed assembly, and the other end is hinged on the third bed board, which can be used to push and pull the third bed board;
所述手臂角度调节装置包括第四床板和双控气弹簧，所述第四床板围绕于所述第三床板，其靠近床头的一端铰接在所述床身组件上，所述双控气弹簧的一端都铰接在床身组件上，另一端铰接在所述第四床板上，可用于推拉所述第四床板；The arm angle adjustment device includes a fourth bed board and a double control gas spring, the fourth bed board surrounds the third bed board, and its end close to the head of the bed is hinged on the bed assembly, and the double control gas spring One end of each is hinged on the bed assembly, and the other end is hinged on the fourth bed board, which can be used to push and pull the fourth bed board;
所述计算机控制与采集装置可控制所述第一电机、第一电动推杆、第二电动推杆、单控气弹簧、双控气弹簧的运动，并采集它们的运动数据，将采集到的数据存档到数据库文件中，之后能够根据所述数据库文件复现各个部件的运动过程。The computer control and acquisition device can control the movement of the first motor, the first electric push rod, the second electric push rod, the single-control gas spring, and the double-control gas spring, and collect their motion data, and collect the collected The data is archived in a database file from which the movement of the individual components can then be reproduced.
进一步地，所述牵引支架上具有滑板，用于固定患者头部，所述滑板可沿着所述牵引支架滑动，在患者需要牵引颈椎时，将所述牵引绳索连接在所述滑板上端，由医生通过计算机控制与采集系统设定颈椎牵引角度B和颈椎基础牵引力F，所述计算机控制与采集系统基于下述步骤进行颈椎牵引：Further, there is a slide plate on the traction bracket for fixing the patient’s head, the slide plate can slide along the traction bracket, and when the patient needs to traction the cervical spine, the traction rope is connected to the upper end of the slide plate, by The doctor sets the cervical traction angle B and the basic cervical traction force F through the computer control and acquisition system, and the computer control and acquisition system performs cervical traction based on the following steps:
(1)计算机控制与采集系统在保持初始颈椎牵引角度A的情况下，在时间T1内控制牵引力从0均匀增加到牵引力FA，其中(1) Under the condition of maintaining the initial cervical traction angle A, the computer control and acquisition system controls the traction force to increase uniformly from 0 to traction force F A within time T 1 , where
FA＝4Fsin2(A/3)F A ＝4F sin 2 (A/3)
T1是预先设定的时间值；T 1 is a preset time value;
(2)计算机控制与采集系统控制第一电动推杆推动床板运动，从而带动牵引支架运动，直至到达设定的颈椎牵引角度B，在这个过程中，颈椎牵引角度以预定义的角速度均匀增加，并且当颈椎牵引角度为C时，计算机控制与采集系统控制牵引力为FC，其中(2) The computer control and acquisition system controls the first electric push rod to push the bed board to move, thereby driving the traction bracket to move until it reaches the set cervical traction angle B. During this process, the cervical traction angle increases uniformly at a predefined angular velocity. And when the cervical traction angle is C, the computer control and acquisition system controls the traction force to be F C , where
FC＝4Fsin2(C/3)。Fc = 4Fsin2 ( C /3).
进一步地，当患者要进行腰椎牵引时，使用绑带将其腰部固定在第二床板上，腰部两侧的绑带上分别有一个牵引带，将牵引绳索与所述牵引带连接，医生通过计算机控制与采集系统设定腰椎牵引角度D和腰椎基础牵引力K，所述计算机控制与采集系统基于下述步骤进行颈椎牵引：Further, when the patient wants to perform lumbar traction, use straps to fix his waist on the second bed board, there is a traction belt on the straps on both sides of the waist respectively, connect the traction rope to the traction belt, and the doctor can use the computer to The control and acquisition system sets the lumbar traction angle D and the lumbar basic traction force K, and the computer control and acquisition system performs cervical traction based on the following steps:
(1)在初始情况下，第二床板处于水平状态，计算机控制与采集系统在保持初始腰椎牵引角度的情况下，在时间T2内控制牵引力从0均匀增加到K，其中T2是预先设定的时间值；(1) In the initial situation, the second bed board is in a horizontal state, and the computer control and acquisition system controls the traction force to increase uniformly from 0 to K within the time T 2 while maintaining the initial lumbar traction angle, where T 2 is preset set time value;
(2)计算机控制与采集系统控制第二电动推杆推动第二床板运动，直至到达设定的腰椎牵引角度D，在这个过程中，腰椎牵引角度是以预定义的角速度均匀增加，并且当腰椎牵引角度为E时，计算机控制与采集系统控制牵引力为FE，其中(2) The computer control and acquisition system controls the second electric push rod to push the second bed board until it reaches the set lumbar traction angle D. During this process, the lumbar traction angle increases uniformly at a predefined angular velocity, and when the lumbar When the traction angle is E, the computer control and acquisition system controls the traction force to be F E , where
FE＝Kcos2(E/3)。F E = K cos 2 (E/3).
进一步地，腰椎牵引角度限制在0到45度。Further, the lumbar traction angle is limited to 0 to 45 degrees.
进一步地，头部角度限制在-30到10度，所述头部角度是所述第三床板与水平方向的夹角，负的角度数表示第三床板向下转动的角度。Further, the head angle is limited to -30 to 10 degrees, the head angle is the angle between the third bed board and the horizontal direction, and the negative angle indicates the angle at which the third bed board turns downward.
进一步地，手臂角度限制在-30到10度，所述手臂角度是所述第四床板与水平方向的夹角，负的角度数表示第四床板向下转动的角度。Further, the arm angle is limited to -30 to 10 degrees, the arm angle is the angle between the fourth bed board and the horizontal direction, and the negative angle indicates the angle at which the fourth bed board turns downward.
本方法的有益效果为：实现颈椎牵引角度、牵引力及腰椎牵引角度、牵引力的精准调控，对脊柱疾病患者可进行有效的康复治疗，极大地缩短了康复时间。The method has the beneficial effects of realizing precise control of the traction angle and traction force of the cervical spine and the traction angle and traction force of the lumbar spine, enabling effective rehabilitation treatment for patients with spinal diseases, and greatly shortening the recovery time.
【附图说明】【Description of drawings】
此处所说明的附图是用来提供对本发明的进一步理解，构成本申请的一部分，但并不构成对本发明的不当限定，在附图中：The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application, but do not constitute an improper limitation of the present invention. In the accompanying drawings:
图1是本发明脊柱康复机器人的总体结构图。Fig. 1 is the overall structure diagram of the spinal rehabilitation robot of the present invention.
图2是本发明机器人的柔和牵引装置结构图。Fig. 2 is a structural diagram of the gentle traction device of the robot of the present invention.
图3是本发明机器人的颈椎角度调节装置的结构图。Fig. 3 is a structural diagram of the cervical spine angle adjustment device of the robot of the present invention.
图4是本发明机器人腰椎角度调节装置的结构图。Fig. 4 is a structural diagram of the robot lumbar angle adjustment device of the present invention.
图5是本发明机器人的头部角度调节装置的结构图。Fig. 5 is a structural diagram of the head angle adjusting device of the robot of the present invention.
图6是本发明机器人的手臂角度调节装置的结构图。Fig. 6 is a structural diagram of the arm angle adjusting device of the robot of the present invention.
【具体实施方式】【detailed description】
下面将结合附图以及具体实施例来详细说明本发明，其中的示意性实施例以及说明仅用来解释本发明，但并不作为对本发明的限定。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, wherein the schematic embodiments and descriptions are only used to explain the present invention, but are not intended to limit the present invention.
参见附图1，其示出了本发明脊柱康复机器人的总体结构，所述机器人包括床体、颈椎角度调节装置、腰椎角度调节装置、手臂角度调节装置、头部角度调节装置、控制机箱，所述控制机箱包括柔和牵引装置和计算机控制与采集系统。Referring to accompanying drawing 1, it has shown the overall structure of spinal rehabilitation robot of the present invention, and described robot comprises bed body, cervical vertebra angle adjustment device, lumbar vertebra angle adjustment device, arm angle adjustment device, head angle adjustment device, control cabinet, so The above-mentioned control cabinet includes a soft traction device and a computer control and acquisition system.
所述床体包括床头组件、床身组件和连接支架，所述床头组件用于支撑床头的控制机箱，床头组件和床身组件之间通过所述连接支架互相连接，所述床身组件用于支撑上述四个角度调节装置。The bed body includes a bedside assembly, a bedside assembly and a connecting bracket, the bedside assembly is used to support the control cabinet of the bedside, the bedside assembly and the bedside assembly are connected to each other through the connecting bracket, the bedside The body assembly is used to support the above four angle adjustment devices.
参见附图2，其示出了本发明机器人的柔和牵引装置，所述柔和牵引装置设置于控制机箱内，用于在颈椎牵引和腰椎牵引时的牵引力量调节，其包括底座，以及在底座上固定的第一电机、减速器、拉压力传感器组件和线轮组件。所述底座固定在控制机箱内，第一电机与减速器的一端连接，并通过所述减速器输出扭矩，减速器的另一端连接所述线轮组件，该线轮组件上缠绕着牵引绳索。所述拉压力传感器连接所述牵引绳索，用于实时检测和反馈输出扭矩的大小。当第一电机工作时，其可带动线轮组件转动，从而拉动牵引绳索，所述牵引绳索被拉动后，用于实现后面说明的颈椎牵引和腰椎牵引。计算机控制与采集系统可以根据所述拉压力传感器反馈的信号，控制第一电机的输出扭矩，实现牵引力的柔和控制。Referring to accompanying drawing 2, it has shown the soft traction device of the robot of the present invention, and described soft traction device is arranged in the control cabinet, is used for the traction force adjustment when cervical traction and lumbar traction, and it comprises base, and on base Fixed first motor, speed reducer, tension pressure sensor assembly and wire wheel assembly. The base is fixed in the control cabinet, the first motor is connected to one end of the speed reducer, and outputs torque through the speed reducer, and the other end of the speed reducer is connected to the wire wheel assembly, and the wire wheel assembly is wound with a traction rope. The tension and pressure sensor is connected to the traction rope for real-time detection and feedback of the magnitude of the output torque. When the first motor works, it can drive the wire wheel assembly to rotate, thereby pulling the traction rope. After the traction rope is pulled, it is used to realize cervical traction and lumbar traction described later. The computer control and acquisition system can control the output torque of the first motor according to the signal fed back by the tension and pressure sensor, so as to realize soft control of the traction force.
参见附图3，其示出了本发明机器人的颈椎角度调节装置的结构图，所述颈椎角度调节装置包括第一电动推杆、床板和牵引支架，所述床板设置在床身组件上方，床板的一端铰接在所述床身组件上，所述牵引支架位于床板上方，牵引支架的一端铰接在控制机箱上，另一端铰接在所述床板上；所述第一电动推杆设置在床板下方，其一端铰接在床身组件上，另一端铰接在所述床板下方，当所述电动推杆伸缩时，可以推动所述床板抬起。由于颈椎角度调节装置的结构是事先确定的，因此通过第一电动推杆的位移就可以计算出颈椎牵引角度，所述颈椎牵引角度就是牵引支架与垂直方向的夹角。Referring to accompanying drawing 3, it has shown the structural diagram of the cervical vertebra angle adjustment device of robot of the present invention, described cervical vertebra angle adjustment device comprises the first electric push rod, bed board and traction support, and described bed board is arranged on bed assembly top, bed board One end of the traction bracket is hinged on the bed assembly, the traction bracket is located above the bed board, one end of the traction bracket is hinged on the control box, and the other end is hinged on the bed board; the first electric push rod is arranged under the bed board, One end of it is hinged on the bed body assembly, and the other end is hinged under the bed board. When the electric push rod stretches, it can push the bed board up. Since the structure of the cervical vertebra angle adjustment device is determined in advance, the cervical vertebra traction angle can be calculated through the displacement of the first electric push rod, and the cervical vertebra traction angle is the angle between the traction bracket and the vertical direction.
当患者需要牵引颈椎时，他可仰卧在所述床板上，将头部固定在牵引支架上的滑板上，所述滑板可沿着所述牵引支架滑动。将牵引绳索从控制机箱中拉出，并通过牵引挂钩连接在所述滑板上端。医生通过计算机控制与采集系统设定颈椎牵引角度和颈椎基础牵引力。由于计算机控制与采集系统可以控制第一电动推杆，并通过第一电动推杆的位移计算出颈椎牵引角度，因此计算机控制与采集系统就可以通过控制第一电动推杆来控制颈椎牵引角度。同时计算机控制与采集系统可控制上述第一电机转动，第一电机拉动牵引绳索，牵引绳索再拉动所述滑板，滑板受力后则带动头部进行颈椎牵引。When the patient needs to pull the cervical spine, he can lie on his back on the bed board, fix his head on the slide plate on the traction bracket, and the slide plate can slide along the traction bracket. The traction rope is pulled out from the control cabinet, and connected to the top of the slide plate through the traction hook. Doctors set the cervical traction angle and basic cervical traction force through the computer control and acquisition system. Since the computer control and acquisition system can control the first electric push rod, and calculate the cervical traction angle through the displacement of the first electric push rod, the computer control and acquisition system can control the cervical traction angle by controlling the first electric push rod. Simultaneously, the computer control and acquisition system can control the rotation of the above-mentioned first motor, the first motor pulls the traction rope, the traction rope then pulls the slide plate, and after the slide plate is stressed, it drives the head for cervical spine traction.
在颈椎牵引过程中，计算机控制与采集系统可通过上述拉压力传感器反馈的信号，获得当前颈椎牵引力，并控制第一电机逐步增大牵引力，并且牵引力不应当超过医生设置的基础牵引力。During the cervical traction process, the computer control and acquisition system can obtain the current cervical traction force through the signal fed back by the tension and pressure sensor, and control the first motor to gradually increase the traction force, and the traction force should not exceed the basic traction force set by the doctor.
根据本发明的一个具体实施例，为了给患者更加柔和的牵引力，避免给患者颈椎过大的冲击，计算机控制与采集系统需要仔细控制牵引力的增长，下面进行详细说明：According to a specific embodiment of the present invention, in order to give the patient more gentle traction and avoid excessive impact on the patient's cervical spine, the computer control and acquisition system needs to carefully control the growth of the traction, which will be described in detail below:
(1)假设初始的颈椎牵引角度为A(即床板处于水平状态时，牵引支架与垂直方向的夹角)，医生设定的颈椎牵引角度为B，颈椎基础牵引力为F，则计算机控制与采集系统在保持初始颈椎牵引角度A的情况下，在时间T1内将牵引力从0均匀增加到牵引力FA，其中(1) Assuming that the initial cervical traction angle is A (that is, the angle between the traction bracket and the vertical direction when the bed board is in a horizontal state), the cervical traction angle set by the doctor is B, and the basic cervical traction force is F, then the computer control and acquisition While maintaining the initial cervical traction angle A, the system uniformly increases the traction force from 0 to traction force F A within time T 1 , where
FA＝4Fsin2(A/3)F A ＝4F sin 2 (A/3)
F是医生设置的颈椎基础牵引力，实际上也是颈椎在水平状态下受到的牵引力。T1是预先设定的时间值。T1的具体值与角度A相关。优选的，在A＝45°时，T1＝10秒。F is the basic traction force of the cervical spine set by the doctor, which is actually the traction force of the cervical spine in a horizontal state. T 1 is a preset time value. The specific value of T 1 is related to angle A. Preferably, when A=45°, T 1 =10 seconds.
(2)计算机控制与采集系统控制第一电动推杆推动床板运动，从而带动牵引支架运动，直至到达设定的颈椎牵引角度B，在这个过程中，颈椎牵引角度是以预定义的角速度均匀增加，并且当颈椎牵引角度为C时，计算机控制与采集系统控制牵引力为FC，其中(2) The computer control and acquisition system controls the first electric push rod to push the bed board to move, thereby driving the traction bracket to move until it reaches the set cervical traction angle B. During this process, the cervical traction angle increases uniformly at a predefined angular velocity , and when the cervical traction angle is C, the computer control and acquisition system controls the traction force to be F C , where
FC＝4Fsin2(C/3)F C ＝4F sin 2 (C/3)
参见附图4，其示出了本发明机器人腰椎角度调节装置的结构图。所述腰椎角度调节装置包括床板和第二电动推杆，这里的床板(下称第二床板)与颈椎角度调节装置的床板是分离的。第二床板设置在床身组件上方，其一端铰接在所述床身组件上。所述第二电动推杆设置在床板下方，其一端铰接在床身组件上，另一端铰接在所述第二床板下方。当所述第二电动推杆伸缩时，可以推动所述第二床板运动。Referring to accompanying drawing 4, it shows the structural diagram of the robot lumbar angle adjustment device of the present invention. The lumbar angle adjustment device includes a bed board and a second electric push rod, where the bed board (hereinafter referred to as the second bed board) is separated from the bed board of the cervical spine angle adjustment device. The second bed board is arranged above the bed assembly, and one end of it is hinged on the bed assembly. The second electric push rod is arranged under the bed board, one end of which is hinged on the bed assembly, and the other end is hinged under the second bed board. When the second electric push rod stretches, it can push the second bed board to move.
当患者需要进行腰椎牵引时，其仰卧于所述机器人上，并且头部朝向床尾，腰部位于所述第二床板上方，使用绑带将腰部固定在第二床板上，腰部两侧的绑带上分别有一个牵引带，将牵引绳索从控制机箱中拉出，并通过牵引挂钩与两个牵引带连接，这样当牵引绳索拉动时，可以拉动牵引带，牵引带受力拉动绑带，从而带动腰部进行腰椎牵引。When the patient needs to perform lumbar traction, he lies supine on the robot with his head facing the end of the bed, and his waist is located above the second bed board, and the waist is fixed on the second bed board with straps, on the straps on both sides of the waist There is a traction belt respectively, pull the traction rope out of the control box, and connect with the two traction belts through the traction hook, so that when the traction rope is pulled, the traction belt can be pulled, and the traction belt is forced to pull the strap, thereby driving the waist Perform lumbar traction.
医生通过计算机控制与采集系统设定腰椎牵引角度和腰椎基础牵引力，所述腰椎牵引角度为第二床板与水平方向的夹角。由计算机控制与采集系统控制所述第二电动推杆，推动第二床板抬起，由于腰椎角度调节装置的结构是事先确定的，因此计算机控制与采集系统可以通过第二电动推杆的位移计算出当前的腰椎牵引角度，从而可以控制腰椎牵引角度。并且计算机控制与采集系统同样通过上述拉压力传感器反馈的信号，获得当前腰椎的牵引力，并控制第一电机逐步增大牵引力。优选的，腰椎牵引角度应该为0到45度为宜。The doctor sets the lumbar traction angle and the lumbar basic traction force through the computer control and acquisition system, and the lumbar traction angle is the angle between the second bed board and the horizontal direction. The second electric push rod is controlled by the computer control and acquisition system to push the second bed board up. Since the structure of the lumbar angle adjustment device is determined in advance, the computer control and acquisition system can calculate the displacement of the second electric push rod. Display the current lumbar traction angle, so as to control the lumbar traction angle. And the computer control and acquisition system also obtains the current traction force of the lumbar spine through the signal fed back by the tension and pressure sensor, and controls the first motor to gradually increase the traction force. Preferably, the traction angle of the lumbar spine should be 0 to 45 degrees.
与颈椎牵引类似，为了给患者更加柔和的牵引力，根据本发明的一个具体实施例，计算机控制与采集系统通过下述方法控制腰椎牵引力的变化。Similar to cervical traction, in order to provide patients with more gentle traction, according to a specific embodiment of the present invention, the computer control and acquisition system controls the change of lumbar traction through the following method.
(1)在初始情况下，第二床板处于水平状态，即初始的腰椎牵引角度为0，医生设定的腰椎牵引角度为D，腰椎基础牵引力为K，则计算机控制与采集系统在保持初始腰椎牵引角度的情况下，在时间T2内将腰椎牵引力从0均匀增加到K，其中T2是预先设定的时间值，优选的，T2＝10秒。(1) In the initial situation, the second bed board is in a horizontal state, that is, the initial lumbar traction angle is 0, the lumbar traction angle set by the doctor is D, and the lumbar basic traction force is K, then the computer control and acquisition system maintains the initial lumbar traction angle. In the case of traction angle, the lumbar traction force is uniformly increased from 0 to K within time T 2 , where T 2 is a preset time value, preferably, T 2 =10 seconds.
(2)计算机控制与采集系统控制第二电动推杆推动第二床板运动，直至到达设定的腰椎牵引角度D，在这个过程中，腰椎牵引角度是以预定义的角速度均匀增加，并且当腰椎牵引角度为E时，计算机控制与采集系统控制牵引力为FE，其中(2) The computer control and acquisition system controls the second electric push rod to push the second bed board until it reaches the set lumbar traction angle D. During this process, the lumbar traction angle increases uniformly at a predefined angular velocity, and when the lumbar When the traction angle is E, the computer control and acquisition system controls the traction force to be F E , where
FE＝Kcos2(E/3)F E = K cos 2 (E/3)
参见附图5，其示出了本发明机器人的头部角度调节装置的结构图，所述头部角度调节装置包括床板(下称第三床板)和单控气弹簧。所述第三床板设置在床身组件上方，其靠近床头的一端铰接在所述床身组件上，所述单控气弹簧一端铰接在床身组件上，另一端铰接在所述第三床板上，可用于推拉第三床板。当患者头朝床尾仰卧于机器人上时(例如进行腰椎牵引时)，头部放置于所述第三床板上，计算机控制与采集系统可以控制所述单控气弹簧推拉第三床板，从而调节头部角度。优选的，头部角度(即第三床板与水平方向的夹角)应该为-30到10度为宜(负的度数意味着第三床板向下转动)。Referring to accompanying drawing 5, it has shown the structural diagram of the head angle adjustment device of the robot of the present invention, and described head angle adjustment device comprises bed board (hereinafter referred to as the third bed board) and single control gas spring. The third bed board is arranged above the bed board assembly, and its end close to the head of the bed is hinged on the bed board assembly, one end of the single-control gas spring is hinged on the bed board assembly, and the other end is hinged on the third bed board assembly. It can be used to push and pull the third bed board. When the patient is lying on the robot with his head facing the end of the bed (for example, when performing lumbar traction), the head is placed on the third bed board, and the computer control and acquisition system can control the single-control gas spring to push and pull the third bed board, thereby adjusting the head. head angle. Preferably, the head angle (that is, the angle between the third bed board and the horizontal direction) should be -30 to 10 degrees (a negative degree means that the third bed board turns downward).
参见附图6，其示出了本发明机器人的手臂角度调节装置的结构图，所述手臂角度调节装置包括床板(下称第四床板)和双控气弹簧。所述第四床板围绕于所述第三床板，其靠近床头的一端铰接在所述床身组件上。所述双控气弹簧的一端都铰接在床身组件上，另一端铰接在所述第四床板上，可用于推拉所述第四床板。当患者需要运动手臂时，其头朝床尾俯卧于机器人上，将两个手臂放置于所述第四床板上，计算机控制与采集系统可以控制所述双控气弹簧推拉第四床板，从而调节手臂角度。优选的，手臂角度(即第四床板与水平方向的夹角)应该为-30到10度为宜(负的度数意味着第四床板向下转动)。Referring to accompanying drawing 6, it has shown the structural diagram of the arm angle adjustment device of the robot of the present invention, and described arm angle adjustment device comprises bed board (hereinafter referred to as the fourth bed board) and double control gas spring. The fourth bed board surrounds the third bed board, and its end close to the head of the bed is hinged on the bed assembly. One end of the double control gas spring is hinged on the bed assembly, and the other end is hinged on the fourth bed board, which can be used to push and pull the fourth bed board. When the patient needs to move his arms, he lies prone on the robot with his head facing the end of the bed, and places his two arms on the fourth bed board. The computer control and acquisition system can control the double-controlled gas spring to push and pull the fourth bed board, thereby adjusting the arm angle. Preferably, the arm angle (that is, the angle between the fourth bed board and the horizontal direction) should be -30 to 10 degrees (a negative degree means that the fourth bed board turns downward).
所述计算机控制与采集系统一方面可以控制机器人各个部件的运动，另一方可采集各个部件的运动数据，将采集到的数据存档到数据库文件中，之后能够根据所述数据库文件复现各个部件的运动过程，例如复现颈椎和腰椎的牵引过程。The computer control and collection system can control the movement of each part of the robot on the one hand, and collect the movement data of each part on the other hand, archive the collected data into a database file, and then reproduce the movement of each part according to the database file. Movement process, such as the reproduction of cervical and lumbar traction process.
第一电机由计算机控制与采集系统通过人机操作界面进行控制可以实现对第一电机的主动加载控制(即直接控制电机的运动来牵引患者颈腰椎)、被动加载信息采集(即先由医师主动控制，对固定在本发明机器人上的患者颈腰椎进行牵引时，计算机控制与采集系统记录第一电机的工作过程)、对采集的信息进行主动复现控制(即复现所记录的第一电机的运动过程以模拟医师的治疗过程)。通过调节电机的加载频率可以调节牵引过程中电机输出的快慢。再次使用时，可以直接根据已存储的文件直接进行康复治疗。The first motor is controlled by the computer control and acquisition system through the human-machine interface, which can realize active loading control of the first motor (that is, directly control the movement of the motor to pull the patient's cervical and lumbar spine), passive loading information collection (that is, the doctor actively control, when the patient's cervical and lumbar spine fixed on the robot of the present invention is pulled, the computer control and acquisition system records the working process of the first motor), and the information collected is actively reproduced and controlled (i.e. reproduces the recorded first motor The movement process to simulate the doctor's treatment process). By adjusting the loading frequency of the motor, the output speed of the motor during traction can be adjusted. When used again, rehabilitation can be carried out directly according to the stored files.
以上所述仅是本发明的较佳实施方式，故凡依本发明专利申请范围所述的构造、特征及原理所做的等效变化或修饰，均包括于本发明专利申请范围内。The above is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.
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| CN109875834A (en) * | 2019-02-18 | 2019-06-14 | 解国强 | A kind of backbone rehabilitation equipment and its control method |
| CN110063829A (en) * | 2019-05-22 | 2019-07-30 | 河南省中医院（河南中医药大学第二附属医院） | Lumbar intervertebral disc protrusion tractor |
| CN110063829B (en) * | 2019-05-22 | 2021-03-02 | 河南省中医院（河南中医药大学第二附属医院） | Lumbar intervertebral disc protrusion tractor |
| CN113730175A (en) * | 2020-05-29 | 2021-12-03 | 杨玉 | Flexible cross traction rehabilitation bed |
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| CN114053111B (en) * | 2021-09-28 | 2023-12-01 | 浙江中医药大学附属第三医院 | Scoliosis medical equipment with traction and massage functions |
| CN115919524A (en) * | 2022-12-02 | 2023-04-07 | 湖南康立人医疗设备有限公司 | Weber fischer law relation model and spine decompression traction device thereof |
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| CN121445575A (en) * | 2025-11-10 | 2026-02-03 | 北京大学第一医院(北京大学第一临床医学院) | Backbone artificial intelligence auxiliary diagnosis and treatment equipment based on mechanics principle |
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