CN107296675B - A kind of spine recovering machine people - Google Patents

A kind of spine recovering machine people Download PDF

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Publication number
CN107296675B
CN107296675B CN201710436848.2A CN201710436848A CN107296675B CN 107296675 B CN107296675 B CN 107296675B CN 201710436848 A CN201710436848 A CN 201710436848A CN 107296675 B CN107296675 B CN 107296675B
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angle
bed board
bed
control
component
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CN107296675A (en
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杨炽夫
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Kazakhstan Tian Yu (Zhongshan) robotics Co., Ltd.
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Zhongshan Tian Yue Medical Technology Co Ltd
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • A61F5/042Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching

Abstract

The present invention relates to a kind of spine recovering machine people, the robot includes bed body, cervical vertebral angle regulating device, lumbar vertebrae angle adjustment device, arm angles regulating device, head angle regulating device, control cabinet, and the control cabinet includes soft traction device and computer control and acquisition system.The control accurate of cervical lumbar vertebra traction angle, tractive force size may be implemented in robot of the invention, can carry out effective rehabilitation to spinal disease patient, greatly shorten the rehabilitation duration of spinal disease.

Description

A kind of spine recovering machine people
[technical field]
The invention belongs to the machines that rehabilitation medical nursing robot field more particularly to a kind of pair of backbone carry out rehabilitation People.
[background technique]
Backbone is the pillar of human bearing, is the axis of trunk, and the hinge of movement is protection nervous centralis, spinal cord and mind Important feature through root.Backbone is to occur the institutional framework that regression is relatively early, changes greatly in human body again, due to the increase at age, Fiber starts to be denaturalized, elastic force decline, disc tissue regression, and the unstability of backbone occurs in vertebral levels decline;Ridge is being participated in for a long time During column movement and weight bearing, cumulative bad strain will be generated, plus the inducements such as wound, posture be improper, leads to generation spinal disease.
Since the mobility of neck lumbar segment is larger, therefore the disease incidence highest of cervical spondylosis and 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 the patient of thoracic intervertebral disc protrution, central lumbar disc herniation, lumbar spinal stenosis Therapeutic effect is less obvious.The therapeutic equipment for the treatment of backbone class disease is at present with manual or micro-processor controlled traction therapeutic equipment It is main, there is a situation where that equipment is simple, have a single function, accuracy it is poor.
[summary of the invention]
In order to solve the above problem in the prior art, present invention is generally directed to spinal injury patient, in conjunction with 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 include bed body, cervical vertebral angle regulating device, lumbar vertebrae angular adjustment dress It sets, arm angles regulating device, head angle regulating device, control cabinet, in which:
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, is used In supporting the control cabinet, interconnected between head assembly and lathe bed component by the connecting bracket, the lathe bed component It is used to support aforementioned four angle adjustment device;
The control cabinet includes soft traction device and computer control and acquisition system;The soft traction device packet Pedestal is included, and in first motor fixed on the base, retarder, pull pressure sensor component and line wheel component;The pedestal It is fixed in control cabinet, one end of first motor and retarder connects, and by the retarder output torque, retarder The other end connects the line wheel component, is wrapped drag rope on the line wheel component, the drag rope for cervical traction and Lumbar vertebrae, the pull pressure sensor connect the drag rope, the size for real-time detection and feedback output torque;Computer The signal that control and acquisition system can be fed back 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 regulating device includes the first electric pushrod, the first bed board and towing bracket, first bed board It is arranged above lathe bed component, one end of the first bed board is hinged on the lathe bed component, and the towing bracket is located on bed board Side, one end of towing bracket are hinged on control cabinet, and the other end is hinged on first bed board;First electric pushrod It is arranged below bed board, one end is hinged on lathe bed component, and the other end is hinged below the bed board;Computer is controlled and is adopted 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 the angle of towing bracket and vertical direction;
The lumbar vertebrae angle adjustment device includes the second bed board and the second electric pushrod, and second bed board is arranged in lathe bed Above component, one end is hinged on the lathe bed component, and second electric pushrod is arranged below bed board, and one end is hinged On lathe bed component, the other end is hinged below second bed board;
The head angle regulating device includes third bed board and single control gas spring, and the third bed board is arranged in lathe bed group Above part, it is hinged on the lathe bed component close to one end of the head of a bed, single control gas spring one end is hinged on lathe bed component On, the other end is hinged on the third bed board, can be used for pushing and pulling third bed board;
The arm angles regulating device includes the 4th bed board and dual control gas spring, and the 4th bed board is around described the Three bed boards are 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, can be used for pushing and pulling the 4th bed board;
Computer control and acquisition device can control the first motor, the first electric pushrod, the second electric pushrod, The movement of single control gas spring, dual control gas spring, and their exercise data is acquired, by collected archives data to data library text In part, the motion process of all parts can be reappeared according to the database file later.
Further, there is slide plate on the towing bracket, be used for immobilized patients head, the slide plate can be led along described 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 The control of calculation machine and acquisition system setting cervical traction angle B and cervical vertebra basis tractive force F, the computer control and 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 preset time value;
(2) computer control controls the first electric pushrod with acquisition system and pushes bed board movement, to drive towing bracket Movement, 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 control is F with acquisition system control tractive forceC, 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 two sides respectively, by drag rope and the traction band connection, doctor by computer control with Acquisition system sets lumbar traction angle D and lumbar vertebrae basis tractive force K, 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 and acquisition system are keeping initial waist In the case where vertebra traction angle, in time T2Interior control tractive force uniformly increases to K from 0, wherein T2It is the preset time Value;
(2) computer control controls the second electric pushrod with acquisition system and pushes the movement of the second bed board, until reaching setting Lumbar traction angle D, in this process, lumbar traction angle is uniformly to be increased with predefined angular speed, and work as waist When vertebra traction angle is E, computer control is F with acquisition system control tractive forceE, 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 third bed board and horizontal direction Angle, negative angle number indicates the angle that third bed board rotates 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 indicates the angle that the 4th bed board rotates down.
The having the beneficial effect that of this method realize cervical traction angle, tractive force and lumbar traction angle, tractive force it is accurate Regulation, can carry out effective rehabilitation to spinal disease patient, highly shortened rehabilitation duration.
[Detailed description of the invention]
Described herein the drawings are intended to provide a further understanding of the invention, constitutes part of this application, but It does not constitute improper limitations of the present invention, 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 traction device structure chart of robot of the present invention.
Fig. 3 is the structure chart of the cervical vertebral angle regulating device of robot of the present invention.
Fig. 4 is the structure chart of robot lumbar vertebrae angle adjustment device of the present invention.
Fig. 5 is the structure chart of the head angle regulating device of robot of the present invention.
Fig. 6 is the structure chart of the arm angles regulating device of robot of the present invention.
[specific embodiment]
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says It is bright to be only used to explain the present invention but not as a limitation of the invention.
Referring to attached drawing 1, it illustrates the overall structure of spine recovering machine people of the present invention, the robot include bed body, Cervical vertebral angle regulating device, lumbar vertebrae angle adjustment device, arm angles regulating device, head angle regulating device, control cabinet, The control cabinet includes soft traction device 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 to support the control of 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 adjustment devices.
Referring to attached drawing 2, it illustrates the soft traction device of robot of the present invention, the soft traction device is set to control In cabinet processed, adjusted for the traction strength in cervical traction and lumbar traction comprising pedestal, and fixed on pedestal First motor, retarder, pull pressure sensor component and line wheel component.The pedestal is fixed in control cabinet, the first electricity The connection of one end of machine and retarder, and by the retarder output torque, the other end of retarder connects the line wheel component, Drag rope is wrapped on the line wheel component.The pull pressure sensor connects the drag rope, for real-time detection and instead Present the size of output torque.When first motor work, line wheel component can be driven to rotate, so that drag rope is pulled, it is described After drag rope is pulled, for realizing the cervical traction and lumbar traction illustrated below.Computer control can with acquisition system With the signal fed back according to the pull pressure sensor, the output torque of first motor is controlled, realizes the soft control of tractive force.
Referring to attached drawing 3, it illustrates the structure chart of the cervical vertebral angle regulating device of robot of the present invention, the cervical vertebral angles Regulating device includes the first electric pushrod, bed board and towing bracket, and the bed board is arranged above lathe bed component, one end of bed board It being hinged on the lathe bed component, the towing bracket is located above bed board, and one end of towing bracket is hinged on control cabinet, The other end is hinged on the bed board;First electric pushrod is arranged below bed board, and one end is hinged on lathe bed component, The other end is hinged below the bed board, when the electric pushrod is flexible, the bed board can be pushed to lift.Due to cervical vertebra angle It is pre-determined for spending the structure of regulating device, therefore can calculate cervical traction angle by the displacement of the first electric pushrod Degree, the cervical traction angle is exactly the angle of towing bracket and vertical direction.
When patient needs cervical traction, he can be lain supine upon on the bed board, cunning head being fixed on towing bracket On plate, the slide plate can be slided along the towing bracket.Drag rope is pulled out from control cabinet, and passes through traction hook It is connected to the slide plate upper end.Doctor sets cervical traction angle with acquisition system by computer control and cervical vertebra basis is drawn Power.Since computer control and acquisition system can control the first electric pushrod, and calculated by the displacement of the first electric pushrod Cervical traction angle out, therefore computer control can be led with acquisition system by the first electric pushrod of control to control cervical vertebra Draw angle.Simultaneous computer control can control above-mentioned first motor to rotate with acquisition system, and first motor pulls drag rope, lead Messenger rope pulls the slide plate again, and head is then driven to carry out cervical traction after slide plate stress.
During cervical traction, computer controls the letter that can be fed back by above-mentioned pull pressure sensor with acquisition system Number, current cervical traction power is obtained, and control first motor and incrementally increase tractive force, and tractive force should not be set more than doctor The basic tractive force set.
A specific embodiment according to the present invention avoids for the tractive force softer to patient to patients with cervical Excessive impact, computer control need the growth of carefully control tractive force with acquisition system, are specifically described below:
(1) assume that initial cervical traction angle is that (i.e. bed board is when in a horizontal state, towing bracket and vertical direction by A Angle), the cervical traction angle that doctor sets as B, cervical vertebra basis tractive force be F, then computer control and acquisition system exist In the case where 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 cervical vertebra basis tractive force of doctor's setting, actually and the tractive force that is subject under horizontality of cervical vertebra.T1 It is preset time value.T1Occurrence it is related to angle A.Preferably, at A=45 °, T1=10 seconds.
(2) computer control controls the first electric pushrod with acquisition system and pushes bed board movement, to drive towing bracket Movement, until reaching the cervical traction angle B of setting, in this process, cervical traction angle is with predefined angular speed Uniformly increase, and when cervical traction angle is C, computer control is F with acquisition system control tractive forceC, wherein
FC=4Fsin2(C/3)
Referring to attached drawing 4, it illustrates the structure charts of robot lumbar vertebrae angle adjustment device of the present invention.The lumbar vertebrae angle tune Regulating device includes bed board and the second electric pushrod, the bed board of bed board (calling the second bed board in the following text) and cervical vertebral angle regulating device here It is separation.Second bed board is arranged above lathe bed component, and one end is hinged on the lathe bed component.Described second electronic pushes away Bar is arranged below bed board, and one end is hinged on lathe bed component, and the other end is hinged below second bed board.When described When two electric pushrods stretch, second bed board can be pushed to move.
It when patient needs to carry out lumbar traction, lies 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 two sides respectively Drag rope is pulled out from control cabinet, and by traction hook and two traction band connections, works as traction rope in this way by leash When Suo Ladong, leash can be pulled, leash stress pulls bandage, so that waist be driven to carry out lumbar traction.
Doctor sets lumbar traction angle and lumbar vertebrae basis tractive force, the lumbar vertebrae with acquisition system by computer control Traction angle is the angle of the second bed board and horizontal direction.Described second is controlled with acquisition system by computer control electronic to push away Bar, push the second bed board lift, due to the structure of lumbar vertebrae angle adjustment device be it is pre-determined, computer control and adopt 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 by above-mentioned pull pressure sensor same as acquisition system, obtains current lumbar vertebrae Tractive force, and control first motor and incrementally increase tractive force.Preferably, lumbar traction angle should be advisable for 0 to 45 degree.
It is similar with cervical traction, in order to give patient softer tractive force, a specific embodiment according to the present invention, Computer control controls the variation of lumbar traction force with acquisition system by following methods.
(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 and acquisition system are keeping initial lumbar traction In the case where angle, in time T2It is interior that lumbar traction force is uniformly increased into K from 0, wherein T2It is preset time value, it is excellent Choosing, T2=10 seconds.
(2) computer control controls the second electric pushrod with acquisition system and pushes the movement of the second bed board, until reaching setting Lumbar traction angle D, in this process, lumbar traction angle is uniformly to be increased with predefined angular speed, and work as waist When vertebra traction angle is E, computer control is F with acquisition system control tractive forceE, wherein
FE=Kcos2(E/3)
Referring to attached drawing 5, it illustrates the structure chart of the head angle regulating device of robot of the present invention, the head angles Regulating device includes bed board (calling third bed board in the following text) and single control gas spring.The third bed board is arranged above lathe bed component, One end close to the head of a bed is hinged on the lathe bed component, and single control gas spring one end is hinged on lathe bed component, the other end It is hinged on the third bed board, can be used for pushing and pulling third bed board.When patient head towards tailstock lie on the back when in robot (such as into When row lumbar traction), head is placed on the third bed board, and computer control can control the single control gas with acquisition system Spring push-pull third bed board, to adjust head angle.Preferably, head angle (i.e. the angle of third bed board and horizontal direction) (negative degree means that third bed board rotates down) should be advisable for -30 to 10 degree.
Referring to attached drawing 6, it illustrates the structure chart of the arm angles regulating device of robot of the present invention, the arm angles Regulating device includes bed board (calling the 4th bed board in the following text) and dual control gas spring.4th bed board around the third bed board, 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, can be used for pushing and pulling the 4th bed board.When patient needs to move arm, head is towards bed Two arms are placed on the 4th bed board by tail prostrate in robot, and computer control can control with acquisition system The dual control gas spring pushes and pulls the 4th bed board, to adjust arm angles.Preferably, arm angles (i.e. the 4th bed board and level The angle in direction) (negative degree means that the 4th bed board rotates down) should be advisable for -30 to 10 degree.
On the one hand the computer control can control the movement of robot all parts with acquisition system, another party can adopt The exercise data for collecting all parts later can be according to the database by collected archives data into database file File reappears the motion process of all parts, such as the distraction procedure of reproduction cervical vertebra and lumbar vertebrae.
First motor, which carries out control by man machine operation interface with acquisition system by computer control, may be implemented to first The active load control (directly controlling the movement of motor to draw patient's neck lumbar vertebrae) of motor, passive load information acquire (i.e. First by doctor's active control, when drawing to the patient's neck lumbar vertebrae being fixed in robot of the present invention, computer is controlled and is adopted The course of work of collecting system record first motor), carry out actively reproduction control to the information of acquisition and (reappear recorded first The motion process of motor is to simulate the therapeutic process of doctor).In the adjustable distraction procedure of loading frequency by adjusting motor The speed of motor output.When reusing, rehabilitation directly directly can be carried out according to stored file.
The above description is only a preferred embodiment of the present invention, thus it is all according to the configuration described in the scope of the patent application of the present invention, The equivalent change or modification that feature and principle are done, is included in the scope of the patent application of the present invention.

Claims (4)

1. a kind of spine recovering machine people, which is characterized in that the robot includes bed body, cervical vertebral angle regulating device, lumbar vertebrae angle Spend regulating device, arm angles regulating device, head angle regulating device, control cabinet, in which:
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 branch The control cabinet is supportted, is interconnected between head assembly and lathe bed component by the connecting bracket, the lathe bed component is used for Support aforementioned four angle adjustment device;
The control cabinet includes soft traction device and computer control and acquisition system;The soft traction device includes bottom Seat, and in first motor fixed on the base, retarder, pull pressure sensor component and line wheel component;The pedestal is fixed In control cabinet, one end of first motor and retarder is connected, and by the retarder output torque, retarder it is another End connects the line wheel component, and drag rope is wrapped on the line wheel component, and the drag rope is used for cervical traction and lumbar vertebrae, The pull pressure sensor connects the drag rope, the size for real-time detection and feedback output torque;Computer control The signal that can be fed back according to the pull pressure sensor with acquisition system obtains the tractive force of drag rope, and logical control first The output of motor controls tractive force;
The cervical vertebral angle regulating device includes the first electric pushrod, the first bed board and towing bracket, the first bed board setting 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, is led The one end for drawing bracket is hinged on control cabinet, and the other end is hinged on first bed board;The first electric pushrod setting Below bed board, one end is hinged on lathe bed component, and the other end is hinged below the bed board;Computer control and acquisition system 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 Draw the angle that angle is towing bracket and vertical direction;
The lumbar vertebrae angle adjustment device includes the second bed board and the second electric pushrod, and second bed board is arranged in lathe bed component Top, one end are hinged on the lathe bed component, and second electric pushrod is arranged below bed board, and one end is hinged on bed On body component, the other end is hinged below second bed board;
The head angle regulating device includes third bed board and single control gas spring, and the third bed board is arranged on lathe bed component Side, is hinged on the lathe bed component, single control gas spring one end is hinged on lathe bed component, separately close to one end of the head of a bed One end is hinged on the third bed board, can be used for pushing and pulling third bed board;
The arm angles regulating device includes the 4th bed board and dual control gas spring, and the 4th bed board is around the third bed Plate 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, can be used for pushing and pulling the 4th bed board;
The computer control can control the first motor, the first electric pushrod, the second electric pushrod, single control with acquisition device The movement of gas spring, dual control gas spring, and their exercise data is acquired, by collected archives data to database file In, the motion process of all parts can be reappeared according to the database file later;
There is slide plate on the towing bracket, be used for immobilized patients head, the slide plate can be slided along the towing bracket, When patient needs cervical traction, the drag rope is connected to the slide plate upper end, is controlled and is adopted by computer by doctor Collecting system sets cervical traction angle B and cervical vertebra basis tractive force F, and the computer control is based on following step with acquisition system Carry 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 preset time value;
(2) computer control controls the first electric pushrod with acquisition system and pushes bed board movement, so that towing bracket is driven to move, Until reaching the cervical traction angle B of setting, in this process, cervical traction angle is uniformly increased with predefined angular speed Add, and when cervical traction angle is C, computer control is F with acquisition system control tractive forceC, wherein
FC=4Fsin2(C/3);
When patient will carry out lumbar traction, lie on the back in the robot, and head is towards tailstock, using bandage by its Waist is fixed on the second bed board, there is a leash on the bandage of waist two sides respectively, by drag rope and the leash Connection, doctor set lumbar traction angle D and lumbar vertebrae basis tractive force K, the calculating with acquisition system by computer control Machine 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, computer control and acquisition system and initial lumbar vertebrae is being kept to lead In the case where drawing angle, in time T2Interior control tractive force uniformly increases to K from 0, wherein T2It is preset time value;
(2) computer control controls the second electric pushrod with acquisition system and pushes the movement of the second bed board, 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 Draw angle be E when, computer control with acquisition system control tractive force be FE, wherein
FE=Kcos2(E/3)。
2. spine recovering machine people according to claim 1, which is characterized in that lumbar traction angle is limited in 0 to 45 degree.
3. spine recovering machine people described in -2 any one according to claim 1, which is characterized in that head angle is limited in - 30 to 10 degree, the head angle is the angle of the third bed board and horizontal direction, negative angle number indicate third bed board to The angle of lower rotation.
4. spine recovering machine people described in -2 any one according to claim 1, which is characterized in that arm angles are limited in - 30 to 10 degree, the arm angles are the angles of the 4th bed board and horizontal direction, negative angle number indicate the 4th bed board to The angle of lower rotation.
CN201710436848.2A 2017-06-12 2017-06-12 A kind of spine recovering machine people Active CN107296675B (en)

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