WO2013053311A1 - 一种三维正脊机器人 - Google Patents

一种三维正脊机器人 Download PDF

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Publication number
WO2013053311A1
WO2013053311A1 PCT/CN2012/082655 CN2012082655W WO2013053311A1 WO 2013053311 A1 WO2013053311 A1 WO 2013053311A1 CN 2012082655 W CN2012082655 W CN 2012082655W WO 2013053311 A1 WO2013053311 A1 WO 2013053311A1
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WO
WIPO (PCT)
Prior art keywords
seat
pillar
dimensional
push
bracket
Prior art date
Application number
PCT/CN2012/082655
Other languages
English (en)
French (fr)
Inventor
张吉林
张益�
Original Assignee
三维正基创新（北京）科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CA2850659A priority Critical patent/CA2850659C/en
Priority to AP2014007981A priority patent/AP4005A/en
Priority to DK12839956.5T priority patent/DK2764853T3/en
Priority to MX2014004266A priority patent/MX348624B/es
Priority to BR112014008517-0A priority patent/BR112014008517B1/pt
Priority to EA201490670A priority patent/EA025209B1/ru
Priority to US14/350,730 priority patent/US9775762B2/en
Priority to KR1020147011819A priority patent/KR101521402B1/ko
Application filed by 三维正基创新（北京）科技有限公司 filed Critical 三维正基创新（北京）科技有限公司
Priority to AU2012323633A priority patent/AU2012323633B2/en
Priority to ES12839956.5T priority patent/ES2592635T3/es
Priority to EP12839956.5A priority patent/EP2764853B1/en
Priority to JP2014533760A priority patent/JP6114286B2/ja
Publication of WO2013053311A1 publication Critical patent/WO2013053311A1/zh
Priority to ZA2014/03304A priority patent/ZA201403304B/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/008—Apparatus for applying pressure or blows almost perpendicular to the body or limb axis, e.g. chiropractic devices for repositioning vertebrae, correcting deformation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • A61H1/0296—Neck
    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0203—Rotation of a body part around its longitudinal axis
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1284—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient using own weight
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1604—Head
    • A61H2201/1607—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
    • A61H2201/1621—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • 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
    • A61H2201/5064—Position sensors
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0425—Sitting on the buttocks
    • A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair

Definitions

  • the present invention relates to the field of medical device technology, and in particular to a three-dimensional orthodontic robot for treating spinal push disease and spinal health care. Background technique
  • the push-pull disk is only a manifestation of the soft tissue injury between the pushes, and is not the culprit causing the disease.
  • the natural state is the best state, and the preferred method for treating this disease should be the minimally invasive corrective therapy, which uses the force of not intervening in the human body to return the spine structure to or near the natural state. Surgical therapy is used when non-surgical treatment is ineffective.
  • the present invention provides a three-dimensional sinusoidal robot capable of increasing the health function of the spine and improving the comfort and precision of the treatment, including the pillar.
  • a seat a plurality of human body fixing straps, a head fixing device and a bracket, the head fixing device being fixed to the top end of the bracket, further comprising a plurality of pillar sleeves, a lateral lateral push-pull device and a seat locking mechanism;
  • a post sleeve is movably sleeved on the post, and each strut sleeve is connected to a human body strap;
  • a lower end of the strut sleeve is connected to the seat, and an upper end of the strut sleeve is connected to the post
  • a first elastic connector is connected to each other; the lateral push-pull device of the spine is movable up and down along the strut; the seat is connected to
  • the three-dimensional ridged robot further includes a lifting platform, and the lifting platform is located below the seat. Used to adjust the distance the seat is dropped.
  • a displacement sensor is coupled to the lifting platform, and the displacement sensor is configured to monitor a distance at which the seat falls.
  • the three-dimensional ridged robot also includes a sleeve integral telescopic device mounted between the upper end of the strut sleeve and the upper end of the strut.
  • a plurality of second elastic connectors are connected to each other between the plurality of human body fixing bands.
  • the head fixing device includes a head cover and a head cover rotating mechanism, the head cover rotating mechanism is fixed to a top end of the bracket and connected to the head cover; the head cover is used for fixing a skull of a patient, and the rotating mechanism of the head cover is adopted Do a quantitative rotation.
  • a push rod that pushes the seat to rotate is fixedly coupled to one side of the seat.
  • the lateral push-pull device includes a push-pull mechanism, an upper and lower positioning mechanism, and a horizontal positioning mechanism, wherein the upper and lower positioning mechanisms are movable up and down along the bracket and fixed on the bracket; the push-pull mechanism includes a push-pull rod and a driving mechanism, the bottom of the driving mechanism is movably fixed in the sliding slot of the horizontal positioning mechanism.
  • the three-dimensional sinusoidal robot also includes a seat reset mechanism that returns the seat to a starting position.
  • the three-dimensional orthodontic robot of the invention overcomes the disadvantages of the treatments of neck push, chest push and lumbar push respectively, has scientific and reasonable structure, complete and accurate three-dimensional action, strong controllability, short course of treatment, high curative effect, no damage to normal tissues, no medical treatment.
  • Source damage, painless, safe and reliable can correct the abnormal relationship between the mutual position of the push bones, loosen the adhesion of the nerve roots to the surrounding tissue, and have the effect of returning to the natural state or toward the natural state.
  • the three-dimensional orthodontic robot of the present invention can be used not only for the treatment of spinal push disease, but also for health care and adjustment of spinal sub-health.
  • FIG. 1 is a schematic side view showing a structure of a three-dimensional ridged robot according to an embodiment of the present invention
  • FIG. 2 is a schematic front view of a three-dimensional ridged robot according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a seat locking mechanism in an embodiment of the present invention.
  • FIG. 4 is a top plan view of a lateral push-pull device of the spine in the embodiment of the present invention. detailed description
  • an embodiment of the present invention provides a three-dimensional orthodontic robot capable of treating spinal push disease and increasing the health function of the spine and improving the comfort and precision of the treatment, including the pillar 1, the seat 2, A plurality of human body fixing straps 302, a head fixing device, a bracket 9, a plurality of strut sleeves 3, a lateral lateral push-pull device 6, a sleeve integral telescopic device 304, and a seat locking mechanism 10.
  • the head fixing device is fixed on the top end of the bracket 9, the pillar sleeve 3 is movably sleeved on the pillar 1, and each pillar sleeve 3 is connected with a human body fixing strap 302; the lower end of the pillar sleeve 3 and the seat 2 Connected, the upper end of the pillar sleeve 3 is connected to the pillar 1; a plurality of pillar sleeves 3 are connected to each other with a first elastic connector 301, such as a steel spring, so that the patient's lesion push chamber is located at the segment to ensure positive
  • the force of the ridge mainly acts on the lesion; the lateral push-pull device 6 of the spine can move up and down along the strut 1; the seat 2 is connected to the strut 1 by bearings, and can move up and down along the strut 1; the seat locking mechanism 10 is fixed to the bracket 9 Between the seat 2.
  • the three-dimensional orthodontic robot of the embodiment further includes a lifting platform 202, and the lifting platform 202 is located below the seat 2 for adjusting the distance of the seat 2 falling; the lifting platform 202 can also be connected with a displacement sensor for monitoring the falling of the seat 2 distance.
  • the lifting platform 202 can be constructed of a mechanical elevator and a steel plate.
  • the three-dimensional orthodontic robot of the present embodiment further includes a sleeve integral expansion device 304 installed between the upper end of the strut sleeve 3 and the upper end of the strut 1.
  • a plurality of the human body fixing straps 302 are connected to each other with a second elastic connecting member 303.
  • the second elastic connecting member 303 may be woven by a plurality of rubber bands or a rubber band.
  • the head fixing device comprises a head cover 4 and a head cover rotating mechanism 5, the head cover rotating mechanism 5 is fixed to the top end of the bracket 9 and connected to the head cover 4; the head cover 4 is used for fixing the skull of the patient, and is passed through the head sleeve rotating mechanism 5
  • the headgear rotating mechanism 5 can be powered by a torque motor or a servo motor.
  • the three-dimensional orthodontic robot of the present embodiment further includes a seat reset mechanism 305 that returns the seat 2 to the home position.
  • the seat restoring mechanism 305 uses a cam mechanism. When the seat 2 falls and touches the cam mechanism trigger switch 203 located on the lifting platform 202, the cam rotates to gradually raise the seat 2 until the top end of the cam is at the highest point. The seat 2 is restored to the initial locking position.
  • the seat reset mechanism 305 can also be implemented by using an electromagnet mechanism or the like. The embodiment of the present invention does not specifically limit the implementation of the seat reset mechanism, as long as the seat 2 can be returned. Start locking position.
  • the lateral lateral push-pull device 6 includes a push-pull mechanism 601, an upper and lower positioning mechanism (not shown), and a horizontal positioning mechanism 603.
  • the upper and lower positioning mechanisms can move up and down along the bracket 9 and are fixed on the bracket 9;
  • the mechanism 601 includes a push-pull rod 6011 and a driving mechanism thereof.
  • the bottom of the driving mechanism is movably mounted in the sliding slot 602 of the horizontal positioning mechanism 603 and can be fixed at a certain position in the sliding slot 602, and the position and the diseased push bone
  • the push-pull rod is pushed forward and backward by the driving mechanism, and the change of the pushing point of the push-pull rod can make the spine move forward or backward, left and right, or rotate, thereby quantitatively shifting the push bone to achieve the purpose of tending to the natural state; Implemented by electromechanical or hydraulic machinery.
  • the seat locking mechanism 10 includes a telescopic torsion spring 1011, a pulling twist 1012, a wire 1013, a bolt 1014, and a fixed pulley 1015.
  • the telescopic torsion spring 1011 is sleeved on the connecting rod of the bolt 1014, and the wire 1013 One end of the wire 1014 is connected to the connecting rod of the bolt 1014, and the other end of the wire 1013 is connected to the pulling twist 1012 via two fixed pulleys 1015.
  • the toggle 1012 is pulled, the bolt 1014 is contracted internally by the wire 1013, the telescopic torsion spring 1011 is pressed, the bolt 1014 is disengaged from the welded plate on the seat 2, and the seat 2 is free-falling;
  • the translation torque is 1012, the telescopic torsion spring 1011 is reset, and the bolt 1014 is extended outward; when the seat 2 is raised by the seat reset mechanism 305, the welded board on the seat 2 hits the bolt 1014, and the bolt 1014 instantly contracts inward.
  • the welded plate on the seat 2 passes over the latch 1014 to return the seat 2 to the starting position.
  • a heavy load may be applied around the seat 2, or an external force driving device may be installed between the seat 2 and the lifting platform 202.
  • one side of the seat 2, such as the left side, the right side or the front side of the seat 2 is also fixedly coupled with a push rod 204 that can push the seat 2 to rotate.
  • the push rod 204 is fixedly coupled to the front side of the seat 2.
  • the seat 2 can be rotated from 0 to 50 degrees depending on the needs of treatment or health care.
  • each strut sleeve 3 is provided with a through hole through which the strut 1 is sleeved, and the horizontal ends of each strut sleeve 3 are bent forward (forming an approximately arch shape), each The distal ends of the two pillar sleeves 3 are connected to a human body fixing strap 302; each of the pillar sleeves 3 and a human body fixing strap 302 can be connected in various ways, for example: button connection, rivet connection, Stitching and other methods.
  • the patient When correcting or treating the thoracolumbar push disease, the patient is seated on the seat 2, and according to the height of the person, the spacing between the strut sleeves 3 is adjusted by using the sleeve integral expansion device 304, and the human body fixing strap 302 separates the thoracolumbar body Fixed, according to the height, weight, degree of disease, lesions, etc., set and adjust the distance between the seat 2 and the landing point, the rotation direction and rotation angle of the seat 2 to adapt to the needs of treatment; adjust the lateral push and pull of the spine
  • the device 6 is positioned at the level of the diseased push bone to determine the action point of the lateral push-pull device 6 and the extent of the telescopic extension; after the check is correct, the action actuators are activated, so that the seat 2 falls, rotates, and the lateral push-pull coordination of the spine is synchronized and synchronized. Correction of the misplacement of the push, the position of the push bone, and the release of the push bone
  • the patient In the treatment of cervical push disease, the patient is seated on the seat 2, and the human body fixing strap 302 fixes the chest and the waist separately, and sets and adjusts between the seat 2 and the falling point according to the height, the weight, the degree of the lesion, the lesion, and the like.
  • the head cover 4 fixes the head, adjusts the position of the head according to the need of treatment, determines the rotation direction and rotation angle of the head sleeve rotating mechanism 5, and adapts it to the needs of the treatment; after checking, the action actuators are activated to make the seat fall, the headgear Rotation and other actions are coordinated and synchronized to achieve the purpose of treating neck thrust or correcting neck push sub-health.
  • the three-dimensional positive-ridge robot of the embodiment of the invention has the following advantages:
  • the three-dimensional orthodontic robot of the embodiment of the present invention can be used not only for the treatment of spinal push disease, but also for health care and adjustment of spinal sub-health.

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  • Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Neurology (AREA)
  • Nursing (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Manipulator (AREA)

Abstract

一种三维正脊机器人，包括：支柱（1）、座位（2）、若干根人体固定带（302）、头部固定装置、支架（9）、若干个支柱套管（3）、脊柱侧向推拉装置（6）及座位锁定机构（10）。头部固定装置固定在支架（9）的顶端。支柱套管（3）可移动地套在支柱（1）上，且每个支柱套管（3）与一根人体固定带（302）相连。支柱套管（3）下端与座位（2）相连，上端与支柱（1）相连。支柱套管（3）之间相互连接有第一弹性连接物（301）。脊柱侧向推拉装置（6）可沿支柱（1）上下移动和摆动。座位（2）通过轴承与支柱（1）相连，且可沿支柱（1）上下移动。座位锁定机构（10）固定在支架（9）与座位（2）之间。本三维正脊机器人具有治疗部位准确，治疗力度、幅度和速度等动作指标可精确量化的特点。

Description

一种三维正脊机器人
技术领域
本发明涉及医疗器械技术领域， 特别涉及一种用于治疗脊柱推间病和脊柱 保健的三维正脊机器人。 背景技术
颈推病、 腰推间盘突出症、 胸腰推后关节紊乱症、 脊柱相关性疾病等脊柱 推间软组织损伤类疾病简称推间病， 是一种常见病、 多发病， 严重地影响着人 们的健康。 推间病的临床表现虽然不同， 但其病因、 病理和治疗原则基本相同。 本发明人经过多年的临床研究， 认为这种病症的主要原因是： 脊柱超限度运动 或超负荷承载等不良力学行为导致推骨间相对位置的三维方向改变 （失衡）合 并推骨间软组织损伤， 特别是出入神经根管的神经根和血管的损伤。 推间盘突 出只是推间软组织损伤的一种表现， 并不是引起病症的元凶。 自然状态是最佳 状态， 治疗此病的首选方法应是极限微创伤性的矫正疗法， 即用不介入人体的 力使脊柱推间结构回归或接近自然状态。 在非手术疗法治疗无效时再釆用手术 疗法。
医生应用力学的方法， 如牵拉、 旋转、 顶推、 按压等手法治疗腰推间盘突 出症等脊柱推间病具有明显的疗效， 这是不争的事实。 除中国有推拿正骨手法 外， 美国的 Chiropractic, 欧洲的正骨术、 日本、 泰国和韩国的正脊手法等都有 广泛的应用和明显的疗效。 究其手法的关键动作， 不外乎牵拉、 旋转、 屈伸、 按压、 顶推等， 这些手法归根结蒂应属力学疗法， 力的表现形式为拉、 压、 弯、 剪、 扭。 关键治疗大多釆用了 "突加载荷"， 即在患者无对抗时给予恰到好处的 突然暴发力。 这些手法的共同特点是方便有效， 对轻症和初发患者往往有手到 病除之功效。
但是， 手法治疗和牵引治疗也存在着不少缺点， 主要表现在： 1 )各种动作 参数无法量化， 是一种靠医者经验， 用力模糊的力学疗法， 力度或幅度太小不 起作用， 过大会造成伤害； 2 )推间的错缝或错位是三维方向的， 人力推拿正骨 每次只能施加单方向或双方向的力，不能将三维方向的力同时作用于病变处； 3 ) 牵引治疗所使用的牵引设备虽然多种多样， 但均为一维直线牵引， 只控制牵引 力， 不控制距离， 无突加载荷， 牵引力均匀地分布在被牵引的多个推间， 定位 不准确。 因此， 手法和牵引治疗的效果受到了限制且疗程周期长， 对较重病人 效果欠佳。 发明内容
为了解决传统手法和牵引治疗推间病的效果差、 疗程周期长等问题， 本发 明提供了一种能够增加脊柱保健功能及提高其治疗时的舒适度和精准度的三维 正脊机器人， 包括支柱、 座位、 若干根人体固定带、 头部固定装置和支架， 所 述头部固定装置固定在所述支架的顶端， 还包括若干个支柱套管、 脊柱侧向推 拉装置及座位锁定机构； 所述支柱套管可移动地套在所述支柱上， 且每个支柱 套管与一根人体固定带相连； 所述支柱套管下端与所述座位相连， 所述支柱套 管上端与所述支柱相连； 所述若干个支柱套管之间相互连接有第一弹性连接物； 所述脊柱侧向推拉装置可沿所述支柱上下移动和摆动； 所述座位通过轴承与所 述支柱相连， 且可沿所述支柱上下移动； 所述座位锁定机构固定在所述支架与 座位之间。
所述三维正脊机器人还包括升降平台， 所述升降平台位于所述座位下方， 用于调整所述座位下落的距离。
所述升降平台连接有位移传感器， 所述位移传感器用于监控所述座位下落 的距离。
所述三维正脊机器人还包括安装在所述支柱套管上端与支柱上端之间的套 管整体伸缩装置。
所述若干根人体固定带之间相互连接有第二弹性连接物。
所述头部固定装置包括头套和头套旋转机构， 所述头套旋转机构固定于所 述支架的顶端， 且与所述头套相连； 所述头套用于固定患者的头颅， 并通过所 述头套旋转机构做定量旋转动作。
所述座位的周围或下方加载重物或机械力。
所述座位的一侧固定连接有推动所述座位旋转的推动杆。
所述脊柱侧向推拉装置包括推拉机构、 上下定位机构和水平定位机构， 所 述上下定位机构可沿着所述支架上下移动， 且固定在所述支架上； 所述推拉机 构包括推拉杆及其驱动机构， 所述驱动机构的底部可移动地固定在所述水平定 位机构的滑槽内。
所述三维正脊机器人还包括使所述座位返回到起始位置的座位复位机构。 本发明的三维正脊机器人， 克服了颈推、 胸推和腰推分别治疗的弊端， 结 构科学合理、 三维动作齐全精准、 可控性强， 疗程短、 疗效高、 不伤害正常组 织、 无医源性损伤、 无痛苦、 安全可靠， 可矫正推骨间相互位置的异常关系， 松解神经根与周围组织的粘连， 具有使之回归自然状态或趋向自然状态的作用。 本发明的三维正脊机器人不仅可以用于治疗脊柱推间病， 而且还可以用于保健 和调整脊柱亚健康。 附图说明
图 1是本发明实施例提供的三维正脊机器人的侧面结构示意图；
图 2是本发明实施例提供的三维正脊机器人的正面结构示意图；
图 3是本发明实施例中座位锁定机构的结构示意图；
图 4是本发明实施例中脊柱侧向推拉装置的俯视图。 具体实施方式
下面结合附图和实施例， 对本发明技术方案作进一步描述。
参见图 1和图 2,本发明实施例提供了一种能够治疗脊柱推间病并增加脊柱 保健功能及提高其治疗时的舒适度和精准度的三维正脊机器人， 包括支柱 1、座 位 2、 若干根人体固定带 302、 头部固定装置、 支架 9、 若干个支柱套管 3、 脊 柱侧向推拉装置 6、 套管整体伸缩装置 304及座位锁定机构 10。 其中， 头部固 定装置固定在支架 9的顶端， 支柱套管 3可移动地套在支柱 1上， 且每个支柱 套管 3与一根人体固定带 302相连； 支柱套管 3下端与座位 2相连， 支柱套管 3 上端与支柱 1相连； 若干个支柱套管 3之间相互连接有第一弹性连接物 301 , 例 如钢性弹簧， 可使患者的病变推间位于分段处， 以保证正脊的作用力主要作用 在病变处； 脊柱侧向推拉装置 6可沿支柱 1上下移动和摆动； 座位 2通过轴承 与支柱 1相连， 且可沿支柱 1上下移动； 座位锁定机构 10固定在支架 9与座位 2之间。
本实施例的三维正脊机器人还包括升降平台 202, 升降平台 202位于座位 2 下方， 用于调整座位 2下落的距离； 升降平台 202还可以连接有位移传感器， 位移传感器用于监控座位 2下落的距离。 在实际应用中， 升降平台 202可由机 械式升降机和一个钢板构成。 本实施例的三维正脊机器人还包括安装在支柱套管 3 上端与支柱 1上端之 间的套管整体伸缩装置 304。
本实施例中， 若干根人体固定带 302之间相互连接有第二弹性连接物 303 , 第二弹性连接物 303可以由多根橡皮筋编织而成， 还可以是橡胶带。
本实施例中， 头部固定装置包括头套 4和头套旋转机构 5 , 头套旋转机构 5 固定于支架 9的顶端， 且与头套 4相连； 头套 4用于固定患者的头颅， 并通过 头套旋转机构 5做定量旋转动作， 头套旋转机构 5可由扭矩电机或伺服电机作 动力。
本实施例的三维正脊机器人还包括使座位 2返回到起始位置的座位复位机 构 305。 本实施例中， 座位复位机构 305釆用凸轮机构， 当座位 2降落触碰到位 于升降平台 202上的凸轮机构触发开关 203时， 凸轮转动， 使座位 2逐渐升起， 至凸轮顶端位于最高点时， 座位 2恢复到起始锁定位置； 另外， 座位复位机构 305还可以釆用电磁铁机构等实现，本发明实施例并不具体限定座位复位机构的 实现方式， 只要能够使座位 2返回到起始锁定位置即可。
参见图 3 , 脊柱侧向推拉装置 6包括推拉机构 601、 上下定位机构 （图中未 示出）和水平定位机构 603 , 上下定位机构可沿着支架 9上下移动， 且固定在支 架 9上； 推拉机构 601包括推拉杆 6011及其驱动机构， 驱动机构的底部可移动 地安装在水平定位机构 603的滑槽 602内并可固定在滑槽 602内的某一个位置， 且该位置与病变的推骨位置相对应， 通过驱动机构推动推拉杆作前后移动， 推 拉杆着力点的变动可使脊柱做前后、 左右移动或旋转， 从而对推骨进行定量位 移， 以达到趋向自然状态的目的； 驱动机构可由电动机械或液压机械实现。
参见图 4, 座位锁定机构 10包括伸缩扭簧 1011、 扳动扭 1012、 钢丝 1013、 插销 1014和定滑轮 1015 ,伸缩扭簧 1011套在插销 1014的连接杆上，钢丝 1013 的一端与插销 1014的连接杆相连， 钢丝 1013的另一端通过两个定滑轮 1015与 扳动扭 1012相连。 在治疗开始时， 扳动扭 1012被扳动， 通过钢丝 1013使插销 1014向内部收缩， 伸缩扭簧 1011被压紧， 插销 1014与座位 2上焊接的插板脱 离， 座位 2作自由落体运动； 译放扳动扭 1012, 伸缩扭簧 1011 复位， 使插销 1014向外伸出； 当座位 2被座位复位机构 305升起时， 座位 2上焊接的插板撞 击插销 1014, 插销 1014瞬间向内收缩， 座位 2上焊接的插板越过插销 1014, 使座位 2恢复到起始位置。
在实际应用中， 为了增加座位 2下落的瞬间速度， 可以在座位 2的周围加 载重物， 或者在座位 2与升降平台 202之间安装外力驱动装置。 另外， 座位 2 的一侧， 例如座位 2的左侧、 右侧或前侧， 还固定连接有可推动座位 2旋转的 推动杆 204 , 本实施例中推动杆 204固定连接在座位 2的前侧， 可以根据治疗或 保健的需要使座位 2在 0度至 50度内旋转。
在实际应用中， 每个支柱套管 3 的中心设有通孔， 通过该通孔套在支柱 1 上， 并且每个支柱套管 3的水平两端朝前弯曲 (形成近似拱形）， 每个支柱套管 3 的两侧远端与一根人体固定带 302连接；每个支柱套管 3与一根人体固定带 302 之间可有多种连接实现方式， 例如： 纽扣连接、 铆钉连接、 缝合连接等方式。
在矫正或治疗胸腰推间病时， 让患者端坐在座位 2上， 根据人的身高， 使 用套管整体伸缩装置 304调整支柱套管 3之间的间距， 人体固定带 302将胸腰 部分别固定， 根据人的身高、 体重、 病变程度、 病变部位等设定和调整座位 2 与降落点之间的距离、 座位 2的旋转方向及旋转角度， 使之适应治疗的需要； 调整脊柱侧向推拉装置 6使之位于病变推骨水平， 确定脊柱侧向推拉装置 6的 作用点及其伸缩幅度； 检查无误后启动各动作执行机构， 使座位 2下落、 旋转、 脊柱侧向推拉协调同步进行， 达到矫正推间错位、 摆正推骨位置、 松解推骨间 软组织 （尤其是神经根）与周围组织的粘连， 使之趋向自然状态。
在治疗颈推病时， 让患者坐在座位 2上， 人体固定带 302将胸腰部分别固 定， 根据人的身高、 体重、 病变程度、 病变部位等设定和调整座位 2与落点之 间的距离， 头套 4将头部固定， 根据治疗需要调整头的位置， 确定头套旋转机 构 5 的旋转方向和旋转角度， 使之适应治疗的需要； 检查无误后启动各动作执 行机构， 使座位下落、 头套旋转等动作协调同步进行， 达到治疗颈推病或矫正 颈推亚健康的目的。
本发明实施例的三维正脊机器人与已有技术相比， 具有以下优点：
1、 克服了颈推、 胸推和腰推分别治疗的弊端， 结构科学合理、 三维动作齐 全精准、 可控性强， 与计算机程序相结合后容易操作。
2、 由于快速冲击的距离由座位降落的高度控制， 因此提高了安全可靠的保 障， 同时降低了噪声。
3、 疗程短、 疗效高、 不伤害正常组织、 无医源性损伤、 无痛苦， 可矫正推 骨间相互位置的异常关系， 松解神经根与周围组织的粘连， 具有使之回归自然 状态或趋向自然状态的作用。
4、 本发明实施例的三维正脊机器人不仅可以用于治疗脊柱推间病， 而且还 可以用于保健和调整脊柱亚健康。
以上所述的具体实施例， 对本发明的目的、 技术方案和有益效果进行了进 一步详细说明， 所应理解的是， 以上所述仅为本发明的具体实施例而已， 并不 用于限制本发明， 凡在本发明的精神和原则之内， 所做的任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。

Claims

权 利 要 求 书
1、一种三维正脊机器人，包括支柱（ 1 )、座位（2)、若干根人体固定带（302)、 头部固定装置和支架（9), 所述头部固定装置固定在所述支架（9) 的顶端， 其 特征在于， 还包括若干个支柱套管 （3)、 脊柱侧向推拉装置（6)及座位锁定机 构 （10); 所述支柱套管 （3)可移动地套在所述支柱（1 )上， 且每个支柱套管
(3)与一根人体固定带 （302)相连； 所述支柱套管 （3)下端与所述座位（2) 相连， 所述支柱套管（ 3 )上端与所述支柱（ 1 )相连； 所述若干个支柱套管（ 3 ) 之间相互连接有第一弹性连接物（301 ); 所述脊柱侧向推拉装置（6)可沿所述 支柱（ 1 )上下移动和摆动； 所述座位（2)通过轴承与所述支柱（ 1 )相连， 且 可沿所述支柱（1 )上下移动； 所述座位锁定机构 （10) 固定在所述支架（9) 与座位（2)之间。
2、 如权利要求 1所述的三维正脊机器人， 其特征在于， 所述三维正脊机器 人还包括升降平台 （202), 所述升降平台 （202)位于所述座位（2) 下方， 用 于调整所述座位（2) 下落的距离。
3、如权利要求 2所述的三维正脊机器人，其特征在于，所述升降平台（202) 连接有位移传感器， 所述位移传感器用于监控所述座位（2) 下落的距离。
4、 如权利要求 3所述的三维正脊机器人， 其特征在于， 所述三维正脊机器 人还包括安装在所述支柱套管 （3)上端与支柱 ( 1 )上端之间的套管整体伸缩 装置 ( 304 )。
5、 如权利要求 1或 4所述的三维正脊机器人， 其特征在于， 所述若干根人 体固定带 （302)之间相互连接有第二弹性连接物 （303 )。
6、 如权利要求 1或 4所述的三维正脊机器人， 其特征在于， 所述头部固定 装置包括头套（4)和头套旋转机构 （5), 所述头套旋转机构 （5) 固定于所述 支架（9) 的顶端， 且与所述头套（4)相连； 所述头套（4)用于固定患者的头 颅， 并通过所述头套旋转机构 （5)做定量旋转动作。
7、 如权利要求 1或 4所述的三维正脊机器人， 其特征在于， 所述座位（2) 的周围或下方加载重物或机械力。
8、 如权利要求 1或 4所述的三维正脊机器人， 其特征在于， 所述座位（2) 的一侧固定连接有推动所述座位（2)旋转的推动杆（204)。
9、 如权利要求 1或 4所述的三维正脊机器人， 其特征在于， 所述脊柱侧向 推拉装置（6) 包括推拉机构、 上下定位机构和水平定位机构， 所述上下定位机 构可沿着所述支架（9)上下移动， 且固定在所述支架（9)上； 所述推拉机构 包括推拉杆及其驱动机构， 所述驱动机构的底部可移动地固定在所述水平定位 机构的滑槽内。
10、 如权利要求 1或 4所述的三维正脊机器人， 其特征在于， 所述三维正 脊机器人还包括使所述座位（2)返回到起始位置的座位复位机构 （305 )。
PCT/CN2012/082655 2011-10-09 2012-10-09 一种三维正脊机器人 WO2013053311A1 (zh)

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MX2014004266A MX348624B (es) 2011-10-09 2012-10-09 Robot tridimensional para la corrección de la columna vertebral.
BR112014008517-0A BR112014008517B1 (pt) 2011-10-09 2012-10-09 robô de correção de coluna tridimensional
EA201490670A EA025209B1 (ru) 2011-10-09 2012-10-09 Аппарат для трехмерной коррекции позвоночника
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EP12839956.5A EP2764853B1 (en) 2011-10-09 2012-10-09 Three-dimensional spine correction robot
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