CN113827920B - Temporomandibular joint training device and electronic equipment - Google Patents
Temporomandibular joint training device and electronic equipment Download PDFInfo
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- CN113827920B CN113827920B CN202010514115.8A CN202010514115A CN113827920B CN 113827920 B CN113827920 B CN 113827920B CN 202010514115 A CN202010514115 A CN 202010514115A CN 113827920 B CN113827920 B CN 113827920B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/025—Exercising apparatus specially adapted for particular parts of the body for the head or the neck
- A63B23/03—Exercising apparatus specially adapted for particular parts of the body for the head or the neck for face muscles
- A63B23/032—Exercising apparatus specially adapted for particular parts of the body for the head or the neck for face muscles for insertion in the mouth
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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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
- A61H2201/5061—Force sensors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/16—Angular positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/836—Sensors arranged on the body of the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
Abstract
The invention provides a temporomandibular joint training device and electronic equipment, which adopt two control modes of constant occlusal force and constant position, and when receiving the instruction of medical care personnel, control a mouthpiece to automatically move to a target position, thereby solving the problem that the traditional temporomandibular joint training device needs manual adjustment, saving manual operation, and in addition, because the two training modes of the constant occlusal force training mode and the constant position training mode can be reasonably selected by the medical care personnel, the rehabilitation training mode is enriched, and the rehabilitation training effect can be improved.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a temporomandibular joint training device and electronic equipment.
Background
The temporomandibular joint dysfunction syndrome is one of clinical common diseases, is classified as the fourth oral epidemic disease affecting human health by WHO, is a syndrome of a series of symptoms such as temporomandibular joint area pain, reverberation, muscular soreness, hypodynamia, mouth opening limitation, temporomandibular joint dysfunction and the like, and has repeated attack, lingering and prolonged treatment in some cases, thereby seriously affecting masticatory muscles and language functions. From the perspective of modern medicine, the cause of the disease is complex and is not clear yet. It is thought to be related to emotional instability, physical weakness, disturbance of occlusion relationship of teeth, and trauma. These factors affect the normal structure of the mandibular joint or hinder the coordinated movement of muscles and ligaments attached around the joint structure.
The existing conventional treatment modes are as follows: optical, electrical, needle, injection, physical therapy, etc., such as: the treatment modes of the super-laser therapeutic apparatus, the temporomandibular arthroscope, the acupuncture combined ultrashort wave treatment, the super-laser irradiation combined temporomandibular joint local injection treatment, the blood pricking and warming needle treatment and the like respectively have advantages and disadvantages, and are suitable for different crowds.
The existing physical therapy mode mainly depends on temporal joint traction devices and manual pressing of therapists, and is convenient and safe, wide in application range, low in medical cost, high in cure rate and high in patient acceptance.
In addition, the existing temporal joint traction device has the following problems:
firstly, the traditional temporomandibular passive training instrument needs a person to manually adjust the opening angle, and after the angle is adjusted, the instrument is limited by the hand or a mechanical device and used for fixing the position, so that the instrument is not intelligent enough.
Second, during the use of the traditional temporomandibular passive training apparatus, the degree of opening is usually measured in scales, and there is no accurate opening distance value.
Third, in the use process of the traditional temporomandibular passive training instrument, there is no accurate occlusal force feedback, and only medical staff can communicate with the patient, so that the size of the occlusal force can be judged in a fuzzy way.
Fourthly, during the treatment period, the medical staff judges the recovery condition of the patient in a fuzzy state, can judge the treatment effect only by the dictation of the patient and the opening degree after the treatment, and does not have a digital, scientific and sustainable treatment scheme and judgment standards after the treatment. This results in no systematic treatment regimen, no timely digital feedback system and no scientific therapeutic outcome assessment system.
Fifth, the traditional approach relies heavily on the personal experience of the doctor and the communication between the medical staff and the patient. In the past, the development and progress of the industry are not facilitated.
Disclosure of Invention
The invention aims to provide a temporomandibular joint training device and an electronic device, so as to solve one or more problems in the prior art.
In order to solve the above technical problem, the present invention provides a temporomandibular joint training device, comprising: a device main body, a detection unit, an operation unit, and a control unit, wherein,
the device body comprises a mouthpiece;
the detection unit comprises a magnetic encoder and a force sensor, the magnetic encoder is used for detecting the opening angle or the opening distance of the mouthpiece, and the force sensor is used for detecting the size of the biting force applied to the mouthpiece;
the operation unit is used for issuing an operation instruction to the control unit, wherein the operation instruction comprises at least one of a constant occlusal force training mode instruction and a constant position training mode instruction so as to perform at least one of a constant occlusal force training mode and a constant position training mode;
the control unit is used for acquiring detection data of the magnetic encoder and the force sensor and processing the detection data to respectively obtain an opening angle value or an opening distance value of the mouthpiece and a stressed occlusion force value; the controller is used for controlling the movement of the mouthpiece according to the received constant occlusal force training mode instruction and the current occlusal force value of the mouthpiece; and the controller is used for controlling the movement of the mouthpiece according to the received constant position training mode instruction and the opening angle value or the opening distance value of the mouthpiece at present.
Optionally, in the temporomandibular joint training device, the controlling unit is configured to control the movement of the mouthpiece according to the received constant occlusal force training mode command and the current occlusal force value applied to the mouthpiece, and includes:
and controlling the mouthpiece to move until the occlusal force is consistent with the force value set by the constant occlusal force training mode so as to complete the constant occlusal force training.
Optionally, in the temporomandibular joint training device, the controlling unit is configured to control the movement of the mouthpiece according to the received constant position training mode instruction and the current opening angle value or opening distance value of the mouthpiece, and includes:
and controlling the mouthpiece to move to an opening angle value or an opening distance value to be matched with an opening angle value or an opening distance value set in the constant position training mode so as to finish constant position training.
Optionally, in the temporomandibular joint training device, the control unit includes: the system comprises an information acquisition module, an information processing and control module and an execution module;
the information acquisition module is used for acquiring the detection data and receiving the operation instruction;
the information processing and control module is used for processing the detection data to respectively obtain an opening angle value or an opening distance value of the mouthpiece and a biting force value borne by the mouthpiece; the constant bite force control module is used for sending a first control instruction to the execution module according to the received constant bite force training mode instruction and the current bite force value of the mouthpiece, and/or is used for sending a second control instruction to the execution module according to the received constant position training mode instruction and the current opening angle value or opening distance value of the mouthpiece;
the execution module is used for controlling the movement of the mouthpiece according to the first control instruction and/or controlling the movement of the mouthpiece according to the second control instruction.
Optionally, in the temporomandibular joint training device, the operating unit and/or the control unit includes a storage module, and the storage module is configured to store selectable setting values of the constant occlusal force training mode and the constant position training mode, and store a time-varying occlusal force value and an opening distance value or an opening angle value of the mouthpiece in the constant occlusal force training mode and the constant position training mode.
Optionally, in the temporomandibular joint training device, the temporomandibular joint training device further includes a wireless module, and the wireless module is configured to send the result stored by the storage module to a cloud server.
Optionally, in the temporomandibular joint training device, the operating unit includes an interactive interface device for displaying at least one of an opening angle value, an opening distance value and a received bite force value of the mouthpiece.
Optionally, in the temporomandibular joint training device, the detection unit further includes a limit sensor for limiting the opening distance of the mouthpiece.
Optionally, in the temporomandibular joint training device, the device main body further includes a motor and a transmission structure, and the control unit drives the transmission structure to drive the mouthpiece to move by controlling the motor to rotate.
The present invention also provides an electronic device for a temporomandibular joint training apparatus as described above, the electronic device being configured to, upon receiving the operating instruction, perform the following steps:
respectively judging whether at least one of the limit of the encoder and the maximum force value is reached according to the detection data of the magnetic encoder and the force sensor; if the encoder limit or the force maximum is reached, the mouthpiece is prevented from moving; and if the moment is not reached, controlling the mouthpiece to move to a target position so as to correspondingly finish the constant occlusal force training or the constant position training.
Optionally, in the electronic device, before acquiring the detection information of the magnetic encoder and the force sensor, the electronic device is further configured to:
initializing the mouthpiece to obtain an opening angle value or an opening distance value detected by the magnetic encoder when the mouthpiece is in a closed state, for confirmation of the target position of the mouthpiece in the constant position training mode.
Optionally, in the electronic device, the initializing the mouthpiece by the electronic device to obtain the opening angle value or the opening distance value of the magnetic code when the mouthpiece is in the closed state includes:
controlling the mouthpiece to perform a closing action;
and judging whether the numerical value of the force sensor is zero, if not, controlling the mouthpiece to continue to perform closing action, if so, controlling the mouthpiece to stop moving, and recording an opening angle value or an opening distance value detected by the magnetic encoder when the numerical value of the force sensor is zero.
Optionally, in the electronic device, the initializing the mouthpiece by the electronic device to obtain the opening angle value or the opening distance value of the magnetic code when the mouthpiece is in the closed state includes:
controlling the mouthpiece to perform closing action, judging whether the numerical value of the force sensor is zero or not, if not, controlling the mouthpiece to continue the closing action, and if so, controlling the mouthpiece to stop moving; and the number of the first and second groups,
and controlling the mouthpiece to open, judging whether the opening angle or the opening distance detected by the magnetic encoder is increased, if not, controlling the mouthpiece to continue to open, if so, controlling the mouthpiece to stop moving, and correspondingly recording the opening angle value or the opening distance value detected by the magnetic encoder.
Optionally, in the electronic device, the temporomandibular joint training device further includes a limit sensor, and when receiving the operation instruction, the electronic device is configured to: and judging whether mechanical limit is reached or not according to the detection data of the limit sensor, if the mechanical limit is reached, stopping the mouthpiece to move, and if the mechanical limit, the encoder limit and the force maximum value are not reached, controlling the mouthpiece to move so as to correspondingly finish the constant occlusal force training or the constant position training.
Compared with the prior art, the temporomandibular joint training device and the electronic equipment provided by the invention have the following beneficial effects:
the invention adopts two control modes of constant occlusal force and constant position, and when receiving the instruction of medical care personnel, the mouth piece is controlled to automatically move to the target position, so the problem that the traditional temporomandibular rehabilitation training device needs manual adjustment can be solved, manual operation is saved, and in addition, the two training modes of the constant occlusal force training mode and the constant position training mode can be reasonably selected by the medical care personnel, so the rehabilitation training modes are enriched, and the rehabilitation training effect can be improved;
furthermore, when temporomandibular joint training is performed on a patient, real-time data of the opening angle of the mouthpiece and the occlusal force can be stored and uploaded to a cloud service end as time goes on, so that a doctor can conveniently perform rehabilitation management on the patient;
furthermore, before temporomandibular joint training, the mouthpiece is automatically initialized and the zero position is searched, so that accurate quantification of the opening angle of the mouthpiece can be realized in the constant position training mode.
Drawings
Fig. 1 is a block diagram of a temporomandibular joint training device provided in accordance with an embodiment of the present invention;
fig. 2 is a structural diagram of a temporomandibular joint training device body according to an embodiment of the present invention;
fig. 3 is a flowchart of an electronic device according to an embodiment of the present invention;
wherein the reference numerals are as follows:
1-a device body; 2-a detection unit; 3-an operation unit; 4-a control unit; 11-mouthpiece; 12-a housing; 13-drive mechanism/drive wheel; 21-a magnetic encoder; 22-a force sensor; 23-a limit sensor; 41-an information acquisition module; 42-information processing and control module; 43-execution Module.
Detailed Description
The temporomandibular joint training device and the electronic apparatus according to the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this application, the singular forms "a," "an," and "the" include plural referents, and the term "or" is generally employed in its sense including "and/or". The terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or at least two of the features.
As shown in fig. 1, the present embodiment provides a temporomandibular joint training device including a device body 1, a detection unit 2, an operation unit 3, and a control unit 4; wherein the content of the first and second substances,
the device body 1 includes a mouthpiece 11; the detection unit 2 comprises a magnetic encoder 21, a force sensor 22 and a limit sensor 23, wherein the magnetic encoder 21 is used for detecting the opening angle/opening distance of the mouthpiece 11, and the force sensor 22 is used for detecting the size of the biting force received by the mouthpiece 11; the operation unit 3 is used for setting a constant occlusal force training mode and a constant position training mode and issuing an operation instruction to the control unit 4, wherein the operation instruction comprises at least one of a constant occlusal force training mode instruction and a constant position training mode instruction; the control unit 4 is configured to obtain detection data of the magnetic encoder 21 and the force sensor 22, and process the detection data to obtain an opening angle value/an opening distance value and a received occlusion force value of the mouthpiece 11; the controller is used for controlling the movement of the mouthpiece 11 according to the received constant-occlusal force training mode instruction and the current occlusal force value of the mouthpiece 11; for controlling the movement of the mouthpiece 11 according to the received constant position training mode command and the current opening angle value/opening distance value of the mouthpiece 11.
In some embodiments, the temporomandibular joint training device includes at least one of a constant occlusal force training mode and a constant position training mode, the user may select the respective training mode according to his or her needs.
Here, for convenience of description, the detection result of the magnetic encoder 21 is described as the opening angle/opening distance, but it should be understood that the "opening angle/opening distance" is used in the meaning of "opening angle or opening distance" in the present embodiment.
In this embodiment, the control unit 4 controls the movement of the mouthpiece 11 according to the received constant-biting-force training mode command and the current biting force value applied to the mouthpiece 11, and specifically, controls the movement of the mouthpiece 11 until the received biting force is consistent with the force value set in the constant-biting-force training mode, so as to complete the constant-biting-force training. The control unit 4 controls the movement of the mouthpiece 11 according to the received constant position training mode instruction and the current opening angle value/opening distance value of the mouthpiece 11, and specifically controls the mouthpiece 11 to move until the opening angle value/opening distance value matches with the opening angle value/opening distance value set by the constant position training mode, so as to complete the constant position training.
In the manual operation, the doctor/user generally adjusts the strength of the temporomandibular joint training by adjusting the opening distance of the mouthpiece 11, therefore, in this embodiment, in the constant position training mode, it is preferable to set the opening distance of the mouthpiece, and if the data measured by the magnetic encoder 21 is an opening angle value, the opening angle value measured by the magnetic encoder 21 and the opening distance value set by the operation unit can be converted by the control unit 4 to match the data. For example, after the angle information measured by the magnetic encoder 21 is obtained, the angle information may be converted into the opening distance data, and then compared with the set opening distance value, so as to implement matching between the data. In other embodiments, after the operating unit 3 sets the opening distance value, the control unit 4 converts the set value into an opening angle value, and then compares the angle information measured by the magnetic encoder 21 with the converted value to match the data.
In other embodiments, the control unit controls the movement of the mouthpiece according to the received command of the constant occlusal force training mode and the current occlusal force value applied to the mouthpiece, specifically, controls the movement of the mouthpiece until the received occlusal force does not exceed the force value range set by the constant occlusal force training mode, or controls the movement of the mouthpiece until the received occlusal force is not less than or not greater than the set force value threshold, and so on, so as to complete the constant occlusal force training. The control unit controls the movement of the mouthpiece according to the received constant position training mode instruction and the current opening angle value of the mouthpiece, specifically, controls the mouthpiece to move until the opening angle value does not exceed the opening angle value range set by the constant position training mode, or controls the mouthpiece to move until the opening angle value is not smaller than or not larger than a set angle threshold value, and the like, so as to complete constant position training.
For safety reasons, in the present embodiment, the detecting unit 2 further includes a limit sensor 23, and the limit sensor 23 is used for limiting the opening distance of the mouthpiece 11.
As for the device body 1, in particular, in addition to the mouthpiece 11, a motor and transmission structure 13 is included, similar to the existing temporomandibular rehabilitation training device, the transmission structure 13 being for example a drive wheel, a drive belt or the like. The control unit 4 drives the transmission structure 13 to drive the mouthpiece 11 to move by controlling the motor to rotate. The present invention is not particularly limited to the specific structure of the apparatus body 1. As shown in fig. 2, which shows a temporomandibular rehabilitation training device of the prior art, the temporomandibular rehabilitation training device comprises: the mouth piece 11, the driving wheel 13 and the motor (arranged in the shell 12), the mouth piece 11 comprises an upper mouth piece 111, a lower mouth piece 112, an upper connecting rod 113 connected and supported with the upper mouth piece 111, and a lower connecting rod 114 connected and supported with the lower mouth piece 112, one end of the driving wheel 13 is connected with the upper connecting rod 113, and the other end of the driving wheel 13 is connected with the motor, so that the mouth piece 11 can be driven to move by the rotation of the motor.
In order to perform the constant occlusal force training and the constant position training on the patient, as described above, the control unit 4 is used, and in this embodiment, the control unit 4 includes: an information acquisition module 41, an information processing and control module 42 and an execution module 43. The information obtaining module 41 is configured to obtain the detection data and receive the operation instruction. The information processing and control module 42 is configured to process the detection data to obtain an opening angle value/an opening distance value and a received occlusion force value of the mouthpiece 11, respectively; and the controller is configured to send a first control instruction to the execution module 43 according to the received constant occlusal force training mode instruction and the current occlusal force value applied to the mouthpiece 11, and/or send a second control instruction to the execution module according to the received constant position training mode instruction and the current opening angle value/opening distance value of the mouthpiece 11. The executing module 43 is configured to control the movement of the mouthpiece 11 according to the first control instruction, and is configured to control the movement of the mouthpiece 11 according to the second control instruction. In this embodiment, the control of the executing module 43 specifically includes: and controlling the movement of the mouthpiece 11 to the consistent occlusal force value set by the constant occlusal force training mode according to the first control instruction, and/or controlling the movement of the mouthpiece 11 to the opening angle value/opening distance value matched with the opening angle value/opening distance value set by the constant position training mode according to the second control instruction.
It should be noted that, for convenience of description, the control unit 4 is described as being divided into various modules by functions and described separately. Of course, the functionality of the various modules may be implemented in the same software and/or hardware in the practice of the invention. For example, the parts of the control unit 4, such as the information acquisition module 41 and the information processing and control module 42, may be integrated in an MCU card, which corresponds to a central processing unit. Since the mouthpiece 11 is driven by the motor rotation, the actuator module 43 may be integrated into a motor controller. In other embodiments, the information obtaining module 41, the information processing and controlling module 42, and the executing module 43 may also be presented in the form of the same hardware platform, and the specific presentation form of each module of the controlling unit 4 should not be construed as a limitation to the present application.
The control unit 4 may further be provided with peripheral interfaces such as GPIO, ADC, UART, etc., through which the magnetic encoder 21, the limit sensor 23, and the force sensor 22 are connected, thereby establishing communication.
In practical application, the operation unit 3 may further include an open key and a close key, that is, the operation instruction issued by the operation unit 3 may further include an open instruction and a close instruction. Correspondingly, the control unit 4 is further configured to control the mouthpiece 11 to start moving according to the opening instruction, and is configured to control the mouthpiece 11 to stop moving according to the closing instruction. Specifically, when the information obtaining module 41 receives the opening instruction or the closing instruction, the information processing and controlling module 42 sends a third control instruction to the executing module 43 according to the opening instruction, so that the executing module 43 controls the mouthpiece 11 to start moving according to the third control instruction, and sends a fourth control instruction to the executing module 43 according to the closing instruction, so that the executing module 43 controls the mouthpiece 11 to stop moving according to the fourth control instruction.
In this embodiment, preferably, the operation unit 3 includes an interface device, and the interface device is used for displaying at least one of an opening angle value, an opening distance value and a received occlusion force value of the mouthpiece. Specifically, after the detection data of the magnetic encoder 21, the limit sensor 23 and the force sensor 22 are acquired by the control unit 4 in the form of signal data, the detection data are processed by the control unit 4 and displayed on the screen of the interactive interface device, so that the doctor/user can monitor the information in real time.
Preferably, the operation unit 3 and/or the control unit 4 further includes a storage module, which is configured to store setting values of the constant occlusal force training mode and the constant position training mode, for example, corresponding to specific values selectable in different modes, so that a suitable setting value can be quickly found according to an actual situation of a user, for example, whether the situation is severe, and the like, and is configured to store an opening distance value and an occlusal force value of the mouthpiece, which change with time and correspond to the opening distance value and the occlusal force value of the mouthpiece, which change with time, in the constant occlusal force training mode and the constant position training mode, so as to correspond the setting value to a detection value during actual training, and thus enable a doctor or the user to perform rehabilitation management on a patient based on the stored data. Further preferably, the temporomandibular joint training device further comprises a wireless module, and the wireless module is used for sending the treatment result information stored in the storage module to a cloud server. The wireless module may be integrated in the operating unit 3 or may be communicatively connected to the operating unit 3. The wireless module may be, for example, BLE5.0, WI-FI, zigBee, etc.
In some embodiments, the operating unit 3 and the control unit 4 are integrated in the same hardware platform, for example in a computer.
Based on the temporomandibular joint training device provided by this embodiment, as shown in fig. 3, this embodiment further provides an electronic device, where the electronic device is configured to, when receiving the operation instruction, perform the following steps:
s1, when manual adjustment is carried out or the operation instruction is received, whether at least one of the limit of an encoder and the maximum force value is reached is judged according to the detection information of the magnetic encoder 21 and the force sensor 22; if the limit of the encoder or the maximum force is reached, executing S2, and if the limit of the encoder or the maximum force is not reached, executing S3;
s2, preventing the mouthpiece 11 from moving;
and S3, if the occlusion is not reached, controlling the mouthpiece 11 to move to the target position so as to correspondingly perform constant occlusal force training or constant position training.
Also, for safety, preferably, when receiving the operation instruction, the electronic device is further configured to: and judging whether mechanical limit is reached according to the detection data of the limit sensor 23, namely judging whether the limit sensor 2 is triggered, if the mechanical limit is reached, stopping the mouthpiece from moving, and if the mechanical limit, the encoder limit and the force maximum value are not reached, controlling the mouthpiece to move so as to correspondingly finish the constant occlusal force training or the constant position training.
In the step S1, the order of the determination of whether the mechanical limit, the encoder limit, and the force maximum are reached is not distinguished, and may be performed simultaneously or sequentially.
In this embodiment, the temporomandibular joint training device can be fully automated, but does not exclude some links to be adjusted manually, and during manual adjustment, the maximum opening angle of the mouthpiece 11 is the maximum value for determining whether the mouthpiece 11 reaches the maximum value, and the maximum opening torque of the mouthpiece 11 is the maximum value for determining whether the opening torque of the mouthpiece 11 reaches the maximum value.
In view of this, in step S1, the method for determining whether the encoder limit is reached according to the detection information of the magnetic encoder 21 includes the following two methods:
(11) Judging whether the mouthpiece 11 reaches the maximum opening angle or not, if so, judging that the mouthpiece reaches the limit of an encoder;
(12) And judging whether the opening angle/opening distance of the mouthpiece 11 reaches the opening angle/opening distance value correspondingly set in the constant position training mode, if so, judging that the position is limited by an encoder.
Similarly, the method for determining whether the maximum force is reached according to the detection information of the force sensor 22 includes the following two methods:
(21) Judging whether the mouthpiece 11 reaches the maximum opening moment or not, and if so, judging that the maximum reaching force is the maximum;
(22) And judging whether the occlusal force borne by the mouthpiece 11 reaches the force value set by the constant occlusal force training mode, if so, judging that the maximum value of the force is reached.
While training the temporomandibular joint, before which, as shown in fig. 3, the electronic device further performs the steps of: s0, initializing the mouthpiece 11 to obtain an opening angle value/opening distance value detected by the magnetic encoder 21 when the mouthpiece 11 is in the closed state, so as to confirm a target position of the mouthpiece 11 in the constant position training mode. In this embodiment, when the mouthpiece 11 adopts the constant position training mode, the maximum opening angle/the maximum opening distance of the mouthpiece 11 can be set, and the size of the angle/the distance is measured by using the zero point determined by the magnetic encoder 21 as the starting point. Therefore, by the initialization step, the zero point of the magnetic encoder 21 is found, so that the opening angle/opening distance of the mouthpiece 11 can be accurately quantified during the constant position training mode. The mouthpiece 11 may be initialized such that it is powered up again after the first device power up occurs, and need not be done again.
As mentioned before, for the temporomandibular joint training device, the transmission structure 13 may employ drive wheels, drive belts or the like. In view of this, the electronic device in this embodiment initializes the mouthpiece 11 to obtain the opening angle value/opening distance value of the magnetic encoder when the mouthpiece 11 is in the closed state, which includes the following two types:
(31) Controlling the mouthpiece 11 to perform a closing action, and determining whether the value of the force sensor 22 is zero, if not, controlling the mouthpiece 11 to continue the closing action, and if zero, controlling the mouthpiece 11 to stop moving, and recording an opening angle value/opening distance value detected by the magnetic encoder 21 when the value of the force sensor 22 is zero;
(32) Controlling the mouthpiece 11 to perform a closing action, and determining whether the value of the force sensor 22 is zero, if not, controlling the mouthpiece 11 to continue the closing action, and if zero, controlling the mouthpiece 11 to stop moving; and controlling the mouthpiece 11 to perform an opening action, determining whether the opening angle/opening distance detected by the magnetic encoder 21 is increased, if not, controlling the mouthpiece 11 to continue the opening action, and if so, controlling the mouthpiece 11 to stop moving and correspondingly recording the opening angle value/opening distance value detected by the magnetic encoder 21.
The method (31) is applied to a temporomandibular joint training device in which the transmission structure 13 uses a non-elastic member. In temporomandibular joint training device using elastic members (e.g. springs) for the transmission structure 13, there is a lost motion from the detection of no tension in the springs to the mechanical limit, i.e. the motor can continue to operate until the mechanical limit is reached, although the value detected by the force sensor 22 is zero. Thus, when a force of zero is first detected, it may have already been run into a lost motion phase. Therefore, in the method (32), in the temporomandibular joint training device using elastic members for the transmission structure 13, after detecting that the value of the force sensor 22 is zero, the backlash can be eliminated by operating the motor in reverse (i.e., controlling the further opening motion of the mouthpiece 11).
In the methods (31) and (32), the control of the mouth piece 11 to perform the closing action and the opening action is realized by controlling the forward rotation and the reverse rotation of the motor, for example, the control of the forward rotation of the motor may be configured to correspond to the control of the mouth piece 11 to perform the closing action, and the control of the reverse rotation of the motor may be configured to correspond to the control of the mouth piece 11 to perform the opening action. For some temporomandibular joint training devices, there may be situations where the mapping relationship between the motor rotation direction and the movement direction of the mouthpiece 11 cannot be known when the control unit 4 sends a control command. Therefore, when the initialization is performed, if the angle measured by the magnetic encoder 21 or the value of the force sensor 22 increases when the motor is controlled to rotate in the forward direction, it indicates that the mouthpiece 11 is performing the opening operation, and therefore the motor is controlled to rotate in the reverse direction, so that the mouthpiece 11 can perform the closing operation until it is completely closed, thereby completing the initialization.
The implementation of the constant bite force mode is described below.
Firstly, the operating unit 3 sets an occlusal force with a fixed value, a constant occlusal force training mode command is issued after the setting is finished, when the information acquisition module 41 receives the command, the information processing and control module 42 judges whether the mechanical limit, the encoder limit and the force maximum value are reached, if not, the control module 43 is issued with a control command, and after the execution module 43 receives the control command, the motor is controlled to operate, so that the mouthpiece 11 moves.
Secondly, whether the value of the force sensor 22 reaches a set value is judged, if the occlusal force does not reach the set value, whether the limit is reached is judged, if the limit is reached, the occlusal force of the patient is insufficient, namely the mouth closing function of the patient is weak, and at the moment, the opening angle/opening distance of the mouthpiece 11 reaches the limit and cannot be opened too much continuously, so that the zero point is returned to the execution state, the occlusal force value is reset, and medical personnel need to reduce the size of the occlusal force appropriately according to the situation. If the position is not limited and the patient does not have obvious discomfort, the setting of the occlusal force is reasonable, the device is suitable for treating the patient, the device continues to operate until the set occlusal force value is reached, the motor stop command is executed, the treatment is started, and at the moment, real-time data information is uploaded to a cloud service end and comprises the set value, the size of the occlusal force and the change data of the opening angle/opening distance along with the time. And after the treatment duration is met, stopping treatment, executing the zero returning, and completing one-time constant occlusal force rehabilitation training.
The implementation of the constant position training mode is described below.
Firstly, an opening angle/opening distance with a fixed numerical value is set through the operation unit 3, a constant position training mode instruction is issued after the setting is finished, when the information acquisition module 41 receives the instruction, the information processing and control module 42 judges whether the mechanical limit, the encoder limit and the force maximum value are reached, if not, a control instruction is issued to the execution module 43 to control the motor to operate, and then the mouthpiece 11 moves.
Secondly, whether the numerical value of the magnetic encoder 21 reaches a set value or not is judged, if the numerical value of the magnetic encoder 21 does not reach the set value, whether the maximum occlusal force is exceeded or not is judged, if the maximum occlusal force is exceeded, a zero point is executed out of a safety angle, and the opening angle/opening distance numerical value is reset. If the occlusal force is not exceeded, the device continues to operate until the set position value is reached, the motor stop command is executed, the treatment is started, and at the moment, real-time data information including the set opening angle/opening distance and the change data of the occlusal force along with time is uploaded. And after the treatment duration is met, stopping treatment, executing the zero returning, and completing one-time constant position rehabilitation training.
In summary, compared with the prior art, the temporomandibular joint training device and the electronic device provided by the invention have the following advantages:
(1) The constant occlusal force mode is set as a new training mode, treatment scheme selection of medical personnel is enriched, and the constant occlusal force mode can be set to be suitable for occlusal force to perform rehabilitation training according to the condition of a patient.
(2) Set up the constant position mode, as new training mode, richened medical personnel's treatment scheme and selected, can set up to be fit for opening the angle and carry out the rehabilitation training according to the patient condition.
(3) The automatic zero position searching function is powered on for the first time, the system is designed by adopting a low-cost scheme, namely a scheme of the magnetic encoder 21, the traditional scheme that the photoelectric encoder is required to record absolute position information is replaced, the production cost is saved, and because the installation position of the magnetic encoder of each device is possibly different, the zero position of the automatic power-on detection device can be powered on by applying the scheme, and the maintenance cost of the device is reduced.
(4) The device of the invention is convenient for medical care personnel to provide an effective, feasible and safe rehabilitation scheme for the patient with restricted mouth opening by uploading the training data to the cloud and carrying out statistical analysis on a large amount of case data, is suitable for the patient with restricted mouth opening in different degrees, and ensures that the patient feels more comfortable and more personalized and more accords with the treatment of actual conditions.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (12)
1. A temporomandibular joint training device comprising: a device main body, a detection unit, an operation unit, and a control unit, wherein,
the device main body comprises a mouthpiece, a motor and a transmission structure;
the detection unit comprises a magnetic encoder and a force sensor, the magnetic encoder is used for detecting the opening angle or the opening distance of the mouthpiece, and the force sensor is used for detecting the size of the biting force applied to the mouthpiece;
the operation unit is used for issuing an operation instruction to the control unit, wherein the operation instruction comprises at least one of a constant occlusal force training mode instruction and a constant position training mode instruction so as to perform at least one of a constant occlusal force training mode and a constant position training mode;
the control unit is used for driving the transmission structure to drive the mouthpiece to move by controlling the motor to rotate;
the control unit is also used for acquiring detection data of the magnetic encoder and the force sensor and processing the detection data to respectively obtain an opening angle value or an opening distance value of the mouthpiece and a stressed occlusion force value; the constant occlusal force training module is used for receiving a constant occlusal force training mode instruction and a current occlusal force value of the mouthpiece, and controlling the movement of the mouthpiece until the received occlusal force is consistent with the force value set by the constant occlusal force training mode according to the received constant occlusal force training mode instruction and the current occlusal force value of the mouthpiece so as to complete constant occlusal force training; the mouth piece is used for controlling the mouth piece to move to an opening angle value or an opening distance value according to the received constant position training mode instruction and the opening angle value or the opening distance value of the mouth piece at present to be matched with the opening angle value or the opening distance value set by the constant position training mode so as to finish constant position training;
the force value set by the constant occlusal force training mode and the opening angle or opening distance value set by the constant position training mode are changed according to the actual condition of the training object or along with the time.
2. Temporomandibular joint training device according to claim 1, wherein the control unit comprises: the system comprises an information acquisition module, an information processing and control module and an execution module;
the information acquisition module is used for acquiring the detection data and receiving the operation instruction;
the information processing and control module is used for processing the detection data to respectively obtain an opening angle value or an opening distance value of the mouthpiece and a biting force value borne by the mouthpiece; the controller is used for sending a first control instruction to the execution module according to the received constant occlusal force training mode instruction and the current occlusal force value of the mouthpiece, and/or sending a second control instruction to the execution module according to the received constant position training mode instruction and the current opening angle value or opening distance value of the mouthpiece;
the execution module is used for controlling the movement of the mouthpiece according to the first control instruction and/or controlling the movement of the mouthpiece according to the second control instruction.
3. The temporomandibular joint training device according to claim 1, characterised in that the operating unit and/or the control unit includes a memory module for storing selectable settings of the constant bite force training mode and the constant position training mode and for storing a time dependent bite force value and an opening distance value or an opening angle value of the mouthpiece in the constant bite force training mode and the constant position training mode, respectively.
4. The temporomandibular joint training device of claim 3, further comprising a wireless module for transmitting the results stored by the storage module to a cloud server.
5. The temporomandibular joint training device of claim 1, wherein the operating unit includes an interactive interface means for displaying at least one of an opening angle value, an opening distance value and a bite force value applied to the mouthpiece.
6. The temporomandibular joint training device of claim 1, wherein the detection unit further includes a limit sensor for limiting the opening distance of the mouthpiece.
7. The temporomandibular joint training device of claim 1, wherein the device body further includes a motor and a transmission structure, the control unit driving the transmission structure to move the mouthpiece by controlling the motor to rotate.
8. Electronic equipment for a temporomandibular joint training device according to any one of claims 1 to 7, wherein the electronic equipment is configured to, upon receiving the operating instructions, perform the following steps:
respectively judging whether at least one of the limit of the encoder and the maximum force value is reached according to the detection data of the magnetic encoder and the force sensor; if the encoder limit or the force maximum is reached, the mouthpiece is prevented from moving; and if the constant occlusal force training result does not reach the target position, controlling the mouthpiece to move to the target position so as to correspondingly finish the constant occlusal force training or the constant position training.
9. The electronic device of claim 8, wherein prior to acquiring the detection information of the magnetic encoder and the force sensor, the electronic device is further to:
initializing the mouthpiece to obtain an opening angle value or an opening distance value detected by the magnetic encoder when the mouthpiece is in a closed state, so as to confirm the target position of the mouthpiece in the constant position training mode.
10. The electronic device of claim 9, wherein the electronic device is configured to initialize the mouthpiece to obtain the magnetically encoded opening angle value or opening distance value when the mouthpiece is in the closed state comprises:
controlling the mouthpiece to perform a closing action;
and judging whether the numerical value of the force sensor is zero, if not, controlling the mouthpiece to continue to perform closing action, if so, controlling the mouthpiece to stop moving, and recording an opening angle value or an opening distance value detected by the magnetic encoder when the numerical value of the force sensor is zero.
11. The electronic device of claim 9, wherein the electronic device to initialize the mouthpiece to obtain the magnetically encoded opening angle value or opening distance value when the mouthpiece is in a closed state comprises:
controlling the mouthpiece to perform closing action, judging whether the numerical value of the force sensor is zero or not, if not, controlling the mouthpiece to continue the closing action, and if so, controlling the mouthpiece to stop moving; and the number of the first and second groups,
and controlling the mouthpiece to open, judging whether the opening angle or the opening distance detected by the magnetic encoder is increased, if not, controlling the mouthpiece to continue to open, if so, controlling the mouthpiece to stop moving, and correspondingly recording the opening angle value or the opening distance value detected by the magnetic encoder.
12. The electronic device of claim 8, wherein the temporomandibular joint training device further comprises a limit sensor, and upon receiving the operating instruction, the electronic device is configured to: and judging whether the mechanical limit is reached according to the detection data of the limit sensor, if the mechanical limit is reached, stopping the mouthpiece from moving, and if the mechanical limit, the encoder limit and the force maximum value are not reached, controlling the mouthpiece to move so as to correspondingly finish the constant occlusal force training or the constant position training.
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