CN113230116B - Chest and abdomen combined pressing system coordinately controlled by double steering engines - Google Patents
Chest and abdomen combined pressing system coordinately controlled by double steering engines Download PDFInfo
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- 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
- A61H31/00—Artificial respiration or heart stimulation, e.g. heart massage
- A61H31/004—Heart stimulation
- A61H31/006—Power driven
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- 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
- A61H31/00—Artificial respiration or heart stimulation, e.g. heart massage
- A61H31/008—Supine patient supports or bases, e.g. improving air-way access to the lungs
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
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- 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
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- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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Abstract
The invention discloses a chest and abdomen combined pressing system and method based on coordination control of a double steering engine, which comprises the following steps: the pressing device comprises a base plate and at least two pressing devices arranged on the base plate; each pressing device comprises a shell, a controller and a steering engine which are arranged in the shell, a pressing head which is arranged outside the shell and a pressure sensor which is connected to the pressing head, wherein the steering engine is connected with the pressing head through a connecting rod mechanism, the pressing head is perpendicular to a base plate and moves in the vertical direction, and the pressure sensor acquires the pressing pressure during movement; the controller adjusts the torque of the steering engine according to the pressing pressure so as to change the pressing distance of the pressing head. The chest pump theory and the abdominal pump theory are combined, the compression pressure and the compression distance in the compression process are used as feedback adjustment parameters to adjust the compression depth in real time, and the cardio-pulmonary resuscitation effect is improved through the chest-abdominal combined three-dimensional compression.
Description
Technical Field
The invention relates to medical equipment, in particular to a chest and abdomen combined compression system coordinately controlled by double steering engines, belonging to the technical field of medical equipment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Cardiopulmonary resuscitation compression is the most important link in the rescue process of cardiac arrest, and the cardiopulmonary resuscitation compression requires chest compression with sufficient frequency (100-; the manual resuscitation has great physical consumption, and certain risks exist in scenes such as traffic accidents, natural disaster scenes and the like. Adopt cardiopulmonary resuscitation appearance to press can be continuously stable carry out cardiopulmonary resuscitation and press by mechanical pressing, can press according to required amplitude and frequency for a long time, help liberating the staff, reduce the risk.
Chest compression aims at promoting blood circulation to the maximum extent by generating pressure gradient, at present, various theories guide chest compression, and the 'chest pump theory' is a widely applied method, and thinks that chest compression forms the pressure difference inside and outside the chest to push the blood in the chest to flow to the whole body; the abdominal pump theory is that the abdominal part is pulled and pressed to drive the diaphragm to move up and down, so that the volume of the thoracic cavity is changed to cause pressure, and the abdominal part pulling cardio-pulmonary resuscitation instrument is successfully tested and put on the market; the combined chest-abdomen cardio-pulmonary resuscitation can more fully form chest pressure difference, promote blood circulation and achieve better effect, but at present, a chest-abdomen combined compression method combining a chest pump theory and an abdomen pump theory does not exist, and parameters such as compression pressure, compression distance and compression frequency cannot be effectively and timely adjusted in a non-intelligent mode during compression, so that the optimal compression parameters of a patient cannot be matched.
Disclosure of Invention
In order to solve the problems, the invention provides a chest-abdomen combined compression system coordinately controlled by a double steering engine, which combines a chest pump theory and an abdomen pump theory, takes the compression pressure and the compression distance in the compression process as feedback adjustment parameters to adjust the compression depth in real time, and improves the cardio-pulmonary resuscitation effect through chest-abdomen combined three-dimensional compression.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a chest and abdomen combined compression system coordinately controlled by a dual-steering engine, comprising: the pressing device comprises a base plate and at least two pressing devices arranged on the base plate;
each pressing device comprises a shell, a controller and a steering engine which are arranged in the shell, a pressing head which is arranged outside the shell and a pressure sensor which is connected to the pressing head, wherein the steering engine is connected with the pressing head through a connecting rod mechanism, the pressing head is perpendicular to a base plate and moves along the vertical direction, and the pressing pressure during movement is obtained by the pressure sensor; the controller adjusts the torque of the steering engine according to the pressing pressure so as to change the pressing distance of the pressing head.
In a second aspect, the invention provides a working method of the chest and abdomen combined compression system coordinately controlled by the double steering engines, which includes:
the pressing device is arranged on the base plate through the supporting device and descends, and whether the current pressing depth of chest pressing and abdomen pressing meets the requirement or not is judged according to the pressing pressure and the pressing depth;
if the chest compression depth does not meet the requirement, the abdomen compression depth is increased;
if the abdominal compression depth does not meet the requirement, the chest compression depth is increased;
if the chest and abdomen compression depth does not meet the requirement, the chest and abdomen compression frequency is increased at the same time;
if the chest and abdomen compression depth and the compression frequency do not meet the requirements, the chest and abdomen compression frequency is adjusted until the chest and abdomen compression depth and the compression frequency meet the requirements.
Compared with the prior art, the invention has the beneficial effects that:
the chest-abdomen combined compression depth adjusting system and method based on the coordination control of the double steering engines adopts a double steering engine compression depth coordination control method based on a disturbance observer, takes system friction and human body reaction force into consideration in the operation process of the compression devices, adopts the disturbance controller to eliminate external interference, improves the stability of the system, and simultaneously utilizes the feedforward and feedback controllers to coordinately control the double steering engines to ensure the accuracy of compression depth and frequency and enhance the cardio-pulmonary resuscitation effect.
When the pressing device is arranged on the base plate, the position of the pressing device can be adjusted according to the physical condition of a patient, so that the pressing position is accurate.
The control button is arranged on the pressing device, so that the pressing parameters can be manually adjusted, and a more stable and good cardio-pulmonary resuscitation effect can be achieved through an automatic and manual coordinated control mode.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is an overall structural diagram of a chest-abdomen combined compression system coordinately controlled by a dual steering engine according to embodiment 1 of the present invention;
fig. 2 is a structural view of the interior of the pressing device provided in embodiment 1 of the present invention;
fig. 3 is a structural diagram of a double-steering engine coordinated pressing control system based on a disturbance observer according to embodiment 1 of the present invention;
FIG. 4 is a flowchart of a system provided in embodiment 2 of the present invention;
the device comprises a pressing device 1, a display screen 2, a control key 3, a pressing head 4, a pressure sensor 5, a pressure sensor 6, a supporting frame 7, a fixer 8, a base plate 9, a spiral knob 10, a rack and link mechanism 11, a steering engine 12, a controller 13, a storage module 14, a power module 15 and a Bluetooth module.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be understood that the terms "comprises" and "comprising", and any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example 1
As shown in fig. 1, the embodiment provides a chest-abdomen combined compression system coordinately controlled by a dual-steering engine, which is a novel chest-abdomen combined three-dimensional cardiopulmonary resuscitation apparatus, and combines a chest pump theory and an abdomen pump theory, so as to improve the cardiopulmonary resuscitation effect through chest-abdomen combined three-dimensional compression;
the method specifically comprises the following steps: a base plate 8 and at least two pressing means provided on the base plate 8; each pressing device comprises a shell, a controller 12 and a steering engine 11 which are arranged in the shell, a pressing head 4 which is arranged outside the shell and a pressure sensor 5 which is connected to the pressing head 4, wherein the steering engine 11 is connected with the pressing head 4 through a connecting rod mechanism, the pressing head 4 is perpendicular to a base plate 8 and moves along the vertical direction, and the pressure sensor 5 acquires pressing pressure during movement; the controller 12 adjusts the torque of the steering engine 11 according to the pressing pressure so as to change the pressing distance of the pressing head 4.
In this embodiment, the base plate 8 is connected to the pressing device through a supporting device, which includes a holder 7 and a supporting frame 6;
the two ends of the base plate 8 are provided with sliding grooves, and one end of the fixer 7 is connected to the sliding grooves of the base plate 8 and is fixed in the sliding grooves through a spiral knob 9;
the other end of the fixer 7 is connected with one end of the support frame 6, the other end of the support frame 6 is connected with two ends of the shell of the pressing device, a structure body similar to a triangle is constructed, and the stability of the structure is improved.
Preferably, the fixing device 7 is provided with a screw hole for fixing it in the chute by a screw knob 9.
Preferably, the fixer 7 can move in the sliding groove, is used for adjusting the position of the pressing device and is suitable for patients with different heights, and the pressing device is fixed on the base plate through the screw knob 9 after the position of the pressing device is determined.
Preferably, the supporting means comprise at least 2 pairs for respectively fixing two pressing means.
Preferably, when in use, the base plate is flatly placed on the ground, and a patient lies on the base flatly and is fixed by the fixing belt; after the pressing device, the supporting frame and the fixer are installed, the position of the pressing device is adjusted through the sliding of the fixer according to the condition of a patient; the screw knob of the holder is tightened to fix the position of the pressing means.
In this embodiment, the at least two compression devices each comprise a chest compressor and an abdomen compressor; the chest pressing device and the abdomen pressing device are arranged in parallel, the chest and the abdomen are pressed and pulled respectively, the relative positions of the chest pressing device and the abdomen pressing device are adjusted through the movement of the fixator, so that the chest pressing device and the abdomen pressing device are aligned to the chest and the abdomen, and the chest and abdomen combined pressing is realized through the coordination work of the two pressing devices.
In this embodiment, as shown in fig. 2, each pressing device includes a housing, a controller 12, a steering engine 11, a power module 14, a bluetooth module 15, and an SD card storage module 13, which are disposed in the housing, and a pressing head 4, a display screen 2, a control button 3, and a pressure sensor 5, which are disposed outside the housing.
The steering engine 11 is connected with the pressing head 4 through the rack and link mechanism 10 to drive the pressing head 4 to move, the pressure sensor 5 is arranged at the front end of the pressing head 4 and used for detecting the pressing pressure of the pressing head during working, meanwhile, the pressing depth is calculated according to the steering engine torque, and the pressing frequency and the pressing depth which are adjusted by taking the pressing pressure and the pressing depth as feedback coefficients are used for matching the optimal pressing parameters according to the patient condition.
The controller 12 automatically adjusts the pressing parameters through the pressing depth and the pressing pressure data of the pressure sensor, and the controller drives the steering engine to act through the Bluetooth module 15, so that the wireless data transmission is realized, and the movement between the chest pressing device and the abdomen pressing device is coordinated.
In the embodiment, the display screen 2 and the control keys 3 are arranged on one side of the shell, the pressing information is observed in real time through the display screen, and the pressing depth and the pressing frequency can be manually adjusted through the control keys;
it will be appreciated that the display 2 and control buttons 3 may be provided on any pressing device, and in this embodiment, are preferably provided on the chest compressor for ease of viewing.
In the embodiment, the compression parameters can be automatically adjusted through a closed-loop algorithm besides being manually adjusted, and a more stable and good cardio-pulmonary resuscitation effect can be achieved by adopting an automatic and manual coordination control mode;
preferably, the present embodiment adopts a coordination control method of pressing depth of the dual-steering engine based on the disturbance observer, and the two pressing devices move in coordination to form a pressure difference between the chest and the abdomen, so as to enhance the cardio-pulmonary resuscitation effect and realize closed-loop control of coordination of the dual-steering engine of the chest and the abdomen.
Preferably, the storage module 13 is used for storing parameters such as compression depth, compression pressure and compression frequency;
preferably, through bluetooth module, realize the wireless data transmission of controller and steering wheel, storage module, display screen etc..
In the embodiment, a method combining feedforward control and feedback control is adopted, and the chest compressor and the abdomen compressor are accurately and stably controlled in position and frequency by considering system friction force, human body reaction force in the compression process and external environment interference.
Firstly, acquiring pressing pressure and pressing depth, wherein the pressing pressure is acquired by a pressure sensor, and the pressing depth is calculated from the beginning of the display of the force sensor until the distance which is passed by the pressing device when the pressing device stops moving; secondly, the compression depth and the compression pressure of the chest and the abdomen are respectively used as feedback to adjust the compression frequency and the compression depth of the chest and the abdomen, so that the safety of a patient is ensured while a better compression effect is achieved; meanwhile, in order to realize accurate position control, the embodiment designs a second-order low-pass filter, and introduces a transfer function to ensure the stability of the system.
According to the method, the compression depth and the compression frequency are accurately obtained through the motion inertia, the damping and the rigidity of the compression device, the steering engine torque and the like, the compression depth and the compression frequency are compared with an expected threshold value, if the value is smaller than the threshold value and the compression effect cannot meet the standard, the compression frequency and the compression depth of either one or both of the chest compression device and the abdomen compression device are properly increased under the condition that the safety of a patient is ensured, and therefore the cardio-pulmonary resuscitation compression requirement is met; if the value is larger than the threshold value, the pressing depth can be properly reduced to ensure the safety of the patient;
specifically, if the pressing depth of one pressing device does not meet the pressing requirement, the pressing depth of the other pressing device is properly increased; if the pressing depth of the two pressing devices can not meet the pressing requirement, the pressing depth of the two pressing devices is properly increased; if the compression requirements cannot be met after the compression depth is adjusted, the compression frequency of either or both of the chest compressor and the abdomen compressor is appropriately increased.
In this embodiment, in order to improve the maneuverability and stability during the compression process, for uncertainty of the model and unpredictable external disturbance, a method of coordinated control of the compression depth of the dual steering engine based on a disturbance observer is adopted in combination with feedforward control and feedback control, as shown in fig. 3, and specifically includes:
the press head of the press device is connected with the steering engine through a gear rack connecting rod mechanism, and the kinetic equation of the gear rack system is as follows:
in the formula, J m And B m Respectively, the moment of inertia and the damping of the steering engine, theta m Is the shaft angle, tau, of the steering engine 12 Representing the torque applied by the presser to the rudder shaft through the rack and pinion and through the reducer, τ m Is the torque of the steering engine.
The steering wheel passes through the gear with power transmission to the presser on, the presser motion can be expressed as:
in the formula, J fw 、B fw And K fw Respectively, the inertia, damping and stiffness of the depressor, delta f Is the moving distance of the pressing device, F fric Is a friction force, F r Is the reaction force of human body in the pressing process, measured by a pressure sensor, tau s The steering engine applies torque on the pressing device through the rack and the pinion.
Assuming zero backlash between the reduction gear, rack and pinion gear teeth in the steering engine, the reference θ is m And delta f The relationship of (1) is:
in the formula, k r Is the steering ratio of the pinion radius (r) divided by the reduction gear ratio (σ).
Using the formulae (1) and (3), converting tau s Expressed as:
then, equation (2) in (4) is used and τ is eliminated s It is possible to obtain:
bringing (1) into (5) can result in:
in the formula, J eq And B eq The equivalent moment of inertia and damping coefficient of rack and pinion system respectively, it is:
J eq ＝J fw +(k r ) 2 J m (7)
B eq ＝B fw +(k r ) 2 B m (8)
for considering only the effects of the stedbeck friction and the coulomb friction, the friction force in the formula (2) is a typical nonlinear factor, and the acting direction is opposite to the steering engine torque, and the friction model equation is as follows:
in the formula, F s Is static friction, i.e. separating friction, F c Is coulomb friction, theta s Is the speed of the strobeck, the strobeck friction force is F s At the upper limit, F c For the lower limit, the coulomb velocity is determined from the starting point of coulomb friction, which is further determined from experimental or simulation results.
In order to eliminate the disturbance and realize accurate position control, the present embodiment designs a feedforward controller, a feedback controller and a disturbance observer, and a basic quadratic transfer function model is defined as follows:
in the formula, moment of inertia J n Damping coefficient B n And a stiffness K n Are all measured experimentally.
In order to realize the tracking control of the gear rack system, the control system design of the embodiment adopts a double-steering engine coordination control method, a double-steering engine coordination controller consists of a feedback controller and a feedforward controller,
wherein, based on the feedback controller of rack and pinion system model design to improve position tracking performance, the feedback controller model is as follows:
the feedforward controller is designed to have an inverse nominal model of a second-order low-pass filter, and the feedforward controller model is generally designed to improve the transient response characteristic of the system under the assumption that the nominal model is accurate to the actual model, and is as follows:
in the formula, the cut-off frequency omega of the feedback controller and the feedforward controller fb And ω ff And (4) obtaining through simulation.
Because the interference suppression capability depends on the frequency of a Q filter in the interference observer, the higher the frequency is, the stronger the robustness of the system is; for the whole control system, Q(s) which can realize and meet the robust stability condition is required to be selected, wherein Q(s) is a transfer function with a numerator of second order and a denominator of zero order, and the sequence of the numerator is required to be equal to or less than the sequence of the denominator;
based on this, the Q filter is designed as a second-order low-pass filter, and the design requirements are as follows:
in the formula, ω q The cut-off frequency is 19 Hz; ξ is the damping ratio of the disturbance observer, with a value of 0.707, to satisfy the robust stability condition of the entire control system.
The embodiment utilizes the double-steering engine coordination control method to ensure that all patients can safely reach the cardiopulmonary resuscitation pressing standard, the adjustment is carried out while the pressing is carried out, and the required pressing frequency and the pressing depth can be adjusted in a short time.
Example 2
As shown in fig. 4, the present embodiment provides a working method of a chest-abdomen combined compression system coordinately controlled by two steering engines, including:
(1) the pressing device is arranged on the base plate through the supporting device, the position of the pressing device is adjusted according to the condition of a patient, and the knob of the fixer is screwed tightly, so that the position of the pressing device is fixed;
(2) starting pressing, and descending the pressing device;
(3) combining feedforward control and feedback control, and judging whether the compression depth of chest compression and abdominal compression meets the requirements by adopting a double-steering engine compression depth coordination control method based on a disturbance observer;
(4) judging whether the chest compression depth meets the requirement, if not, increasing the abdomen compression depth; if yes, entering the step (5);
(5) judging whether the abdominal compression depth meets the requirement, if not, increasing the chest compression depth; if yes, entering the step (6);
(6) judging whether the chest and abdomen pressing depth meets the requirements, if not, increasing the chest and abdomen pressing frequency; if yes, entering the step (7);
(7) judging whether the chest and abdomen compression depth and the compression frequency meet the requirements, if not, adjusting the chest and abdomen compression frequency; if so, pressing is started.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (7)
1. The utility model provides a two steering wheel coordinated control's chest abdomen is united and is pressed system which characterized in that includes: the pressing device comprises a base plate and at least two pressing devices arranged on the base plate;
each pressing device comprises a shell, a controller and a steering engine which are arranged in the shell, a pressing head which is arranged outside the shell and a pressure sensor which is connected to the pressing head, wherein the steering engine is connected with the pressing head through a connecting rod mechanism, the pressing head is perpendicular to a base plate and moves in the vertical direction, and the pressure sensor acquires the pressing pressure during movement; the controller adjusts the torque of the steering engine according to the pressing pressure so as to change the pressing distance of the pressing head;
the method combining feedforward control and feedback control is adopted, the friction force of the system and the reaction force of a human body in the pressing process are considered, and the pressing parameters are adjusted according to the current pressing pressure and the pressing depth;
specifically, a dynamic model of a rack and pinion system is established according to inertia, damping and rigidity of movement of a pressing device and torque of a steering engine, a feedforward controller is designed based on an inverse nominal model of a second-order low-pass filter, a feedback controller is designed based on the rack and pinion system model, and an interference observer comprising the second-order low-pass filter is introduced to adjust pressing parameters;
according to inertia, damping, rigidity and steering wheel torque of the pressing device, a dynamic model of the gear rack system is established, and the method specifically comprises the following steps: the press head of the press device is connected with the steering engine through a gear rack connecting rod mechanism, and the kinetic equation of the gear rack system is as follows:
in the formula, J m And B m Respectively, the moment of inertia and the damping of the steering engine, theta m Is the shaft angle, tau, of the steering engine 12 Indicating passage of the presser through the rack and pinionTorque applied by the reducer to the rudder machine shaft, τ m Is the torque of the steering engine;
the steering wheel passes through the gear with power transmission to the presser on, the presser motion can be expressed as:
in the formula, J fw 、B fw And K fw Respectively, the inertia, damping and stiffness of the depressor, delta f Is the moving distance of the pressing device, F fric Is the friction force, F r Is the reaction force of human body in the pressing process, measured by a pressure sensor, tau s The steering engine applies torque on the pressing device through the rack and the pinion.
2. The chest and abdomen combined compression system with the coordination control of the double steering engines as claimed in claim 1, wherein the base plate is connected with the compression device through a supporting device, the supporting device comprises a fixer and a supporting frame; the bed plate both ends are equipped with the spout, and the one end of fixer is connected on the spout of bed plate, and the other end of fixer is connected with the one end of support frame, and the both ends of press device casing are connected to the other end of support frame.
3. The chest and abdomen combined compression system with the coordination control of the double steering engines as claimed in claim 2, wherein the fixator is provided with a screw hole for fixing the fixator in the sliding groove through a screw knob.
4. The chest and abdomen combined compression system with the coordination control of the double steering engines as claimed in claim 2, wherein the fixator moves in the sliding groove to adjust the position of the compression device.
5. The chest and abdomen combined compression system with the coordination control of the double steering engines as claimed in claim 1, wherein said at least two compression devices comprise a chest compressor and an abdomen compressor respectively, and the chest compressor and the abdomen compressor are arranged in parallel to compress and lift the chest and abdomen respectively.
6. The chest and abdomen combined pressing system with the coordination control of the double steering engines as claimed in claim 1, wherein a display screen and control keys are arranged on one side of the shell, pressing information is displayed through the display screen, and pressing depth and pressing frequency are manually adjusted through the control keys.
7. The chest-abdomen combined compression system with the coordination control of the double steering engines as claimed in claim 1, wherein if the compression depth of one compression device does not meet the compression requirement, the compression depth of the other compression device is adjusted; if the pressing depths of the two pressing devices do not reach the pressing requirements, the pressing depths of the two pressing devices are adjusted; and if the pressing depth is adjusted and the pressing requirement is not met, adjusting the pressing frequency of the pressing device.
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| CN202110631499.6A CN113230116B (en) | 2021-06-07 | 2021-06-07 | Chest and abdomen combined pressing system coordinately controlled by double steering engines |
| AU2022201970A AU2022201970B2 (en) | 2021-06-07 | 2022-03-22 | System of chest and abdominal compression-decompression with coordinated control of dual servos |
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| CN202110631499.6A CN113230116B (en) | 2021-06-07 | 2021-06-07 | Chest and abdomen combined pressing system coordinately controlled by double steering engines |
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| CN105307618A (en) * | 2012-12-28 | 2016-02-03 | 皇家飞利浦有限公司 | Lightweight electro-mechanical chest compression device |
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| AU2022201970B2 (en) | 2023-11-09 |
| CN113230116A (en) | 2021-08-10 |
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