Intelligent scoliosis correction system and control method

Abstract

The present invention discloses an intelligent scoliosis correction system and control method, including an intelligent scoliosis correction device and a remote intelligent analysis platform, wherein the intelligent scoliosis correction device includes a correction device body, a pressure regulating device is arranged outside the correction device body, a pressure monitoring device is arranged inside the correction device body, and the pressure monitoring device is connected to a central control device by wireless communication; the pressure monitoring device includes a data acquisition system and a film pressure sensor connected by a data acquisition line. It has a quantitative adjustment function based on the evaluation of asymmetric stress correction of scoliosis vertebrae, can realize real-time monitoring and dynamic adjustment of the tightness and correction force of the intelligent scoliosis correction system, can improve the objectivity and accuracy of spinal correction, and ultimately improve the treatment effect.

Description

Technical Field

[0001] The present invention relates to a correction system and a control method, in particular to an intelligent scoliosis correction system and a control method. Background Art

[0002] Scoliosis is a disease that seriously harms young people. Its clinical manifestation is the lateral curvature of the spine in the coronal plane, often accompanied by sagittal plane abnormalities and axial rotation deformities. Its incidence rate is reported to be between 2% and 3% abroad, and 1% to 2% in China. It is estimated that there are 12 million patients worldwide, including about 3 million in my country. This disease is very harmful. If it is not treated in time, it will progress seriously, causing trunk deformity, affecting the patient's cardiopulmonary function, and causing the patient to bear a serious psychological burden, which will bring a serious economic burden to the family and society.

[0003] At present, the common means of treating adolescent scoliosis include orthosis treatment and surgical treatment. The degree of scoliosis deformity is generally measured by the Cobb angle. Since surgical treatment is traumatic, expensive, and has certain risks and complications, for patients with mild to moderate scoliosis with a Cobb angle of less than 45 degrees, orthosis can be used for correction. However, studies have shown that 28% of patients with adolescent scoliosis who undergo orthosis treatment fail to correct the disease and need to undergo surgery again. An important reason for the failure of orthosis correction is that some patients do not wear orthosis for a long enough time or wear orthosis too loosely, resulting in the orthosis not providing sufficient corrective force. Patients usually do not adjust the tightness of orthosis after wearing it, so the tightness of orthosis varies greatly due to daily activities. If patients wear orthosis loosely during treatment, the orthosis cannot provide the best treatment benefits. Although some orthosis have also developed intelligent modules for measuring and adjusting the corrective force provided by orthosis. These smart orthoses can measure the time the patient actually uses the orthosis and the amount of orthotic force, and can also adjust the amount of orthotic force or the tightness of the orthosis. However, when these orthoses adjust the amount of orthotic force or the tightness of the orthosis, the selected adjustment values ​​still rely on the orthotist's personal experience and setting, and lack quantitative evaluation.

[0004] The etiology of scoliosis is complex, but no matter what the etiology is, once the scoliotic deformity is formed, biomechanical factors play a leading role in the development and outcome of scoliosis. The progression of scoliosis is closely related to the longitudinal growth of the spine, which progresses rapidly during adolescence and slows down or stops after maturity. The longitudinal growth of the vertebrae is similar to that of long bones. The increase in its height is the result of endochondral ossification of the growth plates at the upper and lower ends, following the Hueter-Volkmann principle, that is, increasing the pressure on the growth plate will inhibit longitudinal growth, while reducing the pressure or applying traction can promote longitudinal growth. In patients with scoliosis, gravity will produce asymmetric compressive loads on the vertebral growth plates. These compressive forces are greater on the concave side of the scoliotic curve than on the convex side, and the intensity of this phenomenon reaches a maximum at the apex of the curve. Studies have shown that the asymmetry of stress on both sides of the scoliotic curve will cause an imbalance in the longitudinal growth of the vertebrae on both sides, thereby triggering a "vicious cycle" of scoliosis progression, that is, scoliosis → asymmetric stress → unbalanced growth → vertebral wedge deformation → scoliosis progression. Once the load asymmetry is reversed, the "vicious cycle" is reversed, thereby achieving the correction of the spinal curve. In theory, in order to prevent the development of scoliosis deformity, the orthosis should eliminate the asymmetric stress on the vertebral growth plate. However, it is clinically impossible to measure the asymmetric stress distribution on the vertebral growth plate, and there is currently no intelligent scoliosis correction system with quantitative adjustment function based on the evaluation of scoliotic vertebral asymmetric stress correction. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent scoliosis correction system and control method. It has a quantitative adjustment function based on the evaluation of scoliosis vertebral asymmetric stress correction, which can realize real-time monitoring and dynamic adjustment of the tightness and correction force of the intelligent scoliosis correction system, improve the objectivity and accuracy of spinal correction, and ultimately improve the treatment effect.

[0006] The technical solution of the present invention is as follows: an intelligent scoliosis correction system, including an intelligent scoliosis orthosis and a remote intelligent analysis platform, wherein the intelligent scoliosis orthosis includes an orthosis body, a pressure regulating device is provided on the outside of the orthosis body, a pressure monitoring device is provided on the inside of the orthosis body, and the pressure monitoring device is connected to a central control device by wireless communication; the pressure monitoring device includes a data acquisition system and a film pressure sensor connected by a data acquisition line; the film pressure sensor is used to collect the correction force at the top vertebra of the scoliotic spine, and the film pressure sensor is placed on the inside of the pressure loading area of ​​the inside of the intelligent scoliosis orthosis body to provide the correction force at the top vertebra; the data acquisition system controls the sampling frequency of the pressure, and transmits the detected pressure to the central control device by wireless communication.

[0007] In the aforementioned intelligent scoliosis correction system, the orthosis body is formed by extrusion thermoplastic molding using high-strength PVC sheet materials, and the orthosis body has an inner concave surface on the convex side of the apical vertebra of the scoliotic spine, namely, the pressure loading area, to provide correction force; the orthosis body has an opening on the concave side of the apical vertebra of the scoliotic spine, namely, the stress release area, to release stress; the orthosis body has a strap hole on the back for wearing the strap.

[0008] In the aforementioned intelligent scoliosis correction system, the central control device is connected to the remote intelligent analysis platform and the pressure monitoring device respectively by wireless communication.

[0009] In the aforementioned intelligent scoliosis correction system, the pressure regulating device comprises a micro servo motor and a strap; one end of the strap is fixed to the orthosis body, and the other end of the strap passes through all the strap holes and is connected to the micro servo motor attached to the orthosis body.

[0010] In the aforementioned intelligent scoliosis correction system, the remote intelligent analysis platform is a remote cloud computing platform, which stores a personalized scoliosis three-dimensional geometric modeling module and a vertebral growth plate asymmetric stress correction evaluation module; the personalized scoliosis three-dimensional geometric modeling module establishes a personalized spine three-dimensional geometric model based on a double-plane orthogonal X-ray film of the spine, and establishes a personalized body soft tissue three-dimensional geometric model based on raster scanning data; the vertebral growth plate asymmetric stress correction evaluation module establishes a scoliosis finite element model including the spine and body soft tissue, applies pressure on the body surface of the convex side of the scoliotic spine as a loading load, calculates the stress distribution on the concave and convex sides of the scoliotic growth plate on the top vertebra through finite element analysis, and evaluates the asymmetric stress on the growth plate using (concave side stress-convex side stress) / convex side stress on the growth plate as an evaluation index, obtains different asymmetric stress distributions by applying different pressures, establishes a regression model of the asymmetric stress and the applied pressure, finds the pressure value where the asymmetric stress is zero as the pressure reference value based on the regression model, and transmits it to the central control device.

[0011] The present invention also provides a method for controlling the intelligent scoliosis correction system, which comprises the following steps:

[0012] S1, image data acquisition, acquisition of biplane orthogonal X-ray films and raster scanning data of scoliosis patients;

[0013] S2, 3D geometric modeling: In the personalized scoliosis 3D geometric modeling module of the remote intelligent analysis platform, a personalized 3D geometric model of the spine is established based on the collected bi-plane orthogonal X-ray films of the spine, and a personalized 3D geometric model of the body soft tissue is established based on the collected raster scanning data;

[0014] S3, asymmetric stress correction evaluation and reference pressure setting. In the vertebral growth plate asymmetric stress correction evaluation module of the remote intelligent analysis platform, a scoliosis finite element model including the spine and body soft tissues is established, and pressure is applied to the body surface on the convex side of the apical vertebra of the scoliotic spine as a loading load. The stress distribution on both sides of the scoliosis concave and convex sides of the apical vertebra growth plate is calculated by finite element analysis. The asymmetric stress on the growth plate is evaluated using (concave side stress - convex side stress) / convex side stress on the growth plate as an evaluation index; different asymmetric stress distributions are obtained by applying different pressures, and a regression model of asymmetric stress and applied pressure is established. Based on the regression model, the pressure value where the asymmetric stress is zero is found as the pressure reference value and transmitted to the central control device;

[0015] S4, pressure loading, after receiving the pressure reference value, the central control device sends a signal to the pressure regulating device, and adjusts the tightness of the orthosis body by contracting the strap through the micro servo motor, thereby adjusting the magnitude of the orthotic force, until the pressure value collected in real time by the pressure monitoring device reaches the pressure reference value;

[0016] S5, real-time monitoring and dynamic adjustment of pressure, the sampling frequency is controlled by the data acquisition system, the pressure is collected at the set sampling frequency and the detected pressure is transmitted to the central control device by wireless communication. The central control device determines the difference between the pressure reference value and the pressure reference value. When the difference between the pressure reference value and the pressure reference value is greater than a certain threshold, the central control device sends a signal to the pressure regulating device, and drives the strap movement through the micro servo motor to adjust the tightness of the orthosis to achieve the purpose of adjusting the orthotic force, until the pressure value collected by the pressure monitoring device reaches the pressure reference value again, realizing real-time monitoring and dynamic adjustment of the tightness and orthotic force of the orthosis.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The present invention models the patient's spine based on the biplane orthogonal X-ray films and raster scanning data of the scoliosis patient through a personalized scoliosis three-dimensional geometric modeling module, thereby improving the design accuracy, making the treatment more targeted and achieving better treatment effects;

[0019] 2. In the vertebral growth plate asymmetric stress correction evaluation module of the present invention, a scoliosis finite element model including the spine and body soft tissue is established, and the magnitude of the correction force is determined based on the asymmetric stress correction evaluation on the apical vertebral end plate of scoliosis, which can achieve quantitative evaluation instead of relying on the personal experience setting of the orthotist, and can improve the objectivity and accuracy of spinal correction, and ultimately improve the treatment effect;

[0020] 3. The present invention can detect pressure in real time and feed it back to the central control device, and according to the measured data, the tightness and orthotic force of the orthosis can be monitored and adjusted in real time and dynamically, so that the orthotic effect can be maintained in a good state;

[0021] 4. The orthosis body of the present invention is provided with a pressure loading area and a stress release area, which can better adjust the scoliotic spine and provide better treatment for the scoliotic spine. The stress release area can reduce the weight of the present invention and reduce the burden on patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the composition of an intelligent scoliosis correction system of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the intelligent scoliosis orthosis of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of a personalized spine three-dimensional geometric model of a practical case of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of a personalized three-dimensional geometric model of body soft tissue of a practical case of the present invention;

[0026] Figure 5 It is a stress distribution diagram of the growth plate of the apical vertebra of a practical case of the present invention;

[0027] Figure 6 is a regression model diagram of asymmetric stress and applied pressure in a practical case of the present invention;

[0028] Figure 7 It is a flow chart of the control method of the intelligent scoliosis correction system of the present invention.

[0029] The marks in the accompanying drawings are: 1-intelligent scoliosis orthosis, 2-remote intelligent analysis platform, 11-orthosis body, 12-pressure monitoring device, 13-pressure regulating device, 14-central control device, 21-pressure loading area, 22-stress release area, 23-band hole, 24-band, 25-data acquisition system, 26-thin film pressure sensor, 27-data acquisition line, 28-micro servo motor, 3-personalized scoliosis three-dimensional geometric modeling module, 4-vertebral growth plate asymmetric stress correction evaluation module. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0031] Embodiment. An intelligent scoliosis correction system, comprising: Figure 1-2As shown, it includes an intelligent scoliosis orthosis 1 and a remote intelligent analysis platform 2, wherein the intelligent scoliosis orthosis 1 includes an orthosis body 11, a pressure regulating device 13 is arranged on the outside of the orthosis body 11, and a pressure monitoring device 12 is arranged on the inside of the orthosis body 11, and the pressure monitoring device 12 is connected to the central control device 14 by wireless communication; the pressure monitoring device 12 includes a data acquisition system 25 and a film pressure sensor 26 connected by a data acquisition line 27; the film pressure sensor 26 is used to collect the correction force at the top vertebra of the scoliotic spine, and the film pressure sensor 26 is placed inside the pressure loading area 21 inside the body of the intelligent scoliosis orthosis 1 to provide the correction force at the top vertebra; the data acquisition system 25 controls the sampling frequency of the pressure and transmits the detected pressure to the central control device 14 by wireless communication. The selected film pressure sensor is a flexible resistive film pressure sensor, which is sensitive to the force perpendicular to the correction surface, but not sensitive to the shear force, and the pressure sensing range is 0-200N.

[0032] The orthosis body 11 is made of high-strength PVC sheet material through extrusion thermoplastic molding. The orthosis body has an inner concave surface on the convex side of the top vertebra of the scoliotic spine, namely, the pressure loading area 21, to provide corrective force; the orthosis body 11 has an opening on the concave side of the top vertebra of the scoliotic spine, namely, the stress release area 22, to release stress; the orthosis body 11 has a strap hole 23 on the back for wearing a strap 24.

[0033] The central control device 14 is connected to the remote intelligent analysis platform 2 and the pressure monitoring device 12 respectively by wireless communication.

[0034] The pressure regulating device 13 comprises a micro servo motor 28 and a strap 24 ; one end of the strap 24 is fixed to the orthosis body 11 , and the other end of the strap 24 passes through all the strap holes 23 and is connected to the micro servo motor 28 attached to the orthosis body 11 .

[0035] The remote intelligent analysis platform 2 is a remote cloud computing platform, which stores a personalized scoliosis three-dimensional geometric modeling module 3 and a vertebral growth plate asymmetric stress correction evaluation module 4. The personalized scoliosis three-dimensional geometric modeling module 3 establishes a personalized spine three-dimensional geometric model based on a double-plane orthogonal X-ray film of the spine, and establishes a personalized body soft tissue three-dimensional geometric model based on raster scanning data; the vertebral growth plate asymmetric stress correction evaluation module 4 establishes a scoliosis finite element model including the spine and body soft tissue, applies pressure on the body surface of the convex side of the scoliotic spine as a loading load, calculates the stress distribution on the concave and convex sides of the scoliotic growth plate on the top vertebra through finite element analysis, and evaluates the asymmetric stress on the growth plate using the (concave side stress-convex side stress) / convex side stress on the growth plate as an evaluation index. By applying different pressures, different asymmetric stress distributions are obtained, and a regression model of the asymmetric stress and the applied pressure is established. Based on the regression model, a pressure value where the asymmetric stress is zero is found as a pressure reference value and transmitted to the central control device 14.

[0036] The method for using the above-mentioned intelligent scoliosis correction system comprises the following steps:

[0037] S1, image data acquisition, acquisition of biplane orthogonal X-ray films and raster scanning data of scoliosis patients;

[0038] S2, three-dimensional geometric modeling, in the personalized scoliosis three-dimensional geometric modeling module 3 of the remote intelligent analysis platform 2, a personalized spine three-dimensional geometric model is established based on the collected bi-plane orthogonal X-ray films of the spine, and a personalized body soft tissue three-dimensional geometric model is established based on the collected raster scanning data;

[0039] S3, asymmetric stress correction evaluation and reference pressure setting. In the vertebral growth plate asymmetric stress correction evaluation module 4 of the remote intelligent analysis platform 2, a scoliosis finite element model including the spine and body soft tissues is established, and pressure is applied to the body surface on the convex side of the top vertebra of the scoliotic spine as a loading load. The stress distribution on the concave and convex sides of the scoliosis on the top vertebra growth plate is calculated by finite element analysis. The asymmetric stress on the growth plate is evaluated by taking (concave side stress - convex side stress) / convex side stress on the growth plate as an evaluation index; different asymmetric stress distributions are obtained by applying different pressures, and a regression model of asymmetric stress and applied pressure is established. Based on the regression model, a pressure value at which the asymmetric stress is zero is found as a pressure reference value, and transmitted to the central control device 14;

[0040] S4, pressure loading, after receiving the pressure reference value, the central control device 14 sends a signal to the pressure regulating device 13, and adjusts the tightness of the orthosis body 11 by contracting the strap 24 through the micro servo motor 28, thereby adjusting the magnitude of the orthosis force, until the pressure value collected in real time by the pressure monitoring device 12 reaches the pressure reference value;

[0041] S5, real-time monitoring and dynamic adjustment of pressure, the sampling frequency is controlled by the data acquisition system 25, the pressure is collected at the set sampling frequency and the detected pressure is transmitted to the central control device 14 by wireless communication. The central control device 14 determines the difference between the pressure reference value and the pressure reference value. When the difference between the pressure reference value and the pressure reference value is greater than a certain threshold, the central control device 14 sends a signal to the pressure regulating device 13, and drives the strap 24 to move through the micro servo motor 28 to adjust the tightness of the smart scoliosis orthosis to achieve the purpose of adjusting the orthopedic force, until the pressure value collected by the pressure monitoring device 12 reaches the pressure reference value again, so as to realize the real-time monitoring and dynamic adjustment of the tightness and orthopedic force of the smart scoliosis orthosis.

[0042] The working principle of the present invention is as follows Figure 7 As shown, biplane orthogonal X-ray films and raster scanning data of scoliosis patients are collected. In the personalized scoliosis 3D geometric modeling module 3 of the remote intelligent analysis platform 2, a personalized spine 3D geometric model is established based on the collected biplane orthogonal X-ray films of the spine, and a personalized body soft tissue 3D geometric model is established based on the collected raster scanning data. Since the conditions of patients vary, establishing personalized spine 3D geometric models and personalized body soft tissue 3D geometric models is conducive to targeted treatment. In the vertebral growth plate asymmetric stress correction assessment module 4, a spine and body soft tissue 3D geometric model is established. A finite element model of scoliosis of the body soft tissue is established, and pressure is applied to the body surface at the apical vertebra on the convex side of the scoliotic spine as a loading load. The stress distribution on both sides of the convex and concave of the scoliotic growth plate of the apical vertebra is calculated by finite element analysis. The asymmetric stress on the growth plate is evaluated by taking the (concave side stress - convex side stress) / convex side stress on the growth plate as an evaluation index; different asymmetric stress distributions are obtained by applying different pressures, and a regression model of the asymmetric stress and the applied pressure is established. Based on the regression model, the pressure value where the asymmetric stress is zero is found as the pressure reference value, and transmitted to the central control device to establish a pressure reference value. Figure 3-4 The three-dimensional geometric model of the spine and the personalized three-dimensional geometric model of the body soft tissue are shown as Figure 5 The stress distribution diagram on the growth plate of the apical vertebra is shown in Figure 6 The regression model of asymmetric stress versus applied pressure is shown, Figure 3-6 Personalized data obtained by testing patients, such as Figure 6As shown, the pressure applied on the body surface at the convex side of the scoliotic spine is used as the loading load, and the pressures of 10N, 15N, 20N, 25N, 30N, 35N, 40N, 45N and 50N are applied respectively, and the percentage values ​​of (concave stress-convex stress) / convex stress on the growth plate are 120%, 79%, 52%, 25%, 10%, -7%, -32%, -50% and -95% respectively. The regression model of the obtained asymmetric stress and the applied pressure is y=-0.0481x+1.557, where x is the applied pressure and y is the percentage value of (concave stress-convex stress) / convex stress on the growth plate of the apical vertebra. Based on the regression model, the pressure value for zero asymmetric stress is found to be 32.4N, and it is transmitted to the central control device 14 as the pressure reference value. After receiving the pressure reference value, the central control device 14 sends a signal to the pressure regulating device 13, and adjusts the tightness of the orthosis body 11 by contracting the strap 24 through the micro servo motor 28, and then adjusts the magnitude of the orthosis force until the pressure value collected in real time by the pressure monitoring device 12 reaches the pressure reference value. The sampling frequency is controlled by the data acquisition system 25, and the pressure is collected at the set sampling frequency and the detected pressure is transmitted to the central control device 14 by wireless communication. The central control device 14 determines the difference between the pressure reference value and the pressure reference value. When the difference between the pressure reference value and the pressure reference value is greater than a certain threshold, the central control device 14 sends a signal to the pressure regulating device 13, and drives the strap 24 to move through the micro servo motor to adjust the tightness of the orthosis body 11, so as to achieve the purpose of adjusting the orthosis force, until the pressure value collected by the pressure monitoring device 12 reaches the pressure reference value again, so as to realize the real-time monitoring and dynamic adjustment of the tightness and orthosis force of the orthosis. During real-time pressure monitoring, the pressure collection frequency can be set to once every 30 minutes, the pressure reference value is 32.4N, and the threshold is set to 15% of the pressure reference value, that is, 4.86N. When the difference between the monitored pressure and the pressure reference value 32.4N is greater than 4.86N, that is, when the difference exceeds 15%, the central control device 14 sends a signal to the pressure regulating device 13, and drives the strap 24 to move through the micro servo motor 28 until the pressure value returns to 32.4N. The present invention realizes real-time monitoring and dynamic adjustment of the tightness and correction force of the intelligent scoliosis correction system, which can improve the objectivity and accuracy of spinal correction and ultimately improve the treatment effect.

Claims

1. An intelligent scoliosis correction system, characterized in that: It includes an intelligent scoliosis orthosis and a remote intelligent analysis platform, wherein the intelligent scoliosis orthosis includes an orthosis body, a pressure regulating device is arranged on the outside of the orthosis body, a pressure monitoring device is arranged on the inside of the orthosis body, and the pressure monitoring device is connected to the central control device by wireless communication; the pressure monitoring device includes a data acquisition system and a film pressure sensor connected by a data acquisition line; The thin-film pressure sensor is used to collect the correction force at the top vertebra of the scoliotic spine. When in use, the thin-film pressure sensor is placed inside the pressure loading area of ​​the intelligent scoliosis orthosis body to provide the correction force at the top vertebra; the data acquisition system controls the sampling frequency of the pressure and transmits the detected pressure to the central control device in a wireless communication mode; The remote intelligent analysis platform is a remote cloud computing platform, which stores a personalized scoliosis three-dimensional geometric modeling module and a vertebral growth plate asymmetric stress correction evaluation module; the personalized scoliosis three-dimensional geometric modeling module establishes a personalized spine three-dimensional geometric model based on the collected double-plane orthogonal X-ray films of the spine, and establishes a personalized body soft tissue three-dimensional geometric model based on the collected raster scanning data; the vertebral growth plate asymmetric stress correction evaluation module establishes a scoliosis finite element model including the spine and body soft tissue, applies pressure on the body surface at the convex side of the scoliotic spine as a loading load, calculates the stress distribution on both sides of the scoliosis concave and convex growth plate of the apical vertebra through finite element analysis, and calculates the stress distribution on the apical vertebral growth plate by the finite element analysis. The percentage value is used as an evaluation index to evaluate the asymmetric stress on the growth plate. By applying different pressures, different asymmetric stress distributions are obtained, and a regression model of the asymmetric stress and the applied pressure is established. Based on the regression model, the pressure value when the asymmetric stress is zero is found as the pressure reference value and transmitted to the central control device.

2. The intelligent scoliosis correction system according to claim 1, characterized in that: The orthosis body is made of high-strength PVC sheet material through extrusion thermoplastic molding, and the orthosis body has an inner concave surface, i.e., a pressure loading area, on the convex side of the top vertebra of the scoliotic spine to provide correction force; The orthosis body has an opening on the concave side of the top vertebra of the scoliotic spine, i.e. the stress relief area, to release stress; The orthosis body has a strap hole at the back for wearing the strap.

3. The intelligent scoliosis correction system according to claim 1, characterized in that: The central control device is connected to the remote intelligent analysis platform and the pressure monitoring device respectively by wireless communication.

4. The intelligent scoliosis correction system according to claim 1, characterized in that: The pressure regulating device comprises a micro servo motor and a strap; one end of the strap is fixed to the orthosis body, and the other end of the strap passes through all strap holes and is connected to the micro servo motor attached to the orthosis body.

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