WO2022077752A1 - 一种穿戴式多功能颈椎康复动力外骨骼 - Google Patents

一种穿戴式多功能颈椎康复动力外骨骼 Download PDF

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Publication number
WO2022077752A1
WO2022077752A1 PCT/CN2020/135632 CN2020135632W WO2022077752A1 WO 2022077752 A1 WO2022077752 A1 WO 2022077752A1 CN 2020135632 W CN2020135632 W CN 2020135632W WO 2022077752 A1 WO2022077752 A1 WO 2022077752A1
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Prior art keywords
cervicothoracic
push rod
support
vertebra
rod motor
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PCT/CN2020/135632
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English (en)
French (fr)
Inventor
喻洪流
戴玥
石萍
江伟
郑宏宇
贺晨
孟巧玲
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上海理工大学
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Priority to US17/259,237 priority Critical patent/US12011406B2/en
Publication of WO2022077752A1 publication Critical patent/WO2022077752A1/zh

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    • 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
    • A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
    • 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
    • A61H1/0218—Drawing-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • 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
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0107—Constructive details modular
    • 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
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear 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
    • A61H2201/16—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
    • A61H2201/1609—Neck
    • A61H2201/1611—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
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—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
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1661—Wobbling interface, e.g. Stewart platform or Hexapod
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Definitions

  • the invention relates to the field of human-computer interaction rehabilitation aids, in particular to a wearable multifunctional cervical vertebra rehabilitation dynamic exoskeleton.
  • the neck is one of the most complex and vulnerable parts of human body geometry and motion.
  • cervical spine diseases With the changes in people's living habits and work styles, the incidence of cervical spine diseases is increasing year by year.
  • cervical exoskeletons have gradually become a research hotspot in the field of rehabilitation.
  • Most of the existing cervical spine rehabilitation exoskeletons are single rehabilitation training with support and fixation or traction.
  • One is rigid contact with the cervical spine, but the cervical spine is easily damaged due to the inability to adapt to the rigid support; the support points of the cervical spine will exist. Inability to fit closely or insufficient support; problems such as the stability of the cervical spine and lack of sufficient longitudinal tension will affect the protection and treatment of the cervical spine.
  • the other is the inflatable type, but it has the problems that the support effect on the cervical spine cannot be precisely controlled, and the rehabilitation function is less.
  • the technical problem to be solved by the present invention is: how to realize the functions of cervical vertebra enhancement and rehabilitation training, and enhance the stability of the cervical vertebra.
  • the present invention provides a wearable multifunctional cervical vertebra rehabilitation dynamic exoskeleton, comprising an active drive motor module, a fixed support module and a movable joint assembly, the active drive motor module is connected with the fixed support module,
  • the active drive motor module includes a left shoulder push rod motor, a right shoulder push rod motor, a left front push rod motor of the cervicothoracic vertebra, a left rear push rod motor of the cervicothoracic vertebra, a right front push rod motor of the cervicothoracic vertebra, and a right rear push rod of the cervicothoracic vertebra.
  • the motor, the active drive motor module and the movable joint assembly are combined together to form a six-link power drive structure.
  • the fixed support module includes a mandibular support assembly, an occipital support assembly, a posterior cervical vertebra support, a cervicothoracic anterior support piece, and a cervicothoracic posterior support piece.
  • the movable joint assembly includes a universal joint and a spherical joint rotating hinge.
  • the upper ends of the cervicothoracic left front pusher motor, the cervicothoracic left rear pusher motor, the cervicothoracic right front pusher motor, and the cervicothoracic right rear pusher motor pass through the universal joint and the The mandibular support component or the occipital bone support component is threadedly connected, and the lower ends are respectively connected with the cervicothoracic anterior support piece or the cervicothoracic back support piece through the spherical joint rotating hinge; the left shoulder pusher motor, the right shoulder pusher
  • the upper ends of the rod motors are respectively threadedly connected to the lower jaw support assembly through the universal joints, and the lower ends are respectively threadedly connected to the cervicothoracic rear support pieces through the universal joints.
  • the occipital bone support assembly and the posterior cervical vertebra support are connected by threads, and when performing cervical vertebra flexion and extension, lateral flexion and horizontal rotation rehabilitation exercise, the posterior cervical vertebra support is removed and placed at the location. An angle sensor is placed in the middle of the occipital support assembly.
  • the pressure sensor is connected with the push rod motor through a screw connection, and the other end of the screw connection is connected with the universal joint.
  • the universal joint is connected with the fixed support module through a shaft sleeve;
  • the spherical joint rotating hinge is connected with the anterior support piece of the cervicothoracic vertebra or the rear support piece of the cervicothoracic vertebra through a shaft sleeve.
  • the front support piece of the cervicothoracic vertebra is connected to the front side support piece of the lumbar vertebra through the front support strip
  • the back support piece of the cervicothoracic vertebra is connected to the back support piece of the lumbar vertebra through the back support strip; the front support strip and The length of the rear side support bar is adjustable in the height direction.
  • the mandibular support assembly and the occipital support assembly are connected with the first Velcro through a cervical collar connecting belt; the cervicothoracic anterior support piece and the cervicothoracic posterior support piece are connected with the shoulder connecting belt and the second Velcro. .
  • the armpit positions of the cervicothoracic front side support piece and the cervicothoracic back support piece are also provided with a support bar, the length of the support bar can be adjusted, and the support bar is composed of a fixing belt and a third Velcro. ;
  • the lumbar vertebrae front side support piece and the lumbar vertebrae back side support piece are connected by a lumbar vertebra connecting belt and a fourth Velcro.
  • the present invention at least has the following beneficial technical effects:
  • the power is obtained through the linear push rod motor, and the multi-functional traction and resistance training of the cervical spine are respectively realized. Realize neck traction training in the entire joint range, thereby effectively enhancing neck muscle strength.
  • the new wearable multifunctional cervical vertebra rehabilitation powered exoskeleton has certain flexibility, so it has ideal man-machine coupling characteristics, adapts to the multifunctional rehabilitation effect of the cervical vertebra, and has a promoting effect on the user's cervical vertebra health.
  • the structure is light and easy to assemble and process.
  • Fig. 1 is the structural representation of the power exoskeleton vertical traction rehabilitation exercise of the present invention
  • Fig. 2 is the structural representation of the power exoskeleton lateral flexion rehabilitation exercise of the present invention
  • Fig. 3 is the structural representation of the power exoskeleton horizontal rotation rehabilitation exercise of the present invention.
  • Fig. 4 is the structural representation of the power exoskeleton forward flexion rehabilitation exercise of the present invention.
  • FIG. 5 is a schematic structural diagram of a shoulder push rod motor of the present invention.
  • Fig. 6 is the structural representation of the cervicothoracic push rod motor of the present invention.
  • FIG. 7 is a schematic structural diagram of the Velcro support device of the powered exoskeleton of the present invention.
  • 1-active drive motor module 1-active drive motor module; 2-fixed support module; 3-movable joint assembly; 4-support bar; 11-left anterior pusher motor of cervicothoracic vertebrae; 12-left shoulder pusher motor; 13-left posterior side of cervicothoracic vertebrae Push rod motor; 14- right anterior push rod motor of cervicothoracic vertebrae; 15- right shoulder push rod motor; 16- right posterior side push rod motor of cervicothoracic vertebrae; 21- mandibular support assembly; 22- occipital support assembly; Support; 24- Cervico-thoracic back support piece; 25- Posterior support piece; 26- Lumbar back support piece; 27- Cervical-thoracic spine anterior support piece; 28- Anterior support piece; 31-The first threaded connection; 32-Universal joint; 33-The second threaded connection; 34-Sleeve; 35-Spherical joint rotation hinge; Type connector; 123-shoulder push rod motor shell; 142-second U-shaped connector; 143-
  • a wearable multifunctional cervical spine rehabilitation dynamic exoskeleton includes: an active drive motor module 1 , a fixed support module 2 and a movable joint assembly, and the active drive motor module 1 is connected with the fixed support module 2
  • the active drive motor module 1 includes a left shoulder push rod motor 12, a right shoulder push rod motor 15, a left front push rod motor 11 of the cervicothoracic vertebra, a left posterior push rod motor of the cervicothoracic vertebra 13, a right front push rod motor of the cervicothoracic vertebra 14, and a cervicothoracic vertebra
  • the push rod motor 16 on the right rear side is a six-link structure formed by actively driving the motor module 1 and the movable joint assembly 3 together.
  • the fixed support module 2 includes a mandibular support assembly 21 , an occipital support assembly 22 , a posterior cervical support member 23 , an anterior cervicothoracic support piece 27 , and a cervicothoracic posterior support piece 24 .
  • the movable joint assembly 3 includes a universal joint 32 and a spherical joint rotating hinge 35 .
  • the upper ends of the left front pusher motor 11 of the cervicothoracic vertebra, the left rear pusher motor 13 of the cervicothoracic vertebra, the right front pusher motor 14 of the cervicothoracic vertebra, and the right rear pusher motor 16 of the cervicothoracic vertebra pass through the upper ends respectively.
  • the universal joint 32 is threadedly connected with the mandibular support assembly 21 or the occipital support assembly 22, and the lower end is respectively connected with the cervicothoracic front support piece 27 or the cervicothoracic back support piece 24 through the spherical joint rotating hinge 35; the left shoulder push rod motor 12.
  • the upper end of the right shoulder push rod motor 15 is threadedly connected to the mandibular support assembly 21 through the universal joint 32 respectively, and the lower end is threadedly connected to the cervicothoracic back support piece 24 through the universal joint 32 respectively.
  • the left shoulder push rod motor 12 and the right shoulder push rod motor 15 are provided with a shoulder push rod motor casing 123, the left front push rod motor 11 of the cervicothoracic vertebra, the left rear push rod motor of the cervicothoracic vertebra 13, and the neck push rod motor 12.
  • the right front pusher motor 14 of the thoracic vertebra and the right rear pusher motor 16 of the cervicothoracic vertebra are provided with a cervicothoracic pusher motor casing 143 and a pressure sensor 121.
  • the pressure sensor 121 is connected to the pusher motor through the second threaded connector 33.
  • the first threaded connector is connected with the universal joint 32 .
  • the pressure sensor 121 can control the thrust of the push rod motor in real time, and perform rehabilitation evaluation on the measured torque; the coordinated movement of different push strokes of the push rod motor can achieve passive traction, flexion and extension, lateral flexion and horizontal movement of the cervical spine. Spin four forms of rehabilitation exercises.
  • the occipital bone support assembly 22 of the fixed support module 2 and the posterior cervical vertebrae support 23 are connected by threads.
  • the posterior cervical vertebrae support 23 is removed and supported on the occipital bone.
  • An angle sensor 221 is placed in the middle position of the component 22; the angle sensor 221 can accurately measure the rehabilitation movement angle of the cervical spine; the shoulders of the anterior support sheet 27 of the cervicothoracic spine and the posterior support sheet 24 of the cervicothoracic spine are provided with a shoulder connecting belt 421 and a second
  • the Velcro 422 is designed into different models to achieve personalized adaptation.
  • the anterior support piece 27 of the cervicothoracic vertebra is connected to the anterior support piece 29 of the lumbar vertebra through the anterior strut 28, and the posterior support piece 24 of the cervicothoracic vertebra is connected to the posterior support piece 26 of the lumbar vertebra through the posterior strut 25.
  • the length of the strut 28 and the rear side strut 25 is adjustable in the height direction.
  • a cervical support connection belt 411 is provided for connection
  • a lumbar spine connection belt 441 is provided between the lumbar anterior support piece 29 and the lumbar back support piece 26.
  • the cervical support connection belt 411 and the lumbar spine connection The length of the belt 441 can be adjusted, and a first Velcro 412 and a fourth Velcro 442 are also provided on the lower edge of the mandible and the thoracic vertebra.
  • the front support piece 27 of the cervicothoracic vertebra and the rear support piece 24 of the cervicothoracic vertebra are also provided with a support bar 4 at the armpit position.
  • the push rod motor constitutes a parallel six-rod power drive mechanism, and the passive traction motion of the cervical vertebra is realized through the six rods at the same time and the same thrust; 13.
  • the push/return stroke of the left shoulder push rod motor 12 cooperates with the return/push stroke of the right front push rod motor 14 of the cervicothoracic vertebra, the right rear push rod motor 16 of the cervicothoracic vertebra, and the right shoulder push rod motor 15 to achieve lateral flexion of the cervical spine Resistance training;
  • the six-bar power drive mechanism is connected to the left posterior cervicothoracic vertebrae through the return/push stroke of the left anterior push rod motor 11 of the cervicothoracic vertebra, the right anterior push rod motor 14 of the cervicothoracic vertebra, the left shoulder push rod motor 12 and the right shoulder push rod motor 15.
  • the push rod motor 13 and the right rear push rod motor 16 of the cervicothoracic vertebra cooperate with each other to realize the forward flexion/extension resistance training of the cervical vertebra; the six-rod power drive mechanism passes through the left anterior push rod motor 11 of the cervicothoracic vertebra and the cervicothoracic vertebra.
  • the process of the right front push rod motor 14, the left rear push rod motor 13 of the cervicothoracic vertebra and the right rear push rod motor 16 of the cervicothoracic vertebra remains unchanged, and the cervical vertebra is realized through the return / push stroke of the left shoulder push rod motor 12 and the right shoulder push rod motor 15 horizontal rotation resistance training.
  • the wearable multifunctional cervical vertebra rehabilitation power exoskeleton of the present invention takes into account both cervical vertebra enhancement and rehabilitation training, and can realize passive traction, flexion and extension, lateral flexion and motion of the cervical vertebra through the parallel six-bar power drive mechanism.
  • Rehabilitation exercise with four degrees of freedom of horizontal rotation, neck traction training and directional resistance training of neck muscles, improve neck muscle strength, enhance the stability of the cervical spine, and improve and correct the biomechanical balance of the cervical spine.
  • Strengthening the active muscle strength of the cervical spine through resistance training is of great significance to promote the health of the cervical spine and improve the working ability of people with high incidence of cervical spondylosis.

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Abstract

一种穿戴式多功能颈椎康复动力外骨骼，涉及人机交互康复辅具领域，包括主动驱动电机模块（1）、固定支撑模块（2）和活动关节组件（3），主动驱动电机模块（1）与固定支撑模块（2）相连接，主动驱动电机模块（1）包括左肩推杆电机（12）、右肩推杆电机（15）、颈胸椎左前侧推杆电机（11）、颈胸椎左后侧推杆电机（13）、颈胸椎右前侧推杆电机（14）、颈胸椎右后侧推杆电机（16），主动驱动电机模块（1）与活动关节组件（3）共同组合成六连杆动力驱动结构。实现颈椎的被动牵引、前屈后伸、侧屈和水平旋转四个自由度的康复运动，进行颈部的牵引训练以及实现颈部肌肉的定向抗阻训练，提升颈部肌力，增强颈椎的稳定性，改善与矫正颈椎的生物力学平衡。

Description

一种穿戴式多功能颈椎康复动力外骨骼 技术领域
本发明涉及人机交互康复辅具领域，尤其涉及一种穿戴式多功能颈椎康复动力外骨骼。
背景技术
颈部是人体几何特性和运动特性最为复杂，以及最易受到伤害的部分之一。随着来随着人们生活习惯及工作方式的改变，颈椎疾病发病率的逐年增高。同时，伴随着并联机构、控制技术以及人机交互等的不断研究与发展，颈椎外骨骼逐渐成为康复领域的研究热点。
现存的颈椎康复外骨骼大多是支撑固定或牵引的单一康复训练，有两种形式，其一是与颈椎硬性接触，但颈椎容易因硬性支撑无法进行适应性调节而损伤；颈椎的支撑点会存在无法紧密贴合或而产生支撑不到位；对颈椎的稳定和纵向张力缺乏足够张力等问题都会影响颈椎的保护与治疗。另外一个是充气型，但其存在对颈椎的支撑疗效无法精确控制，且康复功能较少的问题。
随着人机交互技术与康复医学的发展，本领域的技术人员为了改善现存的颈椎训练器，致力于开发一种穿戴式多功能颈椎康复动力外骨骼，其兼具颈椎增强与康复训练功能，可实现在全关节活动范围内的颈部牵引运动训练，通过对颈部肌肉进行定向的抗阻训练和多方向的肌力训练，来增强颈椎的稳定性。
发明内容
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是：如何实现颈椎增强与康复训练功能，增强颈椎的稳定性。
为实现上述目的，本发明提供了一种穿戴式多功能颈椎康复动力外骨骼，包括主动驱动电机模块、固定支撑模块和活动关节组件，所述主动驱动电机模块与所述固定支撑模块相连接，所述主动驱动电机模块包括左肩推杆电机、右肩推杆电机、颈胸椎左前侧推杆电机、颈胸椎左后侧推杆电机、颈胸椎右前侧推杆电机、颈胸椎右后侧推杆电机，所述主动驱动电机模块与所述活动关节组件共同组合成的六连杆动力驱动结构。
进一步地，所述固定支撑模块包括下颌支撑组件、枕骨支撑组件、后侧颈椎支撑件、颈胸椎前侧支撑片、颈胸椎后侧支撑片。
进一步地，所述活动关节组件包括万向关节和球形关节转动铰链。
进一步地，所述颈胸椎左前侧推杆电机、颈胸椎左后侧推杆电机、颈胸椎右前侧推杆电机、颈胸椎右后侧推杆电机的上端分别通过所述万向关节与所述下颌支撑组件或枕骨支撑组件进行螺纹连接，下端分别通过所述球形关节转动铰链与颈胸椎前侧支撑片或所述颈胸椎后侧支撑片进行螺纹连接；所述左肩推杆电机、右肩推杆电机的上端分别通过所述万向关节与所述下颌支撑组件进行螺纹连接，下端分别通过所述万向关节与所述颈胸椎后侧支撑片进行螺纹连接。
进一步地，所述枕骨支撑组件和所述后侧颈椎支撑件通过螺纹连接，当进行颈椎前屈后伸、侧屈以及水平旋转康复运动时，将所述后侧颈椎支撑件拆除，并在所述枕骨支撑组件的中间位置放置角度传感器。
进一步地，还具有压力传感器，所述压力传感器通过螺纹连接件与推杆电机相连接，所述螺纹连接件的另一端与所述万向关节连接。
进一步地，所述万向关节通过轴套与固定支撑模块相连接；所述球形关节转动铰链通过轴套与所述颈胸椎前侧支撑片或所述颈胸椎后侧支撑片相连接。
进一步地，所述颈胸椎前侧支撑片通过前侧支条连接腰椎前侧支撑片，所述颈胸椎后侧支撑片通过后侧支条连接腰椎后侧支撑片；所述前侧支条和所述后侧支条在高度方向上长度可调节。
进一步地，所述下颌支撑组件、枕骨支撑组件通过颈托连接带和第一魔术贴连接；所述颈胸椎前侧支撑片、颈胸椎后侧支撑片通过肩部连接带和第二魔术贴连接。
进一步地，所述颈胸椎前侧支撑片、颈胸椎后侧支撑片的腋下位置还设有支条，所述支条的长度可以调节，所述支条由固定带和第三魔术贴组成；所述腰椎前侧支撑片和所述腰椎后侧支撑片通过腰椎连接带和第四魔术贴连接。
与现有技术相比，本发明至少具有如下有益技术效果：
1.通过直线推杆电机获得动力，分别实现颈椎的多功能牵引与抗阻训练。实现在全关节范围内的颈部牵引训练，进而有效增强颈部肌力。
2.通过推杆电机与万向关节、球形关节转动铰链的相互配合，可以实现颈部肌肉的定向抗阻训练，增强颈椎的稳定性。
3.通过角度传感器与压力传感器对颈部康复训练进行实时控制与评估。
4.本新型穿戴式多功能颈椎康复动力外骨骼具有一定的柔顺性，因此具备较理想的人机耦合特性，适应颈椎的多功能康复疗效，对使用者的颈椎健康具有促进作用。
5.结构轻便，易于装配与加工。
以下将结合附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。
附图说明
图1是本发明的动力外骨骼竖直牵引康复运动的结构示意图；
图2是本发明的动力外骨骼侧屈康复运动的结构示意图；
图3是本发明的动力外骨骼水平旋转康复运动的结构示意图；
图4是本发明的动力外骨骼前屈康复运动的结构示意图；
图5是本发明的肩部推杆电机结构示意图；
图6是本发明的颈胸椎推杆电机的结构示意图；
图7是本发明的动力外骨骼的魔术贴支撑装置的结构示意图；
其中：1-主动驱动电机模块；2-固定支撑模块；3-活动关节组件；4-支条；11-颈胸椎左前侧推杆电机；12-左肩推杆电机；13-颈胸椎左后侧推杆电机；14-颈胸椎右前侧推杆电机；15-右肩推杆电机；16-颈胸椎右后侧推杆电机；21-下颌支撑组件；22-枕骨支撑组件；23-后侧颈椎支撑件；24-颈胸椎后侧支撑片；25-后侧支条；26-腰椎后侧支撑片；27-颈胸椎前侧支撑片；28-前侧支条；29-腰椎前侧支撑片；31-第一螺纹连接件；32-万向关节；33-第二螺纹连接件；34-轴套；35-球形关节转动铰链；36-螺纹孔；121-压力传感器；122-第一U型连接件；123-肩部推杆电机外壳；142-第二U型连接件；143-颈胸椎推杆电机外壳；411-颈托连接带；412-第一魔术贴；421-肩部连接带；422-第二魔术贴；431-固定带；432-第三魔术贴；441-腰椎连接带；442-第四魔术贴。
具体实施方式
以下参考说明书附图介绍本发明的多个优选实施例，使其技术内容更加清楚和便于理解。本发明可以通过许多不同形式的实施例来得以体现，本发明的保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。附图所示的每一组件的尺寸和厚度是任意示出的，本发明并没有限定每个组件的尺寸和厚度。为了使图示更清晰，附图中有些地方适当夸大了部件的厚度。
如图1至图4所示，一种穿戴式多功能颈椎康复动力外骨骼，包括：主动驱动电机模块1、固定支撑模块2和活动关节组件，主动驱动电机模块1与固定支撑模块2相连接，主动驱动电机模块1包括左肩推杆电机12、右肩推杆电机15、颈胸椎左前侧推杆电机11、颈胸椎左后侧推杆电机13、颈胸椎右前侧推杆电机14、颈胸椎右后侧推杆电机16，主动驱动电机模块1与活动关节组件3共同组合成的六连杆结构。固定支撑模块2，包括下颌支撑组件21、枕骨支撑组件22、后侧颈椎支撑件23、颈胸椎前侧支撑片27、颈胸椎后侧支撑片24。活动关节组件3包括万向关节32和球形关节转动铰链35。
如图5至图6所示，颈胸椎左前侧推杆电机11、颈胸椎左后侧推杆电机13、颈胸椎右前侧推杆电机14、颈胸椎右后侧推杆电机16的上端分别通过万向关节32与下颌 支撑组件21或枕骨支撑组件22进行螺纹连接，下端分别通过球形关节转动铰链35与颈胸椎前侧支撑片27或颈胸椎后侧支撑片24进行螺纹连接；左肩推杆电机12、右肩推杆电机15的上端分别通过万向关节32与下颌支撑组件21进行螺纹连接，下端分别通过万向关节32与颈胸椎后侧支撑片24进行螺纹连接。
主动驱动电机模块1中，左肩推杆电机12、右肩推杆电机15外设有肩部推杆电机外壳123，颈胸椎左前侧推杆电机11、颈胸椎左后侧推杆电机13、颈胸椎右前侧推杆电机14、颈胸椎右后侧推杆电机16外设有颈胸椎推杆电机外壳143，还具有压力传感器121，压力传感器121通过第二螺纹连接件33与推杆电机相连接，第一螺纹连接件与万向关节32连接。压力传感器121同时可对推杆电机的推程进行实时控制，以及所测力矩进行康复评估；推杆电机不同推程的协调配合运动，实现颈椎的被动牵引、前屈后伸、侧屈以及水平旋转四种形式的康复运动。
固定支撑模块2的枕骨支撑组件22和后侧颈椎支撑件23通过螺纹连接，当进行颈椎前屈后伸、侧屈以及水平旋转康复运动时，将后侧颈椎支撑件23拆除，并在枕骨支撑组件22的中间位置放置角度传感器221；角度传感器221可以准确测量颈椎的康复运动角度；颈胸椎前侧支撑片27、颈胸椎后侧支撑片24的肩部设有肩部连接带421和第二魔术贴422，通过设计成不同型号来实现个性化的适配。
如图7所示，颈胸椎前侧支撑片27通过前侧支条28连接腰椎前侧支撑片29，颈胸椎后侧支撑片24通过后侧支条25连接腰椎后侧支撑片26，前侧支条28和后侧支条25在高度方向上长度可调节。下颌支撑组件21、枕骨支撑组件22之间设有颈托连接带411连接，腰椎前侧支撑片29和腰椎后侧支撑片26之间设有腰椎连接带441，颈托连接带411、腰椎连接带441的长度可以调节，下颌和胸椎下缘还设有第一魔术贴412和第四魔术贴442。颈胸椎前侧支撑片27、颈胸椎后侧支撑片24的腋下位置还设有支条4，支条4由固定带431和第三魔术贴432组成，支条4的长度也可以调节。
本实施例的使用步骤如下：
推杆电机构成并联的六杆动力驱动机构，通过六杆同时且相同推程实现颈椎的被动牵引运动；六杆动力驱动机构通过颈胸椎左前侧推杆电机11和颈胸椎左后侧推杆电机13、左肩推杆电机12的推程/回程与颈胸椎右前侧推杆电机14和颈胸椎右后侧推杆电机16、右肩推杆电机15的回程/推程相互配合实现颈椎的侧屈抗阻训练；六杆动力驱动机构通过颈胸椎左前侧推杆电机11和颈胸椎右前侧推杆电机14、左肩推杆电机12和右肩推杆电机15的回程/推程与颈胸椎左后侧推杆电机13和颈胸椎右后侧推杆电机16推程/回程相互配合实现颈椎的前屈/后伸抗阻训练；六杆动力驱动机构通过颈胸椎左前侧推杆电机11和颈胸椎右前侧推杆电机14与颈胸椎左后侧推杆电机13和颈胸椎右后侧推杆电机16进程不变，通过左肩推杆电机12和右肩推杆电机15的回程/推程实现颈椎的水平旋转抗阻训练。
与现有技术相比，本发明的穿戴式多功能颈椎康复动力外骨骼，兼顾颈椎增强与 康复训练，通过并联的六杆动力驱动机构可以实现颈椎的被动牵引、前屈后伸、侧屈和水平旋转四个自由度的康复运动，进行颈部的牵引训练以及实现颈部肌肉的定向抗阻训练，提升颈部肌力、增强颈椎的稳定性、改善与矫正颈椎的生物力学平衡。通过抗阻训练来强化颈椎的主动肌力，对促进颈椎健康，提高颈椎病高发人群的作业能力具有重大意义。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (10)

  1. 一种穿戴式多功能颈椎康复动力外骨骼，其特征在于，包括主动驱动电机模块、固定支撑模块和活动关节组件，所述主动驱动电机模块与所述固定支撑模块相连接，所述主动驱动电机模块包括左肩推杆电机、右肩推杆电机、颈胸椎左前侧推杆电机、颈胸椎左后侧推杆电机、颈胸椎右前侧推杆电机、颈胸椎右后侧推杆电机，所述主动驱动电机模块与所述活动关节组件共同组合成的六连杆动力驱动结构。
  2. 如权利要求1所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述固定支撑模块包括下颌支撑组件、枕骨支撑组件、后侧颈椎支撑件、颈胸椎前侧支撑片、颈胸椎后侧支撑片。
  3. 如权利要求2所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述活动关节组件包括万向关节和球形关节转动铰链。
  4. 如权利要求3所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述颈胸椎左前侧推杆电机、颈胸椎左后侧推杆电机、颈胸椎右前侧推杆电机、颈胸椎右后侧推杆电机的上端分别通过所述万向关节与所述下颌支撑组件或枕骨支撑组件进行螺纹连接，下端分别通过所述球形关节转动铰链与颈胸椎前侧支撑片或所述颈胸椎后侧支撑片进行螺纹连接；所述左肩推杆电机、右肩推杆电机的上端分别通过所述万向关节与所述下颌支撑组件进行螺纹连接，下端分别通过所述万向关节与所述颈胸椎后侧支撑片进行螺纹连接。
  5. 如权利要求3所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述枕骨支撑组件和所述后侧颈椎支撑件通过螺纹连接，当进行颈椎前屈后伸、侧屈以及水平旋转康复运动时，将所述后侧颈椎支撑件拆除，并在所述枕骨支撑组件的中间位置放置角度传感器。
  6. 如权利要求4所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，还具有压力传感器，所述压力传感器通过螺纹连接件与推杆电机相连接，所述螺纹连接件的另一端与所述万向关节连接。
  7. 如权利要求6所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述万向关节通过轴套与固定支撑模块相连接；所述球形关节转动铰链通过轴套与所述颈胸 椎前侧支撑片或所述颈胸椎后侧支撑片相连接。
  8. 如权利要求7所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述颈胸椎前侧支撑片通过前侧支条连接腰椎前侧支撑片，所述颈胸椎后侧支撑片通过后侧支条连接腰椎后侧支撑片；所述前侧支条和所述后侧支条在高度方向上长度可调节。
  9. 如权利要求8所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述下颌支撑组件、枕骨支撑组件通过颈托连接带和第一魔术贴连接；所述颈胸椎前侧支撑片、颈胸椎后侧支撑片通过肩部连接带和第二魔术贴连接。
  10. 如权利要求8所述的穿戴式多功能颈椎康复动力外骨骼，其特征在于，所述颈胸椎前侧支撑片、颈胸椎后侧支撑片的腋下位置还设有支条，所述支条的长度可以调节，所述支条由固定带和第三魔术贴组成；所述腰椎前侧支撑片和所述腰椎后侧支撑片通过腰椎连接带和第四魔术贴连接。
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