CN107296675A - A kind of spine recovering machine people - Google Patents
A kind of spine recovering machine people Download PDFInfo
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- CN107296675A CN107296675A CN201710436848.2A CN201710436848A CN107296675A CN 107296675 A CN107296675 A CN 107296675A CN 201710436848 A CN201710436848 A CN 201710436848A CN 107296675 A CN107296675 A CN 107296675A
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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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Abstract
The present invention relates to a kind of spine recovering machine people, the robot includes bed body, cervical vertebral angle adjusting means, lumbar vertebrae angle regulator, arm angles adjusting means, head angle adjusting means, controlling machine box, and the controlling machine box include soft draw-gear and computer control and acquisition system.The robot of the present invention can realize cervical lumbar vertebra traction angle, the control accurate of tractive force size, and effective rehabilitation can be carried out to spinal disease patient, greatly shortens the rehabilitation duration of spinal disease.
Description
【Technical field】
The invention belongs to rehabilitation medical nursing robot field, more particularly to a kind of machine that rehabilitation is carried out to backbone
People.
【Background technology】
Backbone is the pillar of human bearing, is the axis of trunk, the hinge of motion is protection nervous centralis, spinal cord and god
Important feature through root.Backbone is to occur the institutional framework that regression is relatively early, change greatly in human body again, due to the increase at age,
Fiber starts denaturation, and elastic force declines, and disc tissue regression, vertebral levels decline, and the unstability of backbone occur；Ridge is being participated in for a long time
During post is moved and born a heavy burden, cumulative bad strain will be produced, the inducements such as wound, posture be improper are added, cause occur spinal disease.
Because the mobility of neck lumbar segment is larger, therefore cervical spondylopathy and the incidence of disease highest of lumbar vertebra disease.Although at present to backbone
Though the treatment method of disease is more, curative effect is different, and many scholars advocate non-operative treatment, including braking, traction, massage,
Physical therapy etc. has certain curative effect；For thoracic intervertebral disc protrution, central lumbar disc herniation, the patient of lumbar spinal stenosis
Therapeutic effect is less obvious.At present treatment backbone class disease therapeutic equipment using manual or micro-processor controlled traction therapeutic equipment as
It is main, there is a situation where that equipment is simple, function is single, accuracy is poor.
【The content of the invention】
In order to solve above mentioned problem of the prior art, present invention is generally directed to spinal injury patient, with reference to robotics,
Human cinology, ergonomics scheduling theory are designed, and propose a kind of rehabilitative therapy of spinal traction robot.
The technical solution adopted by the present invention is specific as follows：
A kind of spine recovering machine people, the robot includes bed body, cervical vertebral angle adjusting means, lumbar vertebrae angular adjustment dress
Put, arm angles adjusting means, head angle adjusting means, controlling machine box, wherein：
The bed body includes head of a bed component, lathe bed component and connecting bracket, and the head of a bed component is located at the head of a bed of bed body, uses
In supporting the controlling machine box, interconnected between head assembly and lathe bed component by the connecting bracket, the lathe bed component
For supporting aforementioned four angle regulator；
The controlling machine box include soft draw-gear and computer control and acquisition system；The soft draw-gear bag
Include base, and the first motor, decelerator, pull pressure sensor component and line wheel component fixed on base；The base
It is fixed in controlling machine box, one end connection of the first motor and decelerator, and by the decelerator output torque, decelerator
The other end connects and drag rope is wrapped on the line wheel component, the line wheel component, the drag rope be used for cervical traction and
Lumbar vertebrae, the pull pressure sensor connects the drag rope, the size for detecting and feeding back output torque in real time；Computer
The signal that control can feed back with acquisition system according to the pull pressure sensor, obtains the tractive force of drag rope, and logical control
The output of first motor controls tractive force；
The cervical vertebral angle adjusting means includes the first electric pushrod, the first bed board and towing bracket, first bed board
It is arranged on above lathe bed component, one end of the first bed board is hinged on the lathe bed component, the towing bracket is located on bed board
Side, one end of towing bracket is hinged in controlling machine box, and the other end is hinged on first bed board；First electric pushrod
It is arranged on below bed board, its one end is hinged on lathe bed component, the other end is hinged on below the bed board；Computer is controlled with adopting
Collecting system can control the first electric pushrod, and calculate cervical traction angle, the neck by the displacement of the first electric pushrod
Vertebra traction angle is towing bracket and the angle of vertical direction；
The lumbar vertebrae angle regulator includes the second bed board and the second electric pushrod, and second bed board is arranged on lathe bed
Above component, its one end is hinged on the lathe bed component, and second electric pushrod is arranged on below bed board, and its one end is hinged
On lathe bed component, the other end is hinged on below second bed board；
The head angle adjusting means includes the 3rd bed board and single control gas spring, and the 3rd bed board is arranged on lathe bed group
Above part, it is hinged on the lathe bed component close to one end of the head of a bed, and the single control gas spring one end is hinged on lathe bed component
On, the other end is hinged on the 3rd bed board, available for the bed board of push-and-pull the 3rd；
The arm angles adjusting means includes the 4th bed board and dual control gas spring, and the 4th bed board is around described the
Three bed boards, it is hinged on the lathe bed component close to one end of the head of a bed, and one end of the dual control gas spring is all hinged on lathe bed
On component, the other end is hinged on the 4th bed board, available for the 4th bed board described in push-and-pull；
Computer control and harvester can control first motor, the first electric pushrod, the second electric pushrod,
The motion of single control gas spring, dual control gas spring, and their exercise data is gathered, by the archives data collected to data library text
In part, the motion process of all parts can be reappeared according to the database file afterwards.
Further, there is slide plate, for immobilized patients head, the slide plate can be led along described on the towing bracket
Draw bracket slide, when patient needs cervical traction, the drag rope is connected to the slide plate upper end, meter is passed through by doctor
Calculation machine controls to set cervical traction angle B and the basic tractive force F of cervical vertebra, the computer control and acquisition system with acquisition system
Cervical traction is carried out based on following step：
(1) computer control and acquisition system are in the case where keeping initial cervical traction angle A, in time T1Interior control
Tractive force uniformly increases to tractive force F from 0A, wherein
FA=4Fsin2(A/3)
T1It is time value set in advance；
(2) computer control controls the first electric pushrod to promote bed board motion with acquisition system, so as to drive towing bracket
Motion, until reaching the cervical traction angle B of setting, in this process, cervical traction angle is equal with predefined angular speed
Even increase, and when cervical traction angle is C, computer controls to control tractive force to be F with acquisition systemC, wherein
FC=4Fsin2(C/3)。
Further, when patient will carry out lumbar traction, its waist is fixed on the second bed board using bandage, waist
Have a leash on the bandage of both sides respectively, drag rope be connected with the leash, doctor by computer control with
Acquisition system sets lumbar traction angle D and the basic tractive force K of lumbar vertebrae, and the computer control is based on following steps with acquisition system
It is rapid to carry out cervical traction：
(1) under initial situation, the second bed board is in horizontality, and computer control is keeping initial waist with acquisition system
In the case of vertebra traction angle, in time T2Interior control tractive force uniformly increases to K, wherein T from 02It is the time set in advance
Value；
(2) computer control controls the second electric pushrod to promote the motion of the second bed board with acquisition system, until reaching setting
Lumbar traction angle D, in this process, lumbar traction angle is uniformly increased with predefined angular speed, and works as waist
When vertebra traction angle is E, computer controls to control tractive force to be F with acquisition systemE, wherein
FE=Kcos2(E/3)。
Further, lumbar traction angle is limited in 0 to 45 degree.
Further, head angle is limited in -30 to 10 degree, and the head angle is the 3rd bed board and horizontal direction
Angle, negative angle number represents the angle that the 3rd bed board is rotated down.
Further, arm angles are limited in -30 to 10 degree, and the arm angles are the 4th bed board and horizontal direction
Angle, negative angle number represents the angle that the 4th bed board is rotated down.
This method has the beneficial effect that：Realize cervical traction angle, tractive force and lumbar traction angle, tractive force it is accurate
Regulation and control, can carry out effective rehabilitation to spinal disease patient, highly shortened rehabilitation duration.
【Brief description of the drawings】
Accompanying drawing described herein be for providing a further understanding of the present invention, constituting the part of the application, but
Inappropriate limitation of the present invention is not constituted, in the accompanying drawings：
Fig. 1 is the overall construction drawing of spine recovering machine people of the present invention.
Fig. 2 is the soft draw-gear structure chart of robot of the present invention.
Fig. 3 is the structure chart of the cervical vertebral angle adjusting means of robot of the present invention.
Fig. 4 is the structure chart of robot lumbar vertebrae angle regulator of the present invention.
Fig. 5 is the structure chart of the head angle adjusting means of robot of the present invention.
Fig. 6 is the structure chart of the arm angles adjusting means of robot of the present invention.
【Embodiment】
Describe the present invention in detail below in conjunction with accompanying drawing and specific embodiment, illustrative examples therein and say
It is bright to be only used for explaining the present invention but not as a limitation of the invention.
Referring to accompanying drawing 1, it illustrates the general structure of spine recovering machine people of the present invention, the robot include bed body,
Cervical vertebral angle adjusting means, lumbar vertebrae angle regulator, arm angles adjusting means, head angle adjusting means, controlling machine box,
The controlling machine box include soft draw-gear and computer control and acquisition system.
The bed body includes head of a bed component, lathe bed component and connecting bracket, and the head of a bed component is used for the control for supporting the head of a bed
Cabinet processed, is interconnected between head of a bed component and lathe bed component by the connecting bracket, and the lathe bed component is used to support
State four angle regulators.
Referring to accompanying drawing 2, it illustrates the soft draw-gear of robot of the present invention, the soft draw-gear is arranged at control
In cabinet processed, for the traction strength regulation in cervical traction and lumbar traction, it includes base, and is fixed on base
The first motor, decelerator, pull pressure sensor component and line wheel component.The base is fixed in controlling machine box, the first electricity
One end connection of machine and decelerator, and by the decelerator output torque, the other end of decelerator connects the line wheel component,
Drag rope is wrapped on the line wheel component.The pull pressure sensor connects the drag rope, for detecting in real time and instead
Present the size of output torque.When the first motor works, it can drive line wheel component to rotate, so that pulling traction rope rope, described
After drag rope is pulled, for realizing the cervical traction and lumbar traction that are discussed below.Computer is controlled can with acquisition system
With the signal fed back according to the pull pressure sensor, the output torque of the first motor is controlled, the soft control of tractive force is realized.
Referring to accompanying drawing 3, it illustrates the structure chart of the cervical vertebral angle adjusting means of robot of the present invention, the cervical vertebral angle
Adjusting means includes the first electric pushrod, bed board and towing bracket, and the bed board is arranged on above lathe bed component, one end of bed board
It is hinged on the lathe bed component, the towing bracket is located above bed board, one end of towing bracket is hinged in controlling machine box,
The other end is hinged on the bed board；First electric pushrod is arranged on below bed board, and its one end is hinged on lathe bed component,
The other end is hinged on below the bed board, when the electric pushrod is flexible, the bed board can be promoted to lift.Due to cervical vertebra angle
The structure for spending adjusting means is pre-determined, therefore can just calculate cervical traction angle by the displacement of the first electric pushrod
Degree, the cervical traction angle is exactly towing bracket and the angle of vertical direction.
When patient needs cervical traction, he can be lain supine upon on the bed board, and head is fixed on to the cunning on towing bracket
On plate, the slide plate can be slided along the towing bracket.Drag rope is pulled out from controlling machine box, and linked up with by drawing
It is connected to the slide plate upper end.Doctor sets cervical traction angle by computer control and acquisition system and cervical vertebra basis is drawn
Power.Because computer control and acquisition system can control the first electric pushrod, and calculated by the displacement of the first electric pushrod
Go out cervical traction angle, therefore computer control just can be by controlling the first electric pushrod to control cervical vertebra to lead with acquisition system
Draw angle.Simultaneous computer is controlled to can control above-mentioned first motor rotation with acquisition system, and the first motor pulling traction rope rope is led
Messenger rope is pulled again then drives head to carry out cervical traction after the slide plate, slide plate stress.
During cervical traction, the letter that computer control can be fed back with acquisition system by above-mentioned pull pressure sensor
Number, current cervical traction power is obtained, and control the first motor to incrementally increase tractive force, and tractive force should not be set more than doctor
The basic tractive force put.
According to the specific embodiment of the present invention, for the tractive force softer to patient, it is to avoid to patients with cervical
Excessive impact, computer control needs the growth of carefully control tractive force with acquisition system, is specifically described below：
(1) assume initial cervical traction angle for A (when i.e. bed board is in horizontality, towing bracket and vertical direction
Angle), the cervical traction angle that doctor sets is B, and cervical vertebra basis tractive force is F, then computer control exists with acquisition system
In the case of keeping initial cervical traction angle A, in time T1It is interior that tractive force is uniformly increased into tractive force F from 0A, wherein
FA=4Fsin2(A/3)
F is the basic tractive force of cervical vertebra that doctor is set, and is actually also the tractive force that cervical vertebra is subject under horizontality.T1
It is time value set in advance.T1Occurrence it is related to angle A.It is preferred that, at A=45 °, T1=10 seconds.
(2) computer control controls the first electric pushrod to promote bed board motion with acquisition system, so as to drive towing bracket
Motion, until reaching the cervical traction angle B of setting, in this process, cervical traction angle is with predefined angular speed
Uniform increase, and when cervical traction angle is C, computer controls to control tractive force to be F with acquisition systemC, wherein
FC=4Fsin2(C/3)
Referring to accompanying drawing 4, it illustrates the structure chart of robot lumbar vertebrae angle regulator of the present invention.The lumbar vertebrae angle is adjusted
Regulating device includes bed board and the second electric pushrod, bed board (calling the second bed board in the following text) and the bed board of cervical vertebral angle adjusting means here
It is separation.Second bed board is arranged on above lathe bed component, and its one end is hinged on the lathe bed component.Described second electronic pushes away
Bar is arranged on below bed board, and its one end is hinged on lathe bed component, and the other end is hinged on below second bed board.When described
When two electric pushrods stretch, second bed board can be promoted to move.
When patient needs to carry out lumbar traction, it is lain on the back in the robot, and head is towards tailstock, loin
Above second bed board, waist is fixed on the second bed board using bandage, there is one on the bandage of waist both sides respectively
Leash, drag rope is pulled out from controlling machine box, and is connected by drawing hook with two leashes, so works as pull rope
During Suo Ladong, leash can be pulled, leash stress pulls bandage, so as to drive waist to carry out lumbar traction.
Doctor sets lumbar traction angle and the basic tractive force of lumbar vertebrae, the lumbar vertebrae by computer control and acquisition system
Traction angle is the second bed board and the angle of horizontal direction.Described second is controlled electronic to push away by computer control and acquisition system
Bar, promotes the second bed board to lift, and because the structure of lumbar vertebrae angle regulator is pre-determined, therefore computer control is with adopting
Collecting system can calculate current lumbar traction angle by the displacement of the second electric pushrod, so as to control lumbar traction
Angle.And computer controls the signal fed back with acquisition system again by above-mentioned pull pressure sensor, obtains current lumbar vertebrae
Tractive force, and control the first motor incrementally increase tractive force.It is preferred that, lumbar traction angle should be advisable for 0 to 45 degree.
It is similar with cervical traction, for the tractive force softer to patient, according to the specific embodiment of the present invention,
Computer controls to control the change of lumbar traction force by following methods with acquisition system.
(1) under initial situation, the second bed board is in horizontality, i.e., initial lumbar traction angle is 0, doctor's setting
Lumbar traction angle be D, lumbar vertebrae basis tractive force is K, then computer control is keeping initial lumbar traction with acquisition system
In the case of angle, in time T2It is interior that lumbar traction force is uniformly increased into K, wherein T from 02It is time value set in advance, it is excellent
Choosing, T2=10 seconds.
(2) computer control controls the second electric pushrod to promote the motion of the second bed board with acquisition system, until reaching setting
Lumbar traction angle D, in this process, lumbar traction angle is uniformly increased with predefined angular speed, and works as waist
When vertebra traction angle is E, computer controls to control tractive force to be F with acquisition systemE, wherein
FE=Kcos2(E/3)
Referring to accompanying drawing 5, it illustrates the structure chart of the head angle adjusting means of robot of the present invention, the head angle
Adjusting means includes bed board (calling the 3rd bed board in the following text) and single control gas spring.3rd bed board is arranged on above lathe bed component, its
One end close to the head of a bed is hinged on the lathe bed component, and the single control gas spring one end is hinged on lathe bed component, the other end
It is hinged on the 3rd bed board, available for the bed board of push-and-pull the 3rd.When patient's head lies on the back (such as to enter when in robot towards tailstock
During row lumbar traction), head is positioned on the 3rd bed board, and computer control can control the single control gas with acquisition system
The bed board of spring push-pull the 3rd, so as to adjust head angle.It is preferred that, head angle (i.e. the 3rd bed board and the angle of horizontal direction)
It should be advisable (the negative number of degrees mean that the 3rd bed board is rotated down) for -30 to 10 degree.
Referring to accompanying drawing 6, it illustrates the structure chart of the arm angles adjusting means of robot of the present invention, the arm angles
Adjusting means includes bed board (calling the 4th bed board in the following text) and dual control gas spring.4th bed board around the 3rd bed board, its
One end close to the head of a bed is hinged on the lathe bed component.One end of the dual control gas spring is all hinged on lathe bed component, separately
One end is hinged on the 4th bed board, available for the 4th bed board described in push-and-pull.When patient needs motion arm, its head is towards bed
Two arms are positioned on the 4th bed board by tail prostrate in robot, and computer control can be controlled with acquisition system
The bed board of dual control gas spring push-pull the 4th, so as to adjust arm angles.It is preferred that, arm angles (i.e. the 4th bed board and level
The angle in direction) it should be advisable (the negative number of degrees mean that the 4th bed board is rotated down) for -30 to 10 degree.
On the one hand the computer control be able to can be adopted with acquisition system with the motion of control machine people's all parts, the opposing party
Collect the exercise data of all parts, afterwards can be according to the database by the archives data collected into database file
File reappears the motion process of all parts, for example, reappear the distraction procedure of cervical vertebra and lumbar vertebrae.
First motor is controlled by man machine operation interface with acquisition system by computer control and can realized to first
The active Loading Control (motion of i.e. direct controlled motor to draw patient's neck lumbar vertebrae) of motor, the collection of passive load information are (i.e.
First by doctor's active control, when being drawn to the patient's neck lumbar vertebrae being fixed in robot of the present invention, computer is controlled with adopting
Collecting system records the course of work of the first motor), actively reproduction control carried out to the information of collection (reappear recorded first
The motion process of motor is to simulate the therapeutic process of doctor).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 (6)
1. a kind of spine recovering machine people, it is characterised in that the robot includes bed body, cervical vertebral angle adjusting means, lumbar vertebrae angle
Adjusting means, arm angles adjusting means, head angle adjusting means, controlling machine box are spent, wherein：
The bed body includes head of a bed component, lathe bed component and connecting bracket, and the head of a bed component is located at the head of a bed of bed body, for propping up
The controlling machine box are supportted, are interconnected between head assembly and lathe bed component by the connecting bracket, the lathe bed component is used for
Support aforementioned four angle regulator；
The controlling machine box include soft draw-gear and computer control and acquisition system；The soft draw-gear includes bottom
Seat, and the first motor, decelerator, pull pressure sensor component and line wheel component fixed on base；The base is fixed
In controlling machine box, one end of the first motor and decelerator connection, and by the decelerator output torque, decelerator it is another
Drag rope is wrapped on the end connection line wheel component, the line wheel component, the drag rope is used for cervical traction and lumbar vertebrae,
The pull pressure sensor connects the drag rope, the size for detecting and feeding back output torque in real time；Computer is controlled
The signal that can be fed back with acquisition system according to the pull pressure sensor, obtains the tractive force of drag rope, and logical control first
The output of motor controls tractive force；
The cervical vertebral angle adjusting means includes the first electric pushrod, the first bed board and towing bracket, and first bed board is set
Above lathe bed component, one end of the first bed board is hinged on the lathe bed component, and the towing bracket is located above bed board, leads
The one end for drawing support is hinged in controlling machine box, and the other end is hinged on first bed board；First electric pushrod is set
Below bed board, its one end is hinged on lathe bed component, and the other end is hinged on below the bed board；Computer is controlled
System can control the first electric pushrod, and calculate cervical traction angle by the displacement of the first electric pushrod, and the cervical vertebra is led
It is towing bracket and the angle of vertical direction to draw angle；
The lumbar vertebrae angle regulator includes the second bed board and the second electric pushrod, and second bed board is arranged on lathe bed component
Top, its one end is hinged on the lathe bed component, and second electric pushrod is arranged on below bed board, and its one end is hinged on bed
On body component, the other end is hinged on below second bed board；
The head angle adjusting means includes the 3rd bed board and single control gas spring, and the 3rd bed board is arranged on lathe bed component
Side, it is hinged on the lathe bed component close to one end of the head of a bed, and the single control gas spring one end is hinged on lathe bed component, separately
One end is hinged on the 3rd bed board, available for the bed board of push-and-pull the 3rd；
The arm angles adjusting means includes the 4th bed board and dual control gas spring, and the 4th bed board is around described 3rd
Plate, it is hinged on the lathe bed component close to one end of the head of a bed, and one end of the dual control gas spring is all hinged on lathe bed component
On, the other end is hinged on the 4th bed board, available for the 4th bed board described in push-and-pull；
The computer control can control first motor, the first electric pushrod, the second electric pushrod, single control with harvester
The motion of gas spring, dual control gas spring, and their exercise data is gathered, by the archives data collected to database file
In, the motion process of all parts can be reappeared according to the database file afterwards.
2. spine recovering machine people according to claim 1, it is characterised in that have slide plate on the towing bracket, uses
In immobilized patients head, the slide plate can be slided along the towing bracket, when patient needs cervical traction, by the traction
Rope is connected to the slide plate upper end, and cervical traction angle B and cervical vertebra are set by computer control and acquisition system by doctor
Basic tractive force F, the computer control is based on following step with acquisition system and carries out cervical traction：
(1) computer control and acquisition system are in the case where keeping initial cervical traction angle A, in time T1Interior control traction
Power uniformly increases to tractive force F from 0A, wherein
FA=4Fsin2(A/3)
T1It is time value set in advance；
(2) computer control controls the first electric pushrod to promote bed board motion with acquisition system, so that drive towing bracket to move,
Until reaching the cervical traction angle B of setting, in this process, cervical traction angle is uniformly increased with predefined angular speed
Plus, and when cervical traction angle is C, computer controls to control tractive force to be F with acquisition systemC, wherein
FC=4Fsin2(C/3)。
3. spine recovering machine people according to claim 1, it is characterised in that when patient will carry out lumbar traction, make
Its waist is fixed on the second bed board with bandage, there is a leash on the bandage of waist both sides respectively, by drag rope with
The leash connection, doctor sets lumbar traction angle D and the basic tractive force of lumbar vertebrae by computer control and acquisition system
K, the computer control is based on following step with acquisition system and carries out cervical traction：
(1) under initial situation, the second bed board is in horizontality, and computer control is keeping initial lumbar vertebrae to lead with acquisition system
In the case of drawing angle, in time T2Interior control tractive force uniformly increases to K, wherein T from 02It is time value set in advance；
(2) computer control controls the second electric pushrod to promote the motion of the second bed board with acquisition system, until reaching the waist of setting
Vertebra traction angle D, in this process, lumbar traction angle are uniformly increased with predefined angular speed, and when lumbar vertebrae is led
When drawing angle for E, computer controls to control tractive force to be F with acquisition systemE, wherein
FE=Kcos2(E/3)。
4. the spine recovering machine people according to claim 1-3 any one, it is characterised in that lumbar traction angle is limited
In 0 to 45 degree.
5. the spine recovering machine people according to claim 1-4 any one, it is characterised in that head angle is limited in-
30 to 10 degree, the head angle is the 3rd bed board and the angle of horizontal direction, negative angle number represent the 3rd bed board to
The angle of lower rotation.
6. the spine recovering machine people according to claim 1-5 any one, it is characterised in that arm angles are limited in-
30 to 10 degree, the arm angles are the 4th bed board and the angle of horizontal direction, negative angle number represent the 4th bed board to
The angle of lower rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710436848.2A CN107296675B (en) | 2017-06-12 | 2017-06-12 | A kind of spine recovering machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710436848.2A CN107296675B (en) | 2017-06-12 | 2017-06-12 | A kind of spine recovering machine people |
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| CN107296675A true CN107296675A (en) | 2017-10-27 |
| CN107296675B CN107296675B (en) | 2019-09-24 |
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| CN201710436848.2A Active CN107296675B (en) | 2017-06-12 | 2017-06-12 | A kind of spine recovering machine people |
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| CN108652803A (en) * | 2018-03-22 | 2018-10-16 | 哈工天愈（中山）机器人有限公司 | A kind of multidimensional lumbar traction rehabilitation robot |
| CN108670767A (en) * | 2018-06-11 | 2018-10-19 | 冯瑞新 | A kind of Waist disc various dimensions massage bed |
| 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 |
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| CN112237504A (en) * | 2020-10-15 | 2021-01-19 | 华中科技大学同济医学院附属协和医院 | Spinal fracture rehabilitation treatment bed and using method thereof |
| CN114053111A (en) * | 2021-09-28 | 2022-02-18 | 浙江中医药大学附属第三医院 | Scoliosis medical equipment with traction and massage functions |
| 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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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: 528400 Guangdong city of Zhongshan province Tsuiheng Ma An Cun intersection of Patentee before: Zhongshan Tian Yue Medical Technology Co., Ltd. |