CN109498235B - Intelligent spine orthosis with dynamic regulation and control function of correcting force system - Google Patents
Intelligent spine orthosis with dynamic regulation and control function of correcting force system Download PDFInfo
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- CN109498235B CN109498235B CN201910010628.2A CN201910010628A CN109498235B CN 109498235 B CN109498235 B CN 109498235B CN 201910010628 A CN201910010628 A CN 201910010628A CN 109498235 B CN109498235 B CN 109498235B
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- 238000012937 correction Methods 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 206010039722 scoliosis Diseases 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000000399 orthopedic effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 10
- 238000011161 development Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 239000002184 metal Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010058907 Spinal deformity Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004199 lung function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012148 non-surgical treatment Methods 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
- 230000004962 physiological condition Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
Abstract
The invention discloses an intelligent spine orthosis with a dynamic regulation function of an orthodontic force system, which comprises: the device comprises an upper force application connecting plate, a lower force application connecting plate, a middle correction connecting plate, a front flexible connecting piece, a rear flexible connecting piece, a front driving mechanism and a rear driving mechanism. Compared with the traditional orthopedic products, the intelligent spine orthopedic device can control the tensioning force to pull the front cable and the rear cable through the driving controller according to the illness state and the correction course of a patient, and dynamically treat the wearer. The miniature motor is used for shrinking the mooring rope, so that the miniature motor has the characteristics of being flexible, wearable and light, does not obstruct the daily movement of the trunk of a wearer, does not influence the daily movement of the trunk of the wearer, improves the comfort and improves the user experience.
Description
Technical Field
The application relates to a rehabilitation auxiliary device, in particular to an intelligent orthosis for correcting scoliosis, which has the functions of correcting force system real-time monitoring and correcting force system dynamic regulation and control.
Background
The spine is the axial skeleton of human body, is the pillar of the body, has functions such as loading, shock attenuation, protection and motion. The normal human spine is straight from either the back or front. If the spine is offset to the left or right from this central axis, the spine is bent laterally into a "C" or "S" shape, known as scoliosis. Scoliosis is one of the most common diseases of spinal deformity, the incidence rate is as high as 0.5% -3%, and the estimated number of patients worldwide is 1200 ten thousand, at least 300 ten thousand in China.
Scoliosis is well developed in teenagers, particularly females, and affects the physiology, psychology and quality of life of the patient. Physiologically, the serious scoliosis affects the growth and development of teenagers, so that the body is deformed, if not treated in time, and serious deformity is developed, thereby affecting the heart lung function and even affecting the spinal cord to cause paralysis. Psychologically, laterally protruding patients show lack of confidence and have low acceptance of body types, so that the patients have certain psychological diseases, social isolation, limited working opportunities, low wedding rate and other problems.
Surgical treatment should be used for severe scoliosis, but the surgical risk is greater and there are higher complications.
Orthosis correction is the most predominant and reliable non-surgical treatment of scoliosis. However, traditional orthosis fabrication often requires personalized customization, is time-consuming and labor-consuming, and is environmentally polluting, and its quality and clinical correction effect are severely dependent on technician experience; in addition, the scoliosis correction is a long-term process, and the correction force system of the scoliosis correction can be obviously changed along with the change of the physiological condition of a user and the development of the correction process, so that the correction effect is poor. Although it is generally clinically re-customized every 3 months, it still cannot provide a continuous and stable correction effect, and it also causes waste of resources and increases in cost.
Scoliosis is accompanied by rotation of the vertebral body of the spine, but the traditional orthosis cannot provide controllable rotation correction force, and cannot realize accurate rotation correction of the spine sequence, so that higher correction failure rate is caused.
Currently, orthoses in combination with Shi Luosi orthoses have shown clinically good therapeutic results, but traditional orthoses tend to limit physical movement in scoliosis patients.
Therefore, the development of the orthosis with dynamic regulation of the correction force system improves the trunk movement capability of a wearer, provides a continuous and stable correction effect, can dynamically adjust the correction force system according to the development of correction process, and is the intelligent development direction of the orthosis. While the intelligent orthosis for active spine rehabilitation provided by the patent 201510404894.5 can continuously exert the corrective force on the user through torque control, the intelligent orthosis is of an exoskeleton type rigid structure, has large volume and large weight, is inconvenient to wear and use, has poor comfort and is not attractive, and does not meet the clinical requirements of light weight and quality of the orthosis.
The need for bulky rigid structures in current orthoses is mainly due to the fact that the orthoses must conform to the anatomy and remain stable. The invention provides an orthosis which does not need a huge rigid structure and can keep firm fit with a human body.
Disclosure of Invention
Aiming at the problems that the orthoses in the prior art are huge in size and heavy in weight, cannot be used for a long time and are required to be customized continuously, the invention provides the orthoses which can ensure that the structure is stable, can be attached to a human body and do not need to be corrected and customized repeatedly.
In addition, the invention overcomes the defect that the traditional scoliosis orthosis can not accurately and dynamically regulate the correction force system according to the development of the orthopedic course and the daily activity requirement. According to the novel intelligent scoliosis orthosis, the triangular traction mode is adopted through the cable traction mode, the persistence and the stability of the correcting force system are realized through the combination of automatic control, the dynamic control of the correcting force system of the scoliosis can be carried out according to the daily activity state, the correcting process of the scoliosis is further accelerated, and the rehabilitation treatment of the scoliosis is realized. For example, the control mode is preset in the control module, and the output is controlled according to the correction requirement of the doctor through the magnitude and the change of the force.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an intelligent spinal orthosis with dynamic regulation and control of the corrective forces, characterized in that it comprises: an upper force application connecting plate, a lower force application connecting plate, a middle correction connecting plate, a front flexible connecting piece, a rear flexible connecting piece, a front driving mechanism and a rear driving mechanism,
the upper force application connecting plate and the lower force application connecting plate are respectively arranged above and below the concave side of the body side part and the scoliosis part of the scoliosis patient, and the middle correction connecting plate is arranged on the convex side of the body side part and the scoliosis part of the scoliosis patient;
the front side driving mechanism is arranged on the front side of one of the upper force application connecting plate and the lower force application connecting plate, one end of the front side flexible connecting piece is connected with the front side driving mechanism and driven by the front side driving mechanism, and the other end of the front side flexible connecting piece is fixed on the front side of the other one of the upper force application connecting plate and the lower force application connecting plate after passing through the front side of the middle correction connecting plate and being slidably connected with the middle correction connecting plate, so that a triangular traction structure is formed;
the rear side of one of the upper force application connecting plate and the lower force application connecting plate is provided with the rear side driving mechanism, one end of the rear side flexible connecting piece is connected with and driven by the rear side driving mechanism, and the other end of the rear side flexible connecting piece is fixed on the rear side of the other one of the upper force application connecting plate and the lower force application connecting plate after passing through the rear side of the middle correction connecting plate and being slidably connected with the middle correction connecting plate, so that a triangular traction structure is formed.
Further, the device also comprises a support connecting piece, wherein the support connecting piece is fixed between the upper force application connecting plate and the lower force application connecting plate and used for maintaining the position relation between the upper force application connecting plate and the lower force application connecting plate.
Further, the support connection member is an elastic connection member.
Further, the front side and the rear side of the middle correcting connecting plate are respectively provided with a front side guide pulley and a rear side guide pulley, the front side flexible connecting piece and the rear side flexible connecting piece respectively pass around the front side guide pulley and the rear side guide pulley, and the front side guide pulley and the rear side guide pulley are of semi-closed structures so as to prevent the flexible connecting piece from being separated from the side parts of the front side guide pulley and the rear side guide pulley.
Further, the intelligent spine orthosis further comprises two anti-slipping shoulder straps, wherein the first anti-slipping shoulder straps are respectively fixed on the front side and the rear side of the middle correcting connecting plate at two ends of the shoulder strap, the second anti-slipping shoulder straps are respectively fixed on the front side and the rear side of the upper force application connecting plate at two ends of the shoulder strap.
Further, the front side driving mechanism and the rear side driving mechanism are respectively provided with driving controllers for respectively controlling the tensioning force of the front side flexible connecting piece and the rear side flexible connecting piece.
Further, the driving controller controls the tensioning forces of the front side flexible connection unit and the rear side flexible connection unit based on the driving instruction so that the tensioning forces of the front side flexible connection unit and the rear side flexible connection unit are maintained at preset values, respectively.
Further, the driving controller controls the tensioning force of the front side flexible connection unit and the rear side flexible connection unit based on the driving instruction so that the front side flexible connection unit is larger than the tensioning force of the rear side flexible connection unit to form a forward rotation correction force or so that the front side flexible connection unit is smaller than the tensioning force of the rear side flexible connection unit to form a backward rotation correction force.
Further, the front side flexible connection unit and the rear side flexible connection unit are implemented using cables.
Further, the middle correcting connecting plate comprises a front correcting plate and a rear correcting plate, and the front correcting plate and the rear correcting plate are connected by adopting a detachable connecting mechanism.
Further, the support connector is a metal support connector.
Further, the detachable connection mechanism mentioned in the present invention includes any conventional connection mechanism that can be opened and locked as required, such as a zipper, a lock catch, a sticking buckle, etc.
Preferably, the upper and lower force-applying connection plates are arc-shaped connection plates provided at the side of the body, and the portions are exposed from the front and rear sides of the body, respectively, so that the fixed flexible connection member and the motor are provided. Preferably, the surface area of each web is no greater than 4 square decimeters, more preferably no greater than 3 or 2 square decimeters.
Preferably, the medial correcting web is a web that is positioned on the other side of the body, with portions exposed from each of the anterior and posterior sides of the body, for the purpose of providing pulleys or other sliding linkages. Preferably, the surface area of the web is no greater than 4 square decimeters, more preferably no greater than 3 or 2 square decimeters.
More preferably, a predetermined gap, preferably a larger gap, is reserved between the connection plates disposed on both sides of the body.
The front and rear drive mechanisms may employ miniature servo drive motors.
The front guide pulley and the rear guide pulley are semi-closed structures, and the cable can pass through the semi-closed structures but cannot be pulled out from the side parts of the semi-closed structures.
The upper and lower force applying webs and the central corrective web may be customized to the patient's underarm and waist configuration for better fit to the patient's body. The cable is connected between the three, and all constitutes triangle-shaped shape around, and triangle-shaped base sets up in backbone concave side, and triangle-shaped apex angle sets up in backbone salient one side, and triangle-shaped base keeps firm through elastic support spare to apply pulling force to backbone salient one side from backbone concave side, realize correcting. The upper and lower force application connecting plates and the middle correction connecting plate can be made of plastic and the like.
Compared with the traditional orthosis product, the device can control the tensioning force to pull the front cable and the rear cable through the driving controller according to the illness state and the correction course of a patient, dynamically treat a wearer, and adjust the tensioning force through the experience setting of doctors or through a large number of prior experiments and then write the tensioning force into the controller; by providing a continuous and stable correction force, the treatment effect is improved, and the correction process is accelerated.
According to the invention, the miniature motor is used for controlling the cable, and the front-rear double triangle traction is combined, so that the correction of the front-rear torque of the lateral bulge can be ensured, the plane correction of the lateral bulge can be realized, the device has the characteristics of being flexible and wearable and light, the daily movement of the trunk of a wearer is not blocked, the daily movement of the trunk of the wearer is not influenced, the comfort is improved, and the user experience is improved.
Drawings
Fig. 1: the invention relates to a front view of an intelligent scoliosis orthosis.
Fig. 2: the invention relates to a rear view of an intelligent scoliosis orthosis.
In the figure, 1 is a flexible metal support, 2 is a lower force application connecting plate, 3 is an upper force application connecting plate, 4 is a front side of a middle correction connecting plate, 5 is a rear side of the middle correction connecting plate, 6 is a front driving cable, 7 is a rear driving cable, 8 is a front servo driving motor, 9 is a rear servo driving motor, 10 is a front driving cable fixing point, 11 is a rear driving cable fixing point, 12 is a front cable guide pulley, 13 is a rear cable guide pulley, 14 is an anti-slipping shoulder belt, 15 is a front force sensor and 16 is a rear force sensor.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to fig. 1 and 2.
As shown in fig. 1-2, the flexible cable driven intelligent scoliosis orthosis of the present embodiment includes a metal support connection 1, an upper force application connection plate 2, a lower force application connection plate 3, a middle front correction plate 4, a middle rear correction plate 5, four plastic connection plates, a front cable 6, a rear cable 7, a front micro servo drive motor 8, a rear micro servo drive motor 9, a front cable guide pulley 10, a rear cable guide pulley 11, and left and right anti-slip shoulder straps 12.
Wherein, the middle front correcting plate 4 and the middle rear correcting plate 5 are connected together in a detachable way, for example, by a zipper, a lock catch and the like to form an integral middle correcting plate, so that the patient can wear the correcting plate conveniently. The front cable 6 and the rear cable 7 may employ other flexible connectors such as flexible chains, in addition to cables.
The upper force application connecting plate 2 and the lower force application connecting plate 3 are fixed with the metal support connecting rod 1, the metal support connecting rod 1 is matched with the upper force application connecting plate 2, the lower force application connecting plate 3 and the middle correction plate, a stable triangle structure can be formed in front of and behind a human body respectively, force is applied to one side of the patient side concave through two endpoints of the triangle bottom edge, and traction force is applied to one side of the patient side convex through the triangle top point, so that effective correction of the patient is achieved.
Specifically, the upper end of the front cable 6 is fixed at the front fixing part 13 of the upper force application connecting plate, the middle of the cable bypasses the guide pulley 10 of the middle front plastic connecting plate, and the tail end of the cable is fixedly connected with the connecting disc of the front micro driving motor 8; the upper end of the rear cable 7 is fixed at a rear fixing part 14 of the upper force application connecting plate, the middle of the cable bypasses a guide pulley 11 of the middle rear correcting plate, and the tail end of the cable is fixedly connected with a connecting disc of the rear micro driving motor 9; the left and right anti-slip shoulder straps 12 can respectively cross the shoulders to connect the front and rear fixing points of the upper force application connecting plate 2 and the fixing points of the middle front correcting plate 4 and the middle rear correcting plate 5. The middle front correcting plate 4 and the middle rear correcting plate 5 are connected through a zipper (forming the whole middle correcting plate), so that the utility model is convenient to wear.
The miniature servo driving motors 8 and 9 designed by the invention have the capability of precisely controlling the force and the rotation angle, so that the precise control of the correction force on the cables 6 and 7 is realized. When the miniature servo drive motors 8 and 9 rotate, the contraction or the extension of the mooring ropes can be realized, and the middle supporting plate is pulled to generate lateral correction force.
Two stressing cables 6, 7 designed according to the invention are arranged in front of and behind the torso, respectively. When the traction tension of the front force application cable 6 is larger than that of the rear Fang Lansheng, the trunk can generate forward rotation moment removal effect; when the pulling tension of the rear biasing cable 7 is greater than the front Fang Lansheng, a rearward de-rotation moment effect can be created.
Compared with the traditional orthosis product, the invention can dynamically treat the wearer by controlling the tension to pull the front cable and the rear cable according to the illness state and the correction course of the patient; by providing a continuous and stable correction force, the treatment effect is improved, and the correction process is accelerated. The adjustment of the tension can be set by the physician's experience or can be obtained through a number of prior experiments and written into the controller. The controller can set tension threshold values for the front cable and the rear cable respectively, and the front driving motor and the rear driving motor respectively carry out tightening and paying-out control on the cables according to the tension threshold values.
The miniature motor is used for shrinking the mooring rope, so that the miniature motor has the characteristics of being flexible, wearable and light, does not obstruct the daily movement of the trunk of a wearer, does not influence the daily movement of the trunk of the wearer, improves the comfort and improves the user experience.
While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it should be understood by those skilled in the art that the foregoing embodiments are merely illustrative of the implementations of the invention and are not intended to limit the scope of the invention. The details of the embodiments are not to be taken as limiting the scope of the invention, and any obvious modifications based on equivalent changes, simple substitutions, etc. of the technical solution of the invention fall within the scope of the invention without departing from the spirit and scope of the invention.
Claims (8)
1. An intelligent spinal orthosis with dynamic regulation and control of the corrective forces, characterized in that it comprises: the upper force application connecting plate, the lower force application connecting plate, the middle correction connecting plate, the front flexible connecting piece, the rear flexible connecting piece, the front driving mechanism and the rear driving mechanism are respectively arranged above and below the concave sides of the body side part and the scoliosis part of the scoliosis patient, and the middle correction connecting plate is arranged on the convex sides of the body side part and the scoliosis part of the scoliosis patient;
the front side driving mechanism is arranged on the front side of one of the upper force application connecting plate and the lower force application connecting plate, one end of the front side flexible connecting piece is connected with the front side driving mechanism and driven by the front side driving mechanism, and the other end of the front side flexible connecting piece is fixed on the front side of the other one of the upper force application connecting plate and the lower force application connecting plate after passing through the front side of the middle correction connecting plate and being slidably connected with the middle correction connecting plate;
the rear side driving mechanism is arranged on the rear side of one of the upper force application connecting plate and the lower force application connecting plate, one end of the rear side flexible connecting piece is connected with and driven by the rear side driving mechanism, the other end of the rear side flexible connecting piece is fixed on the rear side of the other one of the upper force application connecting plate and the lower force application connecting plate after passing through the rear side of the middle correction connecting plate and being slidably connected with the middle correction connecting plate,
the intelligent spine orthosis further comprises a support connecting piece, wherein the support connecting piece is fixed between the upper force application connecting plate and the lower force application connecting plate and used for keeping the position relation between the upper force application connecting plate and the lower force application connecting plate, and the support connecting piece is an elastic connecting piece.
2. The intelligent spinal orthosis with dynamic adjustment and control of the orthodontic connection plate according to claim 1, wherein the front and rear sides of the central corrective connection plate are respectively provided with a front guide pulley and a rear guide pulley, the front and rear flexible connection members are respectively wound around the front and rear guide pulleys, and the front and rear guide pulleys are semi-closed structures to prevent the flexible connection members from being separated from the sides thereof.
3. The intelligent spinal orthosis with dynamic adjustment and control of the system of force of claim 1, further comprising two anti-slip straps, a first strap around the patient's shoulders, two ends respectively secured to the anterior and posterior sides of the central corrective connection plate, and a second strap around the patient's shoulders, two ends respectively secured to the anterior and posterior sides of the upper force-applying connection plate.
4. The intelligent spinal orthosis of claim 1, wherein the anterior and posterior drive mechanisms each have a drive controller for controlling the tension of the anterior and posterior flexible connectors, respectively.
5. The intelligent spinal orthosis having dynamic adjustment and control of an orthodontic force system of claim 4, wherein the drive controller controls the tension of the anterior flexible link and the posterior flexible link based on the drive command such that the tension of the anterior flexible link and the posterior flexible link, respectively, are maintained at preset values.
6. The intelligent spinal orthosis having dynamic adjustment and control of the system of forces of claim 4, wherein the drive controller controls the tension of the anterior flexible link and the posterior flexible link based on the drive command such that the anterior flexible link is greater than the tension of the posterior flexible link to create a forward rotational corrective force or such that the anterior flexible link is less than the tension of the posterior flexible link to create a backward rotational corrective force.
7. The intelligent spinal orthosis having dynamic adjustment and control of the set forth in claim 4, wherein the anterior flexible connector and the posterior flexible connector are implemented with cables.
8. The intelligent spinal orthosis with dynamic regulation and control of the orthodontic force system according to claim 1, wherein the central corrective connecting plate comprises a front corrective plate and a rear corrective plate, and the front corrective plate and the rear corrective plate are connected by a detachable connecting mechanism.
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| CN201910010628.2A CN109498235B (en) | 2019-01-07 | 2019-01-07 | Intelligent spine orthosis with dynamic regulation and control function of correcting force system |
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| CN201910010628.2A CN109498235B (en) | 2019-01-07 | 2019-01-07 | Intelligent spine orthosis with dynamic regulation and control function of correcting force system |
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| CN109498235B true CN109498235B (en) | 2024-02-09 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420082A (en) * | 2019-06-25 | 2019-11-08 | 福建省速卖通电子商务有限公司 | A kind of intelligent spinal orthosis with Orthodontic force system multiple location dynamic regulation function |
| CN111759563A (en) * | 2020-07-13 | 2020-10-13 | 中国人民解放军联勤保障部队第九二〇医院 | Spinal column orthopedic device |
| CN112022473B (en) * | 2020-09-10 | 2022-12-02 | 南昌大学第二附属医院 | Auxiliary fixing assembly for spine postoperative in orthopedic field |
| CN113143563A (en) * | 2021-05-07 | 2021-07-23 | 杭州电子科技大学 | Automatic orthopedic method of spinal column orthosis |
| CN113425477B (en) * | 2021-06-23 | 2023-12-12 | 华中科技大学 | Feedback control method for scoliosis correction treatment and related equipment |
| CN113499180B (en) * | 2021-06-25 | 2022-08-16 | 西安交通大学 | Scoliosis orthosis and manufacturing method thereof |
| CN115317214A (en) * | 2022-07-27 | 2022-11-11 | 北京航空航天大学 | Spinal orthopedic devices, systems, methods, and computer-readable storage media |
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