CN110051499A - A kind of lower jaw healing robot - Google Patents
A kind of lower jaw healing robot Download PDFInfo
- Publication number
- CN110051499A CN110051499A CN201910261000.XA CN201910261000A CN110051499A CN 110051499 A CN110051499 A CN 110051499A CN 201910261000 A CN201910261000 A CN 201910261000A CN 110051499 A CN110051499 A CN 110051499A
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- China
- Prior art keywords
- lower jaw
- patient
- healing robot
- robot according
- shaft
- Prior art date
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- 230000035876 healing Effects 0.000 title claims abstract description 18
- 238000012549 training Methods 0.000 claims abstract description 8
- 230000036541 health Effects 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000013011 mating Effects 0.000 claims description 3
- 210000002050 maxilla Anatomy 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 210000003128 head Anatomy 0.000 description 7
- 210000000214 mouth Anatomy 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1604—Head
- A61H2201/1607—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/02—Head
- A61H2205/026—Mandible
Abstract
Present invention discloses a kind of lower jaw healing robots characterized by comprising chaise longue is lain down for patient to receive treatment；Station is equipped with lower jaw health multiplexing equipment on the station.Lower jaw healing robot provided by the invention can carry out the training of effective and safe to the lower jaw of patient.
Description
Technical field
The invention belongs to automatic fields, are specifically related to a kind of lower jaw healing robot.
Background technique
In the prior art, doctor can only be by carrying out the lower jaw situation that ditch passes to acquisition patient with patient, and time-consuming；And by
In the real conditions that cannot be directly viewed patient, and then grade locating for the lower jaw classification regulation and stability of patient can not be assessed
Not, it therefore can not determine well train since which angle to patient, be unable to reach optimum training state.
Summary of the invention
It is an object of the invention to solve in the prior art, doctor effectively can not carry out efficient rehabilitation instruction to patient's lower jaw
Practice.
To achieve the above object, the present invention provides a kind of lower jaw healing robot, comprising:
Chaise longue is lain down for patient to receive treatment；
Station is equipped with lower jaw health multiplexing equipment on the station.
Further, the chaise longue includes:
Head fixing device is fixed patient head using two stands；
Upper shell mechanism can be fixed the maxilla of patient, and the upper shell mechanism is fixedly installed in the head
Device front end is fixed in portion.
Further, the station includes:
The coordinate of binocular camera, the track for being used to act the mouth position of patient and rehabilitation is demarcated；
Four shaft mechanical arms carry out rehabilitation training for the lower jaw to patient；
Lower shell mechanism is installed on four shaft mechanical arm ends, and mating with upper shell mechanism；
Chin collet mechanism is installed on four shaft mechanical arm ends, for patient's chin to be fixed.
Further,
Sextuple torque sensor is installed on the four shaft mechanicals arm, can resistance to patient's mouth structure output into
Row detection, and according to the movement of the size of this four shaft mechanical arms of control.
Further,
Joint level security device is installed on the four shaft mechanicals arm, it can be to the physical contact between patient and robot
It is perceived.
Further, further includes:
Mechanical arm rest stand, when not in use, storage is thereon for the four shaft mechanicals arm.
Compared with prior art, the technical program has the advantage that
Lower jaw healing robot provided by the invention can carry out the training of effective and safe to the lower jaw of patient.
Detailed description of the invention
Fig. 1 is the perspective view of lower jaw healing robot of the present invention.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
With reference to Fig. 1, the present invention provides a kind of lower jaw healing robot, comprising:
Chaise longue 100 and station 200, wherein chaise longue 100 is lain down for patient to receive treatment, is installed on station 200
There is lower jaw health multiplexing equipment.
The chaise longue 100 includes head fixing device 5 and upper shell mechanism 4.The head fixing device 5 utilizes two stands
Patient head is fixed, upper shell mechanism 4 can be fixed the maxilla of patient, the fixed peace of the upper shell mechanism 4
Loaded on 5 front end of head fixing device.
The station 200 includes binocular camera 1, four shaft mechanical arms, 2 lower shell mechanism 3 and chin collet mechanism 8.
The coordinate for the track that binocular camera 1 is used to act the mouth position of patient and rehabilitation is demarcated；Four axis machines
Tool arm 2 is used to carry out rehabilitation training to the lower jaw of patient；Lower shell mechanism 3 is installed on four shaft mechanical arms, 2 end, and and upper shell
Mechanism 4 is mating；Chin collet mechanism 8 is installed on four shaft mechanical arms, 2 end, for patient's chin to be fixed.
When patient is located on chaise longue, need that manually patients head is fixed, four shaft mechanical arms 2 pass through binocular camera
The position of the patient of 1 feedback carries out mobile fixation, and chin collet mechanism 8 can rise to the chin of patient, upper lower shell machine automatically
Structure can carry out fixation appropriate according to everyone oral cavity structure.It being finished to training, chin collet mechanism 8 can decline automatically, and four
Shaft mechanical arm 2 returns to initial position.
In the present embodiment, sextuple torque sensor 6 is installed on the four shaft mechanicals arm 2, it can be to patient's mouth
The resistance of structure output is detected, and the movement of four shaft mechanical arms 2 is controlled according to the size of this.
Sextuple torque sensor 6 can perceive direction and the size of cooperation doctor's operation force, and four shaft mechanical arms 2 meeting edge is puted forth effort
Direction and size are moved.Four shaft mechanical arms 2 can be obtained by sextuple torque sensor 6 in rehabilitation exercise in rehabilitation exercise
When the existing drag size from patient's mouth structure output of the direction of motion, thus to change the direction track of movement and speed
Degree.
In rehabilitation training, it is defeated that the 3rd axis of four shaft mechanical arms 2 can obtain patient's mouth according to sextuple torque sensor 6
Drag size out is suitably rotated.
Joint level security device 7 is installed on the four shaft mechanicals arm 2, the physics between patient and robot can be connect
Touching is perceived.The joint motor status information of four shaft mechanical arms 2 of acquisition is not needed, structure is simple, fast response time.
The four shaft mechanicals arm 2 can convert preset end orbit to by positive inverse kinematics the joint angle of one to four axis
Information is spent, one to four axis are in the process of running by the moment information of torque sensor feedback, in such a way that dynamic compensates in real time,
Guarantee that the contact force between end-of-arm tooling and patient is maintained at a normal level.Inside joint mould group comprising optical encoder and
Magnetic coder, Dual-encoder work at the same time, and optical encoder obtains joint information (because optical encoder is logical in real time in motion control
Letter response is all than very fast)；Magnetic coder works when four shaft mechanical arms start, and can guarantee machinery in long-term power process
It does not lose arm initial position.
The four each joints of shaft mechanical arm use joint mould group, are together in series by RS485 standard bus protocol, and controller will
The preset position information of generation gives joint mould group with the frequency real-time Transmission of 250hz, and same joint mould group is big by the torque of perception
Small and current mould group position and speed information is with the frequency real-time Transmission of 250hz to controller.
Controller is communicated using high speed network and is stored in track that host computer is sent and control instruction in a manner of to column
In controller, is communicated under holotype by RS485 and host computer instruction is distributed to each joint of mechanical arm.And each joint is returned
Multiple data are periodically updated, and the kinetic model for having four shaft mechanical arms are established in controller, according to each of real-time update
Under kinetic parameter calculating robot when the torque of a joint mould group, angle, speed, acceleration information combination robot motion
One moment pose, thus four shaft mechanical arms of dynamic control in real time.And operation of the security module to robot is controlled by robot
Parameter is monitored and calculates, and guarantees the operating status safety of mechanical arm under real-time conditions.
Four shaft mechanical arm epigynous computer section framework upper layer human-computer interaction layers are that c# writes, basic motion algoritic module, state
Machine module, secure processing module, bottom communication module are entirely what c++ write, have then been packaged by Microsoft's com component technology
Kind sdk function library is used for the end c#.Epigynous computer section can control four shaft mechanical arms by push-botton operation, including right
The operation such as starting, stopping, operation of four shaft mechanical arms.
It in the present embodiment, further include mechanical arm rest stand 9, when not in use, storage is thereon for the four shaft mechanicals arm 2.
Compared with prior art, the technical program has the advantage that
Mechanism design is simple, and structure is simple, and reliable and practical property is strong, and stability is good, high-efficient, can not only substitute doctor
To the repetitive operation of patient in rehabilitation, and it is able to solve physiatrician's shortage of resources and the big lance of patient demand amount
Shield reduces rehabilitation medical cost, promotes the recovery of patient's lower jaw function in efficient situation, can be used in hospital, rehabilitation
The places such as center.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
Made any modifications, equivalent replacements, and improvements etc. within the spirit and principles in the present invention, should be included in protection of the invention
Within the scope of.
Claims (9)
1. a kind of lower jaw healing robot characterized by comprising
Chaise longue is lain down for patient to receive treatment；
Station is equipped with lower jaw health multiplexing equipment on the station.
2. lower jaw healing robot according to claim 1, which is characterized in that the chaise longue includes:
Head fixing device is fixed patient head using two stands；
Upper shell mechanism can be fixed the maxilla of patient, and it is solid that the upper shell mechanism is fixedly installed in the head
Determine device front end.
3. lower jaw healing robot according to claim 2, which is characterized in that the station includes: binocular camera,
The coordinate of its track for being used to act the mouth position of patient and rehabilitation is demarcated；Four shaft mechanical arms, for patient's
Lower jaw carries out rehabilitation training；
Lower shell mechanism is installed on four shaft mechanical arm ends, and mating with upper shell mechanism；
Chin collet mechanism is installed on four shaft mechanical arm ends, for patient's chin to be fixed.
4. lower jaw healing robot according to claim 3, which is characterized in that
Sextuple torque sensor is installed on the four shaft mechanicals arm, the resistance of patient's mouth structure output can be examined
It surveys, and controls the movement of four shaft mechanical arms according to the size of this.
5. lower jaw healing robot according to claim 3, which is characterized in that
Joint level security device is installed on the four shaft mechanicals arm, the physical contact between patient and robot can be carried out
Perception.
6. lower jaw healing robot according to claim 3, which is characterized in that further include:
Mechanical arm rest stand, when not in use, storage is thereon for the four shaft mechanicals arm.
7. lower jaw healing robot according to claim 3, which is characterized in that the four shaft mechanicals arm is moved by forward and reverse
The joint angles information for converting preset end orbit on one to four axis is learned, one to four axis are passed by torque in the process of running
The moment information of sensor feedback guarantees that the contact force between end-of-arm tooling and patient is maintained in such a way that dynamic compensates in real time
One normal horizontal.
8. lower jaw healing robot according to claim 3, which is characterized in that the four each joints of shaft mechanical arm use joint
Mould group, joint mould group the inside include optical encoder and magnetic coder.
9. lower jaw healing robot according to claim 8, which is characterized in that each joint mould group is total by RS485 standard
Wire protocol is together in series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261000.XA CN110051499A (en) | 2019-04-02 | 2019-04-02 | A kind of lower jaw healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261000.XA CN110051499A (en) | 2019-04-02 | 2019-04-02 | A kind of lower jaw healing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110051499A true CN110051499A (en) | 2019-07-26 |
Family
ID=67318207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910261000.XA Pending CN110051499A (en) | 2019-04-02 | 2019-04-02 | A kind of lower jaw healing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110051499A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113768734A (en) * | 2021-07-14 | 2021-12-10 | 中国科学院大学宁波华美医院 | A rehabilitation device for temporomandibular joint |
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|---|---|---|---|---|
| EP1743594A1 (en) * | 2005-07-14 | 2007-01-17 | Yechiel Cohen | Computer-Controlled Dental Treatment System And Method |
| CN103913259A (en) * | 2014-03-25 | 2014-07-09 | 哈尔滨工业大学 | Self-compensating robot tail end six-dimensional torque transducer collecting system and zero-drift compensating method and zero-drift obtaining method thereof |
| CN104398346A (en) * | 2014-11-07 | 2015-03-11 | 上海交通大学 | Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair |
| WO2016135890A1 (en) * | 2015-02-25 | 2016-09-01 | オージー技研株式会社 | Jaw vibrating and traction treatment device |
| CN107496136A (en) * | 2017-09-06 | 2017-12-22 | 安徽信息工程学院 | Lower jaw dyskinesia therapeutic equipment |
| CN107648009A (en) * | 2017-09-06 | 2018-02-02 | 安徽信息工程学院 | Lower jaw dyskinesia therapeutic system with buffer gear |
| US20180214332A1 (en) * | 2015-07-20 | 2018-08-02 | The Texas A&M University System | Maxillofacial rehabilitation device |
| CN108888478A (en) * | 2018-08-01 | 2018-11-27 | 郑州大学 | A kind of upper limb rehabilitation robot based on binocular vision |
| CN109124985A (en) * | 2018-08-20 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot system based on path planning |
| CN210583036U (en) * | 2019-04-02 | 2020-05-22 | 尔智机器人(珠海)有限公司 | Lower jaw rehabilitation robot |
-
2019
- 2019-04-02 CN CN201910261000.XA patent/CN110051499A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1743594A1 (en) * | 2005-07-14 | 2007-01-17 | Yechiel Cohen | Computer-Controlled Dental Treatment System And Method |
| CN103913259A (en) * | 2014-03-25 | 2014-07-09 | 哈尔滨工业大学 | Self-compensating robot tail end six-dimensional torque transducer collecting system and zero-drift compensating method and zero-drift obtaining method thereof |
| CN104398346A (en) * | 2014-11-07 | 2015-03-11 | 上海交通大学 | Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair |
| WO2016135890A1 (en) * | 2015-02-25 | 2016-09-01 | オージー技研株式会社 | Jaw vibrating and traction treatment device |
| US20180214332A1 (en) * | 2015-07-20 | 2018-08-02 | The Texas A&M University System | Maxillofacial rehabilitation device |
| CN107496136A (en) * | 2017-09-06 | 2017-12-22 | 安徽信息工程学院 | Lower jaw dyskinesia therapeutic equipment |
| CN107648009A (en) * | 2017-09-06 | 2018-02-02 | 安徽信息工程学院 | Lower jaw dyskinesia therapeutic system with buffer gear |
| CN108888478A (en) * | 2018-08-01 | 2018-11-27 | 郑州大学 | A kind of upper limb rehabilitation robot based on binocular vision |
| CN109124985A (en) * | 2018-08-20 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot system based on path planning |
| CN210583036U (en) * | 2019-04-02 | 2020-05-22 | 尔智机器人(珠海)有限公司 | Lower jaw rehabilitation robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113768734A (en) * | 2021-07-14 | 2021-12-10 | 中国科学院大学宁波华美医院 | A rehabilitation device for temporomandibular joint |
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