KR101432648B1 - Lumbar decompression apparatus and method using body weight - Google Patents

Abstract

The present invention relates to a chair type apparatus having a cylinder type actuator and adapted to depressurize a lumbar joint with a patient's own body weight so as to reduce pressure around the lumbar vertebra by adjusting an upper body and a lower body of the patient in different directions, The present invention relates to a lumbar decompression apparatus using weight and a control method thereof.
The present invention relates to a chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other, the backrest vertical support having a backrest mounted on a front surface thereof; A lower side support portion spaced apart from the left and right sides of the hip support; An upper body driving part support having both ends in a 'C' shape and connected to a lower side supporting part; An upper body drive actuator unit mounted on a central portion of an upper body drive support base and having an upper body drive actuator incorporated therein; An upper body driving actuator connecting rod having one end mounted on the back surface of the back vertical support and the other end connected to the up and down driving actuator; A lower body driving actuator unit positioned at a lower portion of the hip support and including a lower body vertical actuating actuator and a lower body lateral actuating actuator; A footrest supporting portion which is positioned on the front surface of the hip support and is mounted on a lower portion of the footrest and is connected to the lower body driving actuator portion and driven in association with the lower body upper and lower driving actuators and the lower body left and right driving actuators; And a knee support which is driven together with the foot support portion.

Description

[0001] The present invention relates to a lumbar decompression apparatus and method using body weight,

The present invention relates to a chair type apparatus having a cylinder type actuator and adapted to depressurize a lumbar joint with a patient's own body weight so as to reduce pressure around the lumbar vertebra by adjusting an upper body and a lower body of the patient in different directions, The present invention relates to a lumbar decompression apparatus using weight and a control method thereof.

The lumbar vertebra, also called the lumbar bone, is a part of the spine between the spine (thoracic spine) and the sacrum (sacrum), which is a bone structure that forms the waist. The lumbar supports the body through ligaments and muscles from the spine to the pelvic bone, maintains equilibrium, and also has the function of protecting the spinal cord and enabling movement of the spine.

As the plate of the vertebrae ages, the fibrous ring that surrounds the edge of the intervertebral disc develops centrifugal cracks and radiative ruptures. Especially when you try to lift a heavy object and move it to the side, The nucleus of the intervertebral disc is no longer piled up in the fibrous ring, and is caught between the radiative cracks and causes the disc herniation.

The most prominent symptom of lumbar disc herniation is lumbago, which is painful and painful with back pain, and the escaped discs stimulate the nerve root, resulting in a sensory abnormality in the legs in which the nerve root is distributed. In some cases, if the protruding nucleus is large and centrally located, it may have feces function, sexual dysfunction, and paraplegia.

In lumbar disc herniation, surgical treatment and rehabilitation are available, but after 3 to 4 weeks of stabilization after the lumbar spine, rehabilitation begins.

A conventional lumbar rehabilitation exercise apparatus is configured to perform a rehabilitation exercise treatment while the patient is lying on the bed horizontally, so that a pressure is generated in the lumbar spine due to a force pulling the body surface to be struck against the bed. In this case, Since it is not caused by the weight of the patient, it is difficult to effectively produce the decompression and maintain the decompression effect. In other words, the conventional lumbar rehabilitation exercise apparatus adopts the traction method through the frictional force to the structure and the body skin, so that it is difficult to transmit the effective depressurizing force, and the additional pain is caused by the traction force applied to the body skin can do.

In addition, the conventional lumbar rehabilitation exercise treatment apparatus is configured so that the direction of motion is shortened, and a separate device must be used for the motion in the other direction. For example, individual devices should be used for each axis of motion, such as rehabilitation devices such as fore and aft repetitive motion, and rehabilitation devices that perform upper and lower body motion. Therefore, conventional lumbar rehabilitation therapy apparatuses are bulky enough to require individual spaces and expensive to construct the apparatuses.

Particularly, in the conventional lumbar rehabilitation exercise treatment apparatus, the decompression is performed by moving the device in the lateral direction about the lumbar vertebrae while the patient is lying, so that the decompression can not be given vertically and the function of monitoring the applied depressurization And can not maintain the reduced pressure applied during exercise therapy.

Accordingly, the present invention provides a weight-based lumbar decompression device and its control capable of vertically applying a reduced pressure, monitoring the currently applied depressurization using the load cell, and thereby maintaining depressurization during exercise therapy ≪ / RTI > That is, the present invention can maintain the relaxed state of the lumbar joint in a reduced pressure state, thereby reducing the pain.

In addition, the present invention provides a device for simultaneously performing three-axis and six-axis motions of a device for simultaneously exercising under reduced pressure, and includes a means for wrapping and fixing a shoulder to an upper body driving part, And the pain can be reduced. Therefore, the exercise and rehabilitation treatment applied in the reduced pressure state have a high therapeutic effect.

In addition, the present invention does not require additional pain according to the pulling force applied to the body skin for delivering a high depression pressure as in the conventional invention, is small in volume, is low in cost, is applied by a weight- , It is more efficient to apply the depressurizing force applied to the lumbar spine, provides a higher depressurization than conventional equipment, and can continuously measure and control the patient's condition.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a chair type apparatus having a cylinder type actuator for reducing a lumbar joint with a patient's own body weight and adjusting a patient's upper body and lower body in different directions, A lumbar vertebraic device using weight, and a control method thereof.

Another problem to be solved by the present invention is to provide a method and an apparatus for measuring a weight of a subject, which can apply a reduced pressure vertically, monitor a currently applied depression pressure using a load cell, A lumbar decompression apparatus and a control method thereof.

Another object to be solved by the present invention is to provide a device for performing motion in three axes and six directions among devices for simultaneously performing exercise under reduced pressure and having means for wrapping and fixing the shoulder to the upper body driving part, The present invention provides a lumbar vertebraic device using weight and a control method thereof, which can reduce the pain by maintaining the loosened state of the lumbar vertebrae, and exercise and rehabilitation therapy applied in a reduced pressure state provides a high therapeutic effect.

Another object to be solved by the present invention is to provide a lower body driving unit including an upper body driving unit configured to fix a patient's body to a chair type apparatus and composed of an upper arm and a backrest and a knee and a lumbar support, The present invention provides a weighted lumbar decompression apparatus and a control method thereof, which are capable of adjusting the height of a driving unit and a lower body driving unit according to a disease state to give an optimum therapeutic effect.

Another object of the present invention is to provide a method and apparatus for measuring a force acting on a lumbar vertebra by measuring the measured value in real time and measuring the force applied to the lumbar vertebrae, A lumbar vertebraic device using weight and a control method thereof.

Another problem to be solved by the present invention is to provide a method and apparatus for applying pressure reducing method using body weight, which does not require additional pain according to the pulling force applied to the body skin for delivering a high depressurizing pressure, The present invention provides a lumbar decompression apparatus and a control method thereof that are more effective in providing depression pressure applied to the lumbar vertebrae as well as providing a higher decompression pressure and continuously measuring and controlling the condition of a patient.

In order to solve the above problems, the present invention provides a chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other, the backrest vertical support having a backrest mounted on a front surface thereof; A lower side support portion spaced apart from the left and right sides of the hip support; An upper body driving part support having both ends in a 'C' shape and connected to a lower side supporting part; An upper body drive actuator unit mounted on a central portion of an upper body drive support base and having an upper body drive actuator incorporated therein; And an upper and lower driving actuator connecting rod, one end of which is mounted on the back surface of the vertical support, and the other end of which is connected to the up and down driving actuator.

The present invention also provides a chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other, the lower-body drive actuator unit including a lower-body vertical actuating actuator and a lower-body lateral actuating actuator, ; A footrest supporting portion which is disposed on the front surface of the hip support and is mounted on the lower portion of the footrest and is connected to the lower body driving actuator portion and driven in association with the lower body vertical actuating actuator and the lower body lateral actuating actuator; And a knee support which is positioned above the foot support and is driven together with the foot support.

The present invention also provides a chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other, the apparatus comprising: an upper body vertical actuating actuator connected to the backrest to drive the backrest up and down; A lower body upper and lower drive actuator which is positioned at a lower portion of the hip support and drives the hip support vertically, a lower body lift actuator mounted on the upper end of the upper body drive actuator for detecting a Z axis load signal, And a control unit for receiving the Z axis load signal of the first load cell and generating an upper body actuator driving control signal and a lower body actuator actuator control signal.

An upper body left and right drive actuator for driving the backrest portion to the left and right; A second load cell unit mounted on an upper portion of a shaft of the upper left and right drive actuators for detecting an X axis load which is a load at the time of left and right driving of the upper left and right drive actuators; A front / rear driving actuator for driving the backrest part forward and backward; A third load cell unit mounted on the upper and lower body drive hinges or mounted on the periphery of the axis of the upper and lower drive actuators to detect the Y axis load which is a load during forward and backward drive, A lower body vertical actuator; And a lower body drive actuator for driving the hip support from the left and right.

The upper and lower actuating actuators include a hall sensor to detect the movement of the upper and lower actuators and transmit them to the controller. The controller controls the upper and lower actuators control signals by using the movement degree and the Z axis load signal of the first load cell .

An end portion of the foot support, which is in contact with the heel portion, is provided with a footrest protector in the form of a vertical support, and further includes a foot up and down actuator for driving the foot support up and down.

A lumbar support for supporting the waist, and a lumbar support connection part, one end of which is mounted on the rear center part of the hip support and the other end is mounted on the center part of the lumbar support.

Both ends of the lower side support portion and the upper body drive portion support are hinged together to form a drive hinge portion around the upper body.

The upper vertical support is vertically connected between the first horizontal support and the second horizontal support. The upper vertical support is mounted at one end of the first horizontal support and at one end of the second horizontal support, A "U" shaped upper body side support brace is mounted at the other end of one horizontal support and at the other end of the second horizontal support.

The upper and lower driving actuator connecting rods are further provided with a shoulder mounting portion which is separated from the left and right sides of the first horizontal supporting rods and has a circular arc shape, And an arm rest is provided on the upper body side support brace. The upper and lower side braces may be provided at both ends of the second horizontal support bracket.

The upper and lower actuating actuator mounting plates are fixed and mounted on one end of the inserted upper and lower actuating actuator connecting rods through the vertically moving through holes located at the center of the front surface of the upper actuating actuator.

The control unit receives the Z-axis load signal, the X-axis load signal, and the Y-axis load signal detected by the first load cell unit, the second load cell unit, and the third load cell unit and controls the upper and lower body drive actuators, the upper body left and right drive actuators, Axis load signal, a Y-axis load signal, and a movement signal, and outputs the Z-axis load signal, the X-axis load signal, the Y-axis load signal, and the movement signals to the upper body drive An actuator control signal, an upper body left and right drive actuator control signal, a body front and rear drive actuator control signal, a lower body up and down drive actuator control signal, and a lower body left and right drive actuator control signal.

A shaft of the upper body vertical actuating actuator 410 is fixedly mounted on an upper body vertical actuating actuator fixed to the center of the front face of the upper body vertical actuator mounting plate and four support bar insertion portions having a through hole are provided on the rear face of the upper body actuating plate And the support bar is inserted into the support rod insertion portion, and the support bar is mounted on the upper and lower ends of the frame of the upper body drive actuator portion. As the upper body drive actuator moves upward and downward, the upper body drive actuator mounting plate is moved up and down .

The first load cell is mounted on the upper body of the upper body of the upper actuator and the first load cell is mounted on the lower surface of the first body of the actuator which is in contact with the upper and lower actuators.

The present invention also provides a method of driving a chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other, the method comprising the steps of: extracting from the key input unit the angle of the backrest, the initial chair height, the height of the initial backrest, The method comprising: A depressurizing step of depressurizing; An actuator driving step of moving the upper body driving part and lowering the lower body driving part after the pressure reducing step; Comparing the load cell value with the reduced pressure set value, reading the load cell value after the actuator driving step, and returning to the reduced pressure step if the load cell value is smaller than the reduced pressure set value; And a stopping step of stopping the decompression if the load cell value is equal to the decompression set value in the set value comparing step.

According to the lumbar decompression apparatus and the control method of the present invention, the lumbar support is provided with a cylindrical actuator. The lumbar support is decompressed with the patient's own body weight, and the upper and lower bodies of the patient are adjusted in different directions So as to reduce pressure around the lumbar vertebrae.

In addition, the present invention is capable of applying a reduced pressure vertically, monitoring a currently applied depressurization using a load cell, and thereby maintaining depressurization during exercise therapy.

In addition, the present invention provides a device for simultaneously performing three-axis and six-axis motions of a device for simultaneously performing exercise under reduced pressure and includes means for wrapping and fixing the shoulder to the upper body drive part, And the pain can be reduced. Therefore, the exercise and rehabilitation therapy applied in the reduced pressure state have a high therapeutic effect.

In addition, the present invention provides a lower body driving apparatus comprising a lower body driving unit configured to fix a patient's body to a chair type apparatus, the upper body driving unit being composed of an upper arm and a backrest, and a lower body driving unit including a knee and a lumbar support, Can be adjusted according to the disease state to give the optimal therapeutic effect.

In the present invention, the force by which the upper body drive unit lifts the upper body is measured through a load cell provided perpendicular to the upper body drive unit, and the measured value is measured in real time and the force applied to the lumbar spine is adjusted.

Further, the present invention does not require additional pain according to the pulling force applied to the body skin for delivering a high depressurizing pressure, is small in volume, is inexpensive, and uses a weight depressurizing method, As well as the ability to continuously measure and control the patient's condition, which is more efficient in imparting reduced pressure on the lumbar spine.

In addition, the present invention utilizes the body weight of the patient in decompression which enhances the effect of the rehabilitation exercise, which is a non-surgical treatment, so that it is possible to prevent an adverse effect on excessive depressurization.

In addition, the present invention is applied to exercise and rehabilitation therapy of a patient having joint disease such as lumbar disc herniation, and the patient's own weight is applied to decompress the lumbar joint. In addition, the relaxed state of the lumbar joint can be maintained in a reduced pressure state to reduce pain, and exercise and rehabilitation therapy applied in a reduced pressure state can provide a high therapeutic effect.

In addition, the present invention does not require additional pain according to the pulling force applied to the body skin for delivering a high depression pressure as in the conventional invention, is small in volume, is low in cost, is applied by a weight- , It is more efficient to apply the depressurizing force applied to the lumbar spine, provides a higher depressurization than conventional equipment, and can continuously measure and control the patient's condition.

1 is a perspective view of a lumbar vertebra using a weight according to an embodiment of the present invention.
2 is a side view of the lumbar decompression device of Fig.
3 is a block diagram for explaining driving of the lumbar decompression apparatus of the present invention.
FIG. 4 is a view for explaining mounting positions of the upper left and right driving actuators and the first load cell of FIG. 3;
FIG. 5 illustrates a case in which the lower body is moved to the left side in the left and right motion of the lower body using the lumbar decompression apparatus of the present invention.
FIG. 6 illustrates a case where the lower body is moved to the right side during the left and right movement of the lower body using the lumbar decompression apparatus of the present invention.
FIG. 7 illustrates a case in which the upper body is moved to the left side during left and right exercise of the upper body using the lumbar decompression apparatus of the present invention.
FIG. 8 shows a case in which the upper body is moved to the right side in the left and right movement of the upper body using the lumbar decompression apparatus of the present invention.
FIG. 9 shows a case in which the upper body is moved backward in the back and forth movement of the upper body using the lumbar decompression apparatus of the present invention.
10 shows a case in which the upper body is moved forward in the forward and backward movement of the upper body using the lumbar decompression apparatus of the present invention
11 is an example of the lumbar decompression apparatus of the present invention.
12 is a use state view of the lumbar decompression apparatus of the present invention.
Fig. 13 is a flowchart driven for traction in the control unit of the lumbar decompression apparatus of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a lumbar vertebra pressure reducing apparatus according to a first embodiment of the present invention; FIG.

FIG. 1 is a perspective view of a lumbar decompression apparatus using a body weight according to an embodiment of the present invention. FIG. 2 is a side view of the lumbar decompression apparatus of FIG. 1. FIG. 1 is a side view of the lumbar support 110, The back support unit 190, the back support unit 170, the back support unit 180, the lumbar support connection unit 185, the lumbar support 187, the lower side support unit 190, the pedestal 195, The upper support member 220 includes a shoulder mount portion 225, a handle portion 227, a bipedal support portion 230, an upper body vertical drive actuator connecting rod 235, a first horizontal support 240, a second horizontal support 245, An upper body side supporting portion 260, an upper body side supporting portion 265, an arm rest 267 and an upper body driving actuator portion 270. [

The hip support 110 is a means for supporting the hip when the patient is seated, and is the same as the hip support of a general chair. The hips 110 are positioned above the lower body drive actuator 130 and are vertically and horizontally driven by a lower body vertical actuator 440 and a lower body left and right drive actuator 450 built in the lower body actuator unit 130. [ do.

The knee bolster 120 is positioned on the front side of the hip support 110 and is positioned above the foot support 180 connected to the lower body actuator 130. The knee bolster 120 may be in the form of a band, And is a means for supporting the front of the patient's knee when the patient is seated on the hip support 110. [

The lower body driving actuator unit 130 includes a lower body vertical actuating actuator 440 and a lower body left and right actuating actuator 450 positioned below the hip support 110 to move the hip supporting base up and down, (For example, 45 degrees to the left and 45 degrees to the right from the center).

The footrest 170 is positioned at a lower portion of the footrest supporting portion 180 connected to the lower body driving actuator portion 130 and is located at the front face of the hiprest 110. The footrest 170 has an end A backrest protection unit in the form of a vertical support is provided. The footrest 170 can be driven up and down by a foot up and down actuating actuator 460. [ Here, the footrest driving actuator 460 may be located at the footrest supporting portion 180 or may be located at the lower body driving actuator portion 130.

The footrest supporting unit 180 is positioned at the center of the front surface of the lower body driving actuator unit 130 and connected to the lower body driving actuator unit 130. The hiprest supporting unit 180 is driven vertically or horizontally, .

The lumbar support connecting portion 185 is a means for connecting the lumbar support 187 and the hip support 110. The lumbar support connecting portion 185 is mounted at the center of the rear surface of the hip support 110 and the other end is mounted at the center of the lumbar support 187 do.

The lumbar support 187 is a means for supporting the waist (lumbar vertebra) and is connected to the hip support 110 by a lumbar support connection part 185, and may be made of a material having a cushion. The lumbar support connection portion 185 and the lumbar support 187 are configured to be driven together as the hip support 110 is driven up and down or driven to the left and right.

The lower side support portion 190 is in the form of a panel and is disposed at the left and right sides of the hip support 110 and is hinged to both ends of the upper body drive support 250 in a ' That is, both ends of the upper body driving part support 250 coupled with the lower side supporting part 190 constitute a driving hinge part 255 of the upper body driving part and the upper body driving part supporting part 250 is driven forward and backward by the upper and lower driving actuators 430 . The upper and lower body driving actuators 430 may be provided inside the lower side support portions 190 or one lower side support portion 190 and may be provided on the upper body drive support 250 in some cases.

The pedestal 195 is a pedestal of the first bottom surface of the lumbar decompression apparatus and the lower body driving actuator unit 130 is positioned thereon and the hip support 110 is positioned on the lower body driving actuator unit 130.

The backrest portion 210 is a portion of the back of the patient when the patient sits on the hip support 110, and may be made of a cushion material. The backrest 210 is mounted in the middle of the back support 220.

The back support 220 is a means for vertically connecting the first horizontal support 240 and the second horizontal support 245. The back support 210 is installed on the front surface of the support, And an actuator connecting rod 235 is mounted. The second horizontal supporting member 240 is mounted on the center of the second horizontal supporting member 230.

The shoulder mounting portion 225 is formed as a clip, which is a means for fitting both shoulders of a patient and is spaced apart from the left and right sides of the two-sided supporting portion 230 on the first horizontal supporting table 240, and has an arc shape. A shoulder portion 227 is provided on one side of the shoulder mount 225 so that the patient can hold the handle 227 during exercise to exercise. In some cases, the handle portion 227 may be omitted, and the shoulder mounting portion 225 and the handle portion 227 may be omitted in some cases.

The two-sided supporting part 230 is a means for supporting the head and the neck, and includes left and right supporting rods and a rear supporting rope, and is mounted on the upper end of the backright vertical supporting rods 220.

One end of the upper body vertical actuating rod 235 is mounted on the vertical support 220 and the other end of the upper vertical actuating rod 235 is inserted through the upper and lower through holes 273 of the upper body actuating actuator 270 , And mounted on the rear surface of the upper body drive actuator mounting plate 419 of the upper body drive actuator unit 270. The upper body vertical actuating actuator 410 and the upper body lateral actuating actuator 420 are positioned on the front surface of the upper body vertical actuator mounting plate 419.

The first horizontal support 240 is mounted on the upper portion of the vertical support 220 and one end of the upper support 260 is mounted on both ends.

The second horizontal support 245 is mounted on the lower end of the vertical support 220 and the other end of the upper support 265 is mounted on both ends.

The upper body driving part supporter 250 has a U shape and an upper body driving actuator part 270 is mounted at the center part and both ends are hinged to the lower side supporting part 190 to form a lower side supporting part 190, The upper body driving part supporter 250 is driven back and forth by the upper body front and rear driving actuators 430.

The upper body side support portion 260 is a plate or disk type structure positioned at either end of the second horizontal support 245 or positioned at one side of the upper body side support portion 265. The upper body side support portion 260 is located on the left and right sides of the patient, It is supported so that it does not deviate to left and right.

The upper body side support supporter 265 is formed in a U shape (or 'C' shape), and one upper body side support supporter 265 is connected to one end of the first horizontal support 240 and the second horizontal support 245, And the other one upper body side support supporter 265 is connected to the other end of the first horizontal support 240 and the other end of the second horizontal support 245.

The arm rest 267 is located on the upper body side support arm 265 and is a means for resting the arms. And may be omitted in some cases.

The upper body drive actuator unit 270 includes an upper body drive actuator 410 and an upper body drive actuator 420. The upper body drive actuator 420 and the upper body drive actuator 420 are mounted at the center of the upper body drive support bracket 250. [ The upper and lower actuating actuator mounting plates 419 are fixed and mounted on one end of the inserted upper and lower actuating actuator connecting rod 235 through the vertically moving through holes 273 located at the center of the front face of the upper body actuating actuator unit 270 .

The upper body vertical actuator mounting plate 419 is vertically driven by the upper body vertical actuating actuator 410.

3 is a block diagram for explaining driving of the lumbar decompression apparatus of the present invention. The first load cell unit 310, the second load cell unit 320, the third load cell unit 330, the upper and lower body actuating actuators 410, A body upper and lower drive actuator 440, a lower body left and right drive actuator 450, a footrest upper and lower drive actuator 460, a control unit 500, a memory unit 520, And a key input unit 540.

The first load cell unit 310 is mounted on the upper end of the shaft of the upper body vertical actuating actuator 410 so that the upper body vertical actuating actuator 410 detects a load (i.e., a vertical load) during the up-down driving. In other words, the Z-axis load is detected.

The second load cell unit 320 is mounted on one side or both sides of the shaft of the upper body left and right driving actuators 420 or mounted on the upper side of the upper side of the shaft of the upper left and right driving actuators 420 and the upper side of the shaft of the upper left and right driving actuators 420 , And detects the load at the time of left and right driving of the upper left and right drive actuators 420. In other words, X-axis load is detected.

The third load cell unit 330 is attached to the upper and lower drive hinge parts 255 or the vicinity of the axis of the upper and lower drive actuators 430 so that the upper and lower drive actuators 430 detect the load at the time of forward and backward driving . In other words, the Y-axis load is detected.

The first load cell unit 310, the second load cell unit 320 and the third load cell unit 330 include a load cell and a load cell detector for detecting a load from the load cell. The first load cell unit 310, The signals detected by the second load cell unit 320 and the third load cell unit 330 are transmitted to the controller 500.

The control unit 500 receives the rehabilitation exercise mode signal from the key input unit 540 and receives the Z-axis load signal detected by the first load cell unit 310, the second load cell unit 320 and the third load cell unit 330, Axis load signal, and a Y-axis load signal, and includes an upper body actuator 410, an upper body actuator 414, an upper body actuator 414, The upper and lower driving actuator control signals, the upper and lower body driving actuator control signals, the lower body upper and lower driving actuator control signals, and the lower body left and right driving signals, An actuator control signal, and a footrest vertical actuator control signal.

For example, if the control unit 500 receives the rehabilitation treatment mode signal from the key input unit 540, the controller 500 receives the Z-axis load signal and the vertical movement signal of the upper body actuator 410 , The basic load of the Z-axis (i.e., the basic load of the lumbar decompression device in the Z-axis direction due to the upper body vertical actuating actuator 410 or the like) in the memory 520 is read from the Z-axis load signal, Up and down driving actuator control signals for generating upper and lower actuating actuator control signals in comparison with the vertically moving signals of the upper and lower body actuating actuators 410 so as to maintain a value of 90% of the maximum load of the subjects (i.e., the maximum value) .

The maximum load of the subject is fixed to the elbow and the shoulder fixing portion of the upper body driving portion while the patient or the subject is seated in the chair before the rehabilitation treatment so that the upper body driving portion is raised and the lower body driving portion is lowered, (The Z-axis load signal), and the lumbar spine is continuously depressurized to measure the maximum load of the subject (the rest of the body weight that is fixed in the foot plate). At this time, the measured load cell value is set to the maximum value In the memory unit 520. After that, the height of the chair is increased so that only 90% of the maximum value can be maintained during the treatment. The practical numerical values for providing the depressurizing force are calculated by calculating the output values of the x, y, and z axis load cells, thereby maintaining the depressurizing pressure by continuously varying the height of the chair.

The upper body vertical actuating actuator 410 is driven by the upper body vertical actuating actuator control signal from the controller 500. Further, the upper body vertical actuating actuator 410 includes a hall sensor, and detects the driving level (i.e., vertical movement level) of the upper body vertical actuating actuator 410 and transmits it to the controller 500. [

The upper body left and right drive actuators 420 are driven by the upper body left and right drive actuator control signals from the controller 500. Further, the upper body left and right driving actuators 420 have built-in hall sensors, and detect the driving degree (i.e., the left and right rotational angles) of the upper left and right driving actuators 420 and transmit them to the controller 500. The backrest 210 can move up to 30 degrees from the center to the left and up to 30 degrees from the center to the right.

The front and rear body driving actuator 430 is driven by the front and rear driving actuator control signals from the control unit 500. [ The front and rear driving actuators 430 include a hall sensor and detect the driving degree of the upper left and right driving actuators 430 (that is, the degree of forward and backward rotation) and transmit them to the controller 500.

The back and forth movement of the upper body, that is, the backrest part 210, is movable up to 48 degrees forward from the center and 24 degrees upward from the center backward.

The lower body upper and lower drive actuator 440 is driven by the lower body upper and lower drive actuator control signal from the control unit 500. [ Further, the lower body vertical actuating actuator 440 includes a hall sensor and detects the driving level (i.e., vertical movement level) of the lower body vertical actuating actuator 440 and transmits it to the control unit 500. [

The lower body left and right drive actuators 450 are driven by the lower body left and right drive actuator control signals from the controller 500. [ Further, the lower body left and right driving actuators 450 have built-in hall sensors, and detect the driving degree (i.e., the left and right rotational angles) of the lower body left and right driving actuators 450 and transmit them to the controller 500. The left and right movement of the lower body, that is, the hip support 110, is movable up to 45 degrees from the center to the left and 45 degrees maximum from the center to the right.

The foot up / down actuator 460 is driven by the foot controller up / down actuator control signals from the controller 500. [

Here, the upper body drive actuator 405 is an upper body drive actuator 410, an upper body drive actuator 420, and an upper body drive actuator 430. The lower body drive actuator 445 is a lower body drive actuator 440, A lower body left and right drive actuator 450, and a foot up and down drive actuator 460.

The memory unit 520 stores a maximum value for each patient, a Z-axis basic load (i.e., a basic load that the lumbar decompression device has in the Z-axis direction due to the upper and lower body actuating actuators 410) .

The key input unit 540 has a motion start and end key, and sets a rehabilitation exercise exercise mode. In addition, the degree of movement can be set.

The rehabilitation therapy exercise mode may be an upper body movement mode, an upper body movement mode, an upper body movement mode, a lower body movement mode, and a lower body movement mode.

For example, when the upper body is pulled up in the upper body movement mode, the following three cases may occur. First, when raising the back support 210 upward by the upper body vertical actuating actuator 410 and raising the hip support 110 upward by the lower body vertical actuating actuator 440, secondly, when the upper body vertical actuating actuator When the back support 210 is lowered by the lower and upper actuating actuators 440 while lowering the back support 210 by the upper and lower actuators 410 by the upper and lower actuators 410, There may be a case where the hip support 110 is lifted up by the lower body vertical actuating actuator 440 while lowering the hip support 110 downward.

Particularly, when the spinal decompression is performed, it is more preferable that the hip support 110 is lowered by the lower body vertical actuating actuator 440 while raising the backrest portion 210 upward by the upper body vertical actuating actuator 410.

FIG. 4 is a view for explaining mounting positions of the upper left and right driving actuators and the first load cell of FIG. 3;

One end of the upper body vertical actuating actuator connecting rod 235 is inserted through the upper and lower moving through holes 273 of the upper body actuating actuator part 270 and mounted on the rear face of the upper body vertical actuating actuator mounting plate 419, The upper and lower driving actuator fixing rods 415 fixed to the center of the front surface of the upper body 419 and the axes of the upper and lower body actuating actuators 410 are fixedly mounted.

The upper body vertical actuating plate 419 is provided with four support bar insertion portions 417 having through holes at the rear surface thereof. A support bar 275 is inserted into the support bar insertion portion 417. The support bar 275 is mounted on the upper and lower ends of the frame of the upper body drive actuator unit 405. One support bar 275 is inserted into the left two support bar insertion units 417 and two support bar insertion units 417 One support rod 275 is inserted. As the upper body vertical actuating actuator 410 moves up and down, the upper body vertical actuator mounting plate 419 also moves up and down along the two support bars.

The first load cell unit 310 is mounted on the upper body vertical actuating rod 415 positioned at the upper end of the upper body vertical actuating actuator 410 and the lower surface of the first load cell unit 310, And the upper and lower driving actuator fixing rods 415 may be mounted on the first load cell.

The upper body left and right driving actuators 420 are positioned on the right and left sides of the upper body drive actuator unit 270. The upper body left and right drive actuator mounts 425 are mounted on one side of the frame of the upper body drive actuator unit 270, The shaft of the upper left and right driving actuators 420 can be fixedly mounted on the upper left and right driving actuator fixing tables 425. [

The present invention rehabilitates chronic back pain by strengthening muscle strength near the waist (lumbar region) in a state where the pressure of the intervertebral disc is lowered. The iso-kinetic, iso-metric, and iso-tonic movements in six directions are possible with the three-axis bidirectional motion of the present invention. In particular, it compensates for the disadvantages of separate decompression and rehabilitation treatments to reduce the pressure of the intervertebral disc during exercise, thereby enabling more comfortable and quick treatment and preventing recurrence of pain and disease.

In the present invention, in the decompression method, first, the upper body driving part is raised and the lower body driving part is lowered while the patient or the subject is fixed to the elbow and the shoulder fixing part of the upper body driving part while sitting on the chair. At this time, the output value of the load cell for measuring the vertical load (Z-axis load signal) of the upper body drive unit is monitored. Thereafter, the lumbar vertebrae were continuously depressurized to measure the maximum load of the subject (the rest of the body weight that was fixed to the foot plate). At this time, the measured load cell value was stored as the maximum value, The height is increased. This should be adjusted according to the level of the subject's lumbar disease and should be determined according to the diagnosis of the specialist and the instructions of the rehabilitation therapist. The practical numerical values for providing the depressurizing force are calculated by calculating the output values of the x, y, and z axis load cells, thereby maintaining the depressurizing pressure by continuously varying the height of the chair.

FIG. 5 shows a case where the lower body is moved to the left side when the lower body is moved left and right using the lumbar decompression apparatus of the present invention, and FIG. 6 shows a case where the lower body is moved to the right side when the lower body is moved by using the lumbar decompression apparatus of the present invention Drive shaft 1: rotation of the lumbar spine, ROM: total rotation 90 °).

As shown in FIGS. 5 and 6, the upper body moves while moving only the lower body in the state where it is fixed without moving.

FIG. 7 shows a case in which the upper body is moved to the left side in the left and right movement of the upper body using the lumbar decompression apparatus of the present invention, and FIG. 8 shows a case in which the upper body is moved to the right side in the left and right movement of the upper body using the lumbar decompression apparatus of the present invention Drive shaft 2: left and right tilting of the lumbar spine, ROM: total rotation of 60 degrees).

As shown in FIGS. 7 and 8, the lower body moves while moving only the upper body in a fixed state without moving.

FIG. 9 shows a case in which the upper body is moved backward when the upper body is moved forward and backward using the lumbar decompression apparatus of the present invention, and FIG. 10 shows a case in which the upper body is moved forward in the forward and backward movement of the upper body using the lumbar decompression apparatus of the present invention Drive shaft 3: tilting forward and backward, ROM: rotation 72 ° total).

As shown in Figs. 9 and 10, the lower body moves while moving only the upper body in a fixed state without moving.

9 and 10, when the decompression is started by moving the upper body drive actuator unit 270 (12 degrees from the base), the upper body drive actuator unit 270 and the side support arms 265 are raised and the hip support unit 110) is pulled down to pull the waist.

For example, if a patient weighing 60 kg is set to 10% of body weight, the upper and lower sides are pulled up (moved) until a load of 6 kg is applied to the first load cell. This process is repeated and continuous traction is made during the treatment process.

Fig. 11 is an example of the lumbar decompression apparatus of the present invention, and Fig. 12 is a state of use of the lumbar decompression apparatus of the present invention.

The lumbar decompression apparatus of the present invention can be driven in two directions with respect to the three axes and the six axes directions, that is, the left and right rotation of the lumbar spine, the left and right tilting, the back and forth tilting, and the central axis. In order to effect traction by using the self-weight, the upper and lower actuating actuators 410 can be designed to withstand a load of 200 kg with a torque of 100 kgm with a vertical electric cylinder.

 When driving the actuators of the present invention, that is, all the electric cylinders, a Hall sensor pulse having a vertical phase difference is output and used as a control reference for driving the electric cylinder.

The first through third load cells of the present invention are designed to be orthogonal to each other by using a 100 kg class load cell so that the directions of three dimensional forces can be grasped and active / passive bidirectional driving is possible by a combination of a load cell and an actuator.

The upper body drive unit includes structures 225, 260 and 265 for enclosing and fixing the shoulders, an arm rest 267 for placing the elbow, and an upper arm driving unit, And a backrest 210 on which the back can be rested. The lower body driving unit includes a chair capable of seating, that is, a hip support 110 and a lumbar support 187 supporting the waist, a foot support 170, and a knee support 120.

An upper body vertical actuating actuator 410, which is a cylinder type actuator capable of adjusting the height of the upper body driving part, is attached to the center of the upper body support, and the lower body driving part is a form in which the height of the chair can be adjusted. An actuator is configured for each axis so that the upper body can be moved in two directions of biaxial (front, back, right and left) (FIGS. 7 to 10).

The lower body has an actuator configured to move the knee to the left and right (FIGS. 5 and 6), and a load cell (at least two upper bodies and one lower body) is attached to measure the load received by the patient in each driving direction.

The control unit 500 controls the entire actuators and calculates the output of the hall sensor to adjust the angle of motion applied to the patient, By monitoring the output of the load cell attached to each axis, the force applied to the patient according to the exercise mode and the force applied to the patient can be measured.

FIG. 13 is a flowchart driven for traction in the control unit 500 of the lumbar decompression apparatus of the present invention. This largely consists of instrument setting and lumbar decompression control. Hereinafter, the load cell refers to the first load cell.

In the control-related setting step, the basic information of the user is input, the device is set according to the user, and each of the six actuators 410 to 460 is initialized to the center setting value (S110). At this time, the maximum value of the user is read from the memory unit 520.

In the initialization step, the angle of the backrest, the height of the initial chair, the height of the initial backrest, the pressure reduction time, and the pressure reduction degree (i.e., the pressure reduction setting value) are set from the key input unit at step S120. At this time, in the initializing step of the three-axis direction driving unit, the value stored in the memory unit is read as the output value (i.e., basic load) of the load cell due to the load of the mechanism itself or the current initial value is received as the basic load.

In reading the load cell output value, the load cell output value is read (S130).

Here, the control-related setting step (S110), the initialization step (S120), and the load cell output value reading step (S130) may be referred to as an instrument setting step.

In step S160, the lower body driving unit is lowered (S160), the lower body driving unit is lowered (S160), the load cell value is read (S170) ), And returns to the depressurization step (step S140) if it is smaller than the depressurization setting value.

If the load cell value is equal to the decompression set value, the decompression is temporarily stopped (S190) and the process is terminated.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

110: hip support 120: knee support
130: Lower body drive actuator unit 170: Foot base
180: Footrest supporting part 185: Lumbar support connection
187: lumbar support 190: lower side support
195: pedestal 210:
220: back support vertical support 225: shoulder attachment
227: handle portion 230:
235: Upper and lower actuator actuating rod 240: First horizontal support
245: second horizontal support member 250: upper body drive support member
255: front and rear driving hinge part 260: upper body side supporting part
265: upper body side support device 267: arm rest
270: upper body driving actuator unit 273: vertically moving through hole
275: support rod 310: first load cell part
320: second load cell unit 330: third load cell unit
405: upper body drive actuator unit 410: upper body drive actuator
415: upper body vertical driving actuator fixing table 417:
419: upper body vertical actuating board 420: upper body lateral actuating actuator
425: upper body left and right driving actuator fixing table 430: front and rear driving actuator
440: Lower body vertical actuating actuator 445: Lower body actuating actuator
450: Lower body left and right driving actuators 460: Footrest upper and lower driving actuators
500: control unit 520: memory unit
540: key input unit

Claims (24)

A chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other,
A back vertical support with a back mounted on the front;
A lower side support portion spaced apart from the left and right sides of the hip support;
An upper body driving part support having both ends in a 'C' shape and connected to a lower side supporting part;
An upper body drive actuator unit mounted on a central portion of an upper body drive support base and having an upper body drive actuator incorporated therein;
An upper body driving actuator connecting rod having one end mounted on the back surface of the back vertical support and the other end connected to the up and down driving actuator;
And the weight of the lumbar vertebrae. A chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other,
A lower body driving actuator unit positioned at a lower portion of the hip support and including a lower body vertical actuating actuator and a lower body lateral actuating actuator;
A footrest supporting portion which is disposed on the front surface of the hip support and is mounted on the lower portion of the footrest and is connected to the lower body driving actuator portion and driven in association with the lower body vertical actuating actuator and the lower body lateral actuating actuator;
A knee fixing member positioned above the foot support portion and driven together with the foot support portion;
And the weight of the lumbar vertebrae. A chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other,
An upper body vertical drive actuator connected to the backrest portion to drive the backrest portion up and down;
A lower body vertical actuating actuator positioned at a lower portion of the hip support and driving the hip support vertically;
A first load cell unit mounted on an upper end of a shaft of the upper body vertical actuating actuator and detecting a Z axial load signal which is a load when the upper body vertical actuating actuator is in the up-and-down motion;
A controller for receiving a Z-axis load signal of the first load cell and generating an upper body vertical actuating actuator control signal and a lower body vertical actuating actuator control signal;
And the weight of the lumbar vertebrae. The method of claim 3,
An upper body left and right drive actuator for driving the backrest portion to the left and right;
A second load cell unit mounted on an upper portion of a shaft of the upper left and right drive actuators for detecting an X axis load which is a load at the time of left and right driving of the upper left and right drive actuators;
Further comprising: a lumbar vertebra decompression device that uses the body weight. 5. The method of claim 4,
A front / rear driving actuator for driving the backrest part forward and backward;
A third load cell unit mounted on the front and rear drive hinge portions or mounted on the periphery of the axes of the front and rear drive actuators to detect a Y axis load which is a load during forward and backward driving of the upper and lower drive actuators;
Further comprising: a lumbar vertebra decompression device that uses the body weight. 6. The method of claim 5,
A lower body vertical actuating actuator for driving the hip support vertically;
A lower body left and right driving actuator for driving the buttocks to the left and right;
Further comprising: a weight-based lumbar decompression device. The method of claim 3,
Wherein the upper body vertical actuating actuator includes a hall sensor and detects the degree of movement of the upper body actuating actuator and transmits the detection result to the control unit. 8. The method of claim 7,
Wherein the controller generates the upper body actuator driving control signal using the degree of movement and the Z axis load signal of the first load cell. 3. The method of claim 2,
A back vertical support with a back mounted on the front;
A lower side support portion spaced apart from the left and right sides of the hip support;
An upper body driving part support having both ends in a 'C' shape and connected to a lower side supporting part;
An upper body drive actuator unit mounted on a central portion of an upper body drive support base and having an upper body drive actuator incorporated therein;
An upper body driving actuator connecting rod having one end mounted on the back surface of the back vertical support and the other end connected to the up and down driving actuator;
And the weight of the lumbar vertebrae. 10. The method of claim 9,
Characterized in that an end of the footrest to which the heel portion is in contact is provided with a backrest protection member in the form of a vertical support. The method according to claim 6,
Further comprising a foot lifting actuator for driving the footrest vertically. 10. The method according to any one of claims 2 to 9,
A lumbar support to support the waist;
A lumbar support connection portion, one end of which is mounted on the rear center portion of the hip support and the other end is mounted on the center portion of the lumbar support;
Further comprising: a weight-based lumbar decompression device. 10. The method according to any one of claims 1 to 9,
Wherein both ends of the lower side support portion and the upper body drive portion support are hinged together to form a driving hinge portion around the upper body. 10. The method according to any one of claims 1 to 9,
The upper vertical support is vertically connected between the first horizontal support and the second horizontal support. The upper vertical support is mounted at one end of the first horizontal support and at one end of the second horizontal support, Characterized in that a "U" shaped upper body side support rest is mounted on the other end of one horizontal support and on the other end of the second horizontal support. 10. The method according to any one of claims 1 to 9,
Further comprising a " C " -shaped two-sided support part on the upper part of the back support vertical support. 15. The method of claim 14,
Further comprising a shoulder mounting portion spaced apart from the left and right sides of the first horizontal support and having an arcuate shape. 10. The method according to any one of claims 1 to 9,
Wherein the connecting rod of the upper and lower actuating actuators is formed in an " a " shape. 15. The method of claim 14,
Further comprising an upper body side support portion positioned at both ends of the second horizontal support body and having a plate shape. 15. The method of claim 14,
Wherein the upper body side support abutment is provided with an arm rest. 10. The method according to any one of claims 1 to 9,
Wherein the upper and lower actuating actuator mounting plates are fixedly mounted on one end of the inserted upper and lower actuating actuator connecting rods through the vertically moving through holes located at the center of the front surface of the upper body actuating actuator. The method according to claim 6,
The control unit
Axis load signal, the X-axis load signal, and the Y-axis load signal detected by the first load cell unit, the second load cell unit, and the third load cell unit,
And receives movement signals indicating the degree of movement from the hall sensors of the upper body vertical actuator, the upper body left and right drive actuators, the upper body front and rear drive actuators, the lower body vertical actuators and the lower body left and right actuators,
Axis driving signal, a Z-axis load signal, an X-axis load signal, a Y-axis load signal, and a movement signal to compare the upper body actuator actuator control signal, the upper body actuator actuator control signal, And the left and right driving actuator control signals are generated. 21. The method of claim 20,
A shaft of the upper body vertical actuating actuator 410 is fixedly mounted on an upper body vertical actuating actuator fixed frame fixed to the center of the front face of the upper body vertical actuator mounting plate,
The support bar is inserted into the support bar insertion portion. The support bar is mounted to the upper and lower ends of the frame of the upper body drive actuator,
And the upper and lower actuating actuator mounting plates are moved up and down along the two supporting rods as the upper and lower body actuating actuators move up and down. 23. The method of claim 22,
A first load cell is mounted on the upper body of the upper body of the actuator and a first load cell is mounted on the lower surface of the first body of the load cell which is in contact with the upper and lower actuators of the upper and lower actuators, Lumbar decompression device using. A method of driving a chair-type lumbar decompression apparatus having a hip support and a backrest spaced apart from each other,
An initialization step of receiving from the key input unit the angle of the backrest, the height of the initial chair, the height of the initial backrest, the pressure reduction time, and the pressure reduction setting value;
A depressurizing step of depressurizing;
An actuator driving step of moving the upper body driving part and lowering the lower body driving part after the pressure reducing step;
Comparing the load cell value with the reduced pressure set value, reading the load cell value after the actuator driving step, and returning to the reduced pressure step if the load cell value is smaller than the reduced pressure set value;
An ending step of stopping the decompression if the load cell value is equal to the reduced pressure set value in the set value comparing step;
Wherein the lumbar vertebra compressing device comprises:

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