Active exoskeleton for correcting scoliosis

Abstract

The application discloses an active exoskeleton for correcting scoliosis, which comprises a fixing module worn on a trunk part, a bionic spine module for connecting adjacent fixing modules to realize forward and backward flexion, lateral bending and rotation movement following a human spine, and a power self-driven tensioning module arranged on the lower fixing module to drive a correction wire and act on the lateral part of the upper fixing module, the middle fixing module and the lower fixing module through a threading pipe group sleeved on the correction wire to realize the application of a correction force on the trunk. The application adopts a modular design, has compact structure and strong operation reliability, realizes the movement of the brace in each direction through the bionic spine module, and realizes the correction of the trunk scoliosis by adjusting the tension of the correction wire through the power self-driven tensioning module.

Description

TECHNICAL FIELD

[0001] The present application relates to an exoskeleton, in particular to an active exoskeleton for correcting scoliosis. It belongs to the field of rehabilitation. BACKGROUND

[0002] Scoliosis in adolescents is a common spinal disease that occurs in the adolescent population. Scoliosis is a three-dimensional structural deformity of the spine, including abnormal arrangement of spinal vertebrae in the coronal, sagittal and axial planes. In recent years, the incidence of scoliosis in the adolescent population in China has shown an upward trend. If scoliosis is not effectively intervened and treated in time, the scoliosis angle of the patient will gradually increase, causing deformation of the torso and thorax, and further causing respiratory and cardiopulmonary dysfunction, spinal cord and spinal nerve damage, etc.

[0003] Currently, orthopedic braces used in clinical practice can be divided into two categories: rigid braces and flexible braces. Among them, the wearing time of rigid braces is long, and the wearing of rigid braces compresses the chest cavity and affects breathing, making it inconvenient for the wearer to move. Adolescents grow rapidly, and rigid braces not only restrict the growth of adolescents, but also need to be frequently replaced as the patient's body size changes. Studies have shown that the correction force applied by some rigid braces decreases during use. The correction effect of flexible braces is not good, and it is difficult to correct patients with severe scoliosis.

[0004] Exoskeleton robots have wide applications in the fields of industry, medicine, rehabilitation, and logistics. Some exoskeletons contain a back spinal structure. However, current spinal exoskeleton structures mostly adopt simple rigid structures to maintain sufficient balance and fit the human spinal curvature in an upright state. Some of these spinal exoskeleton structures can follow the forward and backward flexion of the human spine. However, there is currently a lack of exoskeleton structures that can simultaneously follow the forward and backward flexion and lateral bending of the human spine.

[0005] Patent document CN114788751A relates to an orthosis for orthopedic reduction with multi-directional limiting function. A movable multi-directional adjusting mechanism is provided on the support group, the lateral pressure device is placed at the position that needs to be compressed and corrected, and two pull rod strips are inserted into two rotating tables for adjustment. The multi-directional adjusting mechanism is used to provide tension to the lateral pressure device to achieve the purpose of correction. However, the structure of this orthosis is complex and mainly meets the correction of different degrees of spinal scoliosis. SUMMARY

[0006] To overcome the prior art, the present application provides an active exoskeleton for correcting scoliosis. The exoskeleton combines the advantages of rigid braces and flexible braces by continuously providing appropriate correction force while meeting the daily movement needs of patients.

[0007] An active exoskeleton for correcting scoliosis comprises:

[0008] A fixation module worn on the torso, comprising an upper fixation module, a middle fixation module, and a lower fixation module;

[0009] A bionic spinal module is used to connect adjacent fixed modules to achieve forward and backward flexion, extension, lateral bending, and rotation movements that follow the human spine.

[0010] The self-driven tensioning module is located on the lower fixation module to drive the corrective wire and, through the threaded tube assembly fitted on the corrective wire, acts on the sides of the upper, middle, and lower fixation modules to apply corrective force to the torso.

[0011] Furthermore, the bionic spine module includes a ball pin, an upper connector, a lower connector, and a tension spring; the upper fixing module and the middle fixing module are connected to the upper connector and the lower connector, respectively, and the middle fixing module and the lower fixing module are connected to the upper connector and the lower connector, respectively. A ball pin is arranged between the upper connector and the lower connector, the pin rod of which is fixed to the middle of the upper connector, and the ball head of which is rotatably placed in the ball socket of the lower connector. Tension springs are arranged vertically around the upper connector and the lower connector and connected to them.

[0012] Furthermore, the self-driven tensioning module includes a motor, a drive module, a winding tensioning module A, and a winding tensioning module B; the motor is fixed on the lower fixing module, the output shaft of the motor is connected to the drive module, the drive module is connected to the winding tensioning module A and the winding tensioning module B respectively, and the winding tensioning module A and the winding tensioning module B have straightening wires wound in opposite directions, and through the threading tube arranged on the straightening wire, they act on the sides of the upper fixing module, the middle fixing module, and the lower fixing module.

[0013] The advantages of this invention compared to the prior art are:

[0014] The core concept of this invention lies in enabling the brace to move in all directions through a bionic spinal module. The ball joint design of the bionic spinal module allows it to simultaneously follow the forward and backward flexion, extension, lateral bending, and rotation of the human spine, unlike the simple rigid structures of most spinal exoskeletons that provide freedom of movement in forward and backward flexion and extension. Furthermore, by controlling the self-driven tensioning module, the tension of the corrective wire is adjusted to provide the correct corrective force. This invention can continuously provide appropriate corrective force to correct scoliosis of the trunk and spine, and by combining the advantages of rigid and flexible braces, it can meet the daily exercise needs of patients.

[0015] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0016] Figure 1 This is a perspective view of an active exoskeleton for correcting scoliosis according to the present invention.

[0017] Figure 2 This is a front view of the exoskeleton of the present invention;

[0018] Figure 3 A schematic diagram of a bionic spine module viewed from one direction;

[0019] Figure 4 A schematic diagram of the bionic spine module viewed from another direction;

[0020] Figure 5 This is the front view of the self-driven tensioning module;

[0021] Figure 6 A 3D view of the self-driven tensioning module;

[0022] Figure 7 An exploded view of the self-powered tensioning module;

[0023] Figure 8 This is an exploded view of the wire tensioning module. Detailed Implementation

[0024] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art.

[0025] Specific implementation method one: Combining Figures 1-2 This embodiment of an active exoskeleton for correcting scoliosis includes:

[0026] A fixation module worn on the torso includes an upper fixation module 1, a middle fixation module 2, and a lower fixation module 3;

[0027] Bionic spinal module 5 is used to connect adjacent fixed modules to achieve forward and backward flexion, extension, lateral bending and rotation movements that follow the human spine.

[0028] The self-driven tensioning module 4 is arranged on the lower fixing module 3 to drive the corrective wire 7 and, through the threading tube group sleeved on the corrective wire 7, act on the sides of the upper fixing module 1, the middle fixing module 2 and the lower fixing module 3 to apply corrective force to the torso.

[0029] The active exoskeleton provided in this embodiment for correcting scoliosis has an upper fixation module 1 positioned under the armpit and a power self-driven tensioning module 4 fixed to a lower fixation module 3 at the waist.

[0030] Optionally, the powered self-tensioning module 4 can tighten and loosen the corrective wire 7. By controlling the tension of the rigid corrective wire 7, an appropriate corrective force is continuously applied to the patient's trunk. The bionic spinal module 5 can follow the patient in a certain degree of forward and backward flexion and extension, as well as left and right lateral bending movements.

[0031] This embodiment uses a power-driven tensioning module 4 to control and adjust the tension of the corrective wire, thereby providing the correct corrective force. Unlike most spinal exoskeletons with simple rigid structures that provide forward and backward flexion and extension degrees of freedom, this bionic spinal module enables simultaneous forward and backward flexion and extension, lateral bending, and rotational movements that follow the human spine.

[0032] When the wearer exercises, the relative positions of the three fixed modules (upper, middle, and lower) change, and the tension of the corrective wire changes.

[0033] To achieve the above objectives, alternatively, such as Figure 3 and Figure 4 As shown, the bionic spine module 5 includes a ball pin 500, an upper connector 501, a lower connector 502, and a tension spring 507. The upper fixing module 1 and the middle fixing module 2 are connected to the upper connector 501 and the lower connector 502, respectively. The middle fixing module 2 and the lower fixing module 3 are connected to the upper connector 501 and the lower connector 502, respectively. A ball pin 500 is arranged between the upper connector 501 and the lower connector 502. The pin of the ball pin 500 is fixed to the middle of the upper connector 501. The ball head of the ball pin 500 is rotatably placed in the ball socket of the lower connector 502. Tension springs 507 are arranged vertically around the upper connector 501 and the lower connector 502 and are connected to them.

[0034] With this design, the ball pin 500 simulates the movement of the human spine in all directions, and the tension spring 507 simulates the tension provided by the muscles around the spine, thus allowing for a certain degree of movement during wear. The ball head of the ball pin 500 allows the device to follow the movement of the torso in all directions, while the tension springs 507 at the four corners connect adjacent fixing modules (upper fixing module and middle fixing module, middle fixing module and lower fixing module), converting the movement of the torso into elastic potential energy, allowing the device to re-fit the curve of the human spine in an upright position after the movement ends.

[0035] Furthermore, the upper fixing module 1, the middle fixing module 2, and the lower fixing module 3 are all annular shells (e.g., resin structures), connected at the front by elastic bands to control the tightness of the garment. This adapts to different human torsos and ensures reliable and stable wear.

[0036] Specific implementation method two: such as Figure 2 , Figure 5 and Figure 6As shown, the self-driven tensioning module includes a motor 401, a drive module 402, a wire winding tensioning module A403, and a wire winding tensioning module B404. The motor 401 is fixed on the lower fixing module 3, and the output shaft of the motor 401 is connected to the drive module 402. The drive module 402 is connected to the wire winding tensioning module A403 and the wire winding tensioning module B404 respectively. The wire winding tensioning module A403 and the wire winding tensioning module B404 have straightening wires 7 wound in opposite directions, and through the threading tube group arranged on the straightening wires 7, they act on the sides of the upper fixing module 1, the middle fixing module 2, and the lower fixing module 3.

[0037] In this configuration, the motor is coupled to both the winding tension module A403 and the winding tension module B404. The motor's forward and reverse rotation tightens and loosens the corrective wire. During operation, for example, the motor 401 rotates clockwise or counterclockwise to tension the corrective wire, controlling its tension. The corrective wire 7 is wound around both the winding tension module A403 and the winding tension module B404. Optionally, when the motor 401 rotates clockwise, the corrective wire 7 is further wound around both modules, tightening it and applying a continuous, appropriate corrective force to the patient's side of the torso. When the motor 401 rotates counterclockwise, the winding of the corrective wire 7 loosens, releasing the corrective force.

[0038] Optionally, the wire tensioning module A403 and the wire tensioning module B404 have the same structure.

[0039] Furthermore, such as Figure 7 and Figure 8 As shown, the wire tensioning module A403 and the wire tensioning module B404 are connected in series;

[0040] The wire tensioning module A403 includes a module housing A4031, a one-way bearing A4032, and a spiral spring A4033. The module housing A4031 has an outer groove on which a straightening wire 7 is wound. The outer ring of the one-way bearing A4032 and the spiral spring A4033 are respectively arranged in the inner cavity of the module housing A4031. The output shaft of the motor 401 is connected to the inner ring of the one-way bearing A4032 and the drive module 402 respectively. The inner end of the spiral spring A4033 is connected to the drive module 402, and the outer end of the spiral spring A4033 is connected to the inner wall of the module housing A4031.

[0041] With this configuration, the inner rings of both the one-way bearing A4032 and the scroll spring A4033 are mounted on the output shaft of the motor 401 and the fixed module 402. For example, when the motor 401 drives the transmission shaft to rotate clockwise, the one-way bearing A4032 rotates clockwise along with the output shaft; and regardless of whether the motor 401 rotates clockwise or counterclockwise, the scroll spring A4033 rotates with the output shaft. The module housing A4031 is located on the outer ring of the one-way bearing A4032 and moves with the one-way bearing A4032. The module housing A4032 contacts the scroll spring A4033 and can be driven by the scroll spring A4033. When the motor 401 reverses and the straightening wire 7 unwinds, the scroll spring A4033 plays a driving and buffering role, reducing the vibration of the straightening wire 7 and the exoskeleton.

[0042] Optionally, such as Figure 7 and Figure 8 As shown, the wire tensioning module A403 and the wire tensioning module B404 are connected in series. The wire tensioning module B404 includes a module housing B4041, a one-way bearing B4042, and a spiral spring B4043. The module housing B4041 has an outer groove on which a straightening wire 7 is wound. The outer ring of the one-way bearing B4042 and the spiral spring B4043 are respectively arranged in the inner cavity of the module housing B4041. The output shaft of the motor 401 is connected to the inner ring of the one-way bearing B4042 and the drive module 402 respectively. The inner end of the spiral spring B4043 is connected to the drive module 402, and the outer end of the spiral spring B4043 is connected to the inner wall of the module housing B4041.

[0043] With this configuration, the inner rings of both the one-way bearing B4042 and the scroll spring B4043 are mounted on the output shaft of the motor 401 and the fixed module 402. For example, when the motor 401 drives the transmission shaft to rotate clockwise, the one-way bearing B4042 rotates clockwise along with the output shaft; and regardless of whether the motor 401 rotates clockwise or counterclockwise, the scroll spring B4043 rotates with the output shaft. The module housing B4041 is located on the outer ring of the one-way bearing B4042 and moves with it. The module housing B4042 contacts the scroll spring B4043 and can be driven by it. When the motor 401 reverses and the straightening wire 7 unwinds, the scroll spring B4043 acts as a drive and buffer, mitigating the vibration of the straightening wire 7 and the exoskeleton. When the one-way bearing B4042 reverses, there is a speed difference between the inner and outer rings, which ensures the stable release of the straightening wire 7.

[0044] Based on the above implementation plan, such as Figures 1-8As shown, the corrective wire 7 is wound from front to back through pulleys on the fixing module, acting on the threading tube assembly to achieve controllable tension and correction of the torso. Specifically: pulleys A801 ​​and E805 are rotatably mounted on the rear and front sides of the upper fixing module 1, respectively; pulleys B802 and C803 are coaxially mounted and rotatably mounted on the rear side of the middle fixing module 2; pulleys F806 and H807 are coaxially mounted and rotatably mounted on the front side of the middle fixing module 2; pulley D804 is rotatably mounted on the rear side of the lower fixing module 3; threading tube A901 is fixed to the side of the upper fixing module 1; threading tubes B902 and C903 are fixed to the side of the middle fixing module 2; and threading tube D904 is fixed to the side of the lower fixing module 3.

[0045] The straightening wire 7 is arranged as follows: One end of the straightening wire 7 is fixed to the winding tension module B404. Starting from the winding tension module B404, the straightening wire 7 passes sequentially through pulley F806, threading tube B902, pulley B802, pulley A801, threading tube A901, pulley E805, pulley H807, threading tube C903, pulley C803, pulley D804, and threading tube D904, before winding onto the winding tension module A403. The other end of the straightening wire 7 is fixed to the winding tension module A403.

[0046] With this setup, during the wearing process, when the wearer is stationary and upright, the motor 401 rotates to control the tension of the corrective wire 7, which acts on the threading tubes A901, B902, C903, and D904, and then applies it to the upper fixation module 1, the middle fixation module 2, and the lower fixation module 3 to achieve the purpose of trunk correction.

[0047] Based on the above embodiments or examples, both the upper connector 501 and the lower connector 502 are plate-shaped structures, which facilitates processing and use. The upper connector 501 and the lower connector 502 are respectively mounted on the fixing modules (upper fixing module 1 and middle fixing module 2, middle fixing module 2 and lower fixing module 3) via upper fixing arms 503 and lower fixing arms 505. This configuration ensures convenient and reliable connection. Optionally, the upper fixing arms 503 and lower fixing arms 505 can be selected as L-shaped structures. These L-shaped structures ensure that the upper connector 501 and the lower connector 502 maintain a horizontal posture and are aligned.

[0048] Initially, the two ends of the tension spring 507 are fixed in the blind holes of the upper connector 501 and the lower connector 502 with screws, maintaining an upright position and being under a certain tension after being worn. Subsequently, during the correction process when the torso is continuously subjected to appropriate corrective force, one side of the tension spring 5-7 is compressed and the other side of the tension spring 5-7 is stretched to simulate the tension provided by the muscles around the human spine, thereby allowing a certain degree of movement during wear. The ball head of the ball pin 500 can meet the needs of the device to follow the movement of the torso in all directions, so as to follow the forward and backward flexion, extension, lateral bending and rotation of the human spine. The correct corrective force is provided by controlling the rotation of the motor to adjust the tension of the corrective wire.

[0049] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and all such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. An active exoskeleton for correcting scoliosis, characterized by: The utility model relates to a wearable trunk correction device, comprising: a fixing module worn on the trunk part, which comprises an upper fixing module (1), a middle fixing module (2) and a lower fixing module (3); the upper fixing module (1), the middle fixing module (2) and the lower fixing module (3) are all annular shells, and the front parts are connected by elastic belts to control the tightness of wearing; a bionic spine module (5) is used for connecting adjacent fixing modules to realize the forward and backward flexion, lateral bending and rotation movement following the human spine; the bionic spine module (5) comprises a ball pin (500), an upper connecting piece (501), a lower connecting piece (502) and a tension spring (507); the upper fixing module (1) and the middle fixing module (2) are connected with the upper connecting piece (501) and the lower connecting piece (502) respectively, the middle fixing module (2) and the lower fixing module (3) are connected with the upper connecting piece (501) and the lower connecting piece (502) respectively, the ball pin (500) is arranged between the upper connecting piece (501) and the lower connecting piece (502), the pin rod of the ball pin (500) is fixed in the middle of the upper connecting piece (501), the ball head of the ball pin (500) is rotatably arranged in the ball socket of the lower connecting piece (502), and the upper connecting piece (501) and the lower connecting piece (502) are vertically arranged with the tension spring (507) connected with the two around; a power self-driving tensioning module (4) is arranged on the lower fixing module (3) to drive the correction wire (7) and act on the side of the upper fixing module (1), the middle fixing module (2) and the lower fixing module (3) through the threading pipe group sleeved on the correction wire (7) to realize the application of the correction force on the trunk; pulley A (801) and pulley E (805) are rotatably arranged on the rear side and the front side of the upper fixing module (1) respectively, pulley B (802) and pulley C (803) are coaxially arranged and rotatably arranged on the rear side of the middle fixing module (2), pulley F (806) and pulley H (807) are coaxially arranged and rotatably arranged on the front side of the middle fixing module (2), and pulley D (804) is rotatably arranged on the rear side of the lower fixing module (3); threading pipe A (901) is fixedly connected to the side of the upper fixing module (1), threading pipe B (902) and threading pipe C (903) are fixedly connected to the side of the middle fixing module (2), and threading pipe D (904) is fixedly connected to the side of the lower fixing module (3); one end of the correction wire (7) is fixed on the winding tensioning module B (404), the correction wire (7) passes through pulley F (806), threading pipe B (902), pulley B (802), pulley A (801), threading pipe A (901), pulley E (805), pulley H (807), threading pipe C (903), pulley C (803), pulley D (804) and threading pipe D (904) in sequence from the winding tensioning module B (404), and is wound on the winding tensioning module A (403) again, and the other end of the correction wire (7) is fixed on the winding tensioning module A (403).

2. The active exoskeleton for correcting scoliosis according to claim 1, characterized in that: The power self-driving tensioning module comprises a motor (401) and a driving module (402); The motor (401) is fixed on the lower fixed module (3), the output shaft of the motor (401) is connected with the driving module (402), the driving module (402) is connected with the wire winding tensioning module A (403) and the wire winding tensioning module B (404) respectively, the wire winding tensioning module A (403) and the wire winding tensioning module B (404) are reversely wound with the correction wire (7), and the wire winding tensioning module A (403) and the wire winding tensioning module B (404) are arranged on the wire tube group on the correction wire (7), and act on the side of the upper fixed module (1), the middle fixed module (2) and the lower fixed module (3).

3. The active exoskeleton for correcting scoliosis according to claim 2, wherein: The wire winding tensioning module A (403) and the wire winding tensioning module B (404) are connected in series. The wire winding tensioning module A (403) comprises a module shell A (4031), a one-way bearing A (4032) and a volute spring A (4033); the module shell A (4031) is provided with an outer groove, the correction wire (7) is wound on the outer groove, the outer ring of the one-way bearing A (4032) and the volute spring A (4033) are arranged in the inner cavity of the module shell A (4031) respectively, the output shaft of the motor (401) is connected with the inner ring of the one-way bearing A (4032) and the driving module (402) respectively, the inner end of the volute spring A (4033) is connected with the driving module (402), and the outer end of the volute spring A (4033) is connected with the inner wall of the module shell A (4031).

4. The active exoskeleton for correcting scoliosis according to claim 3, wherein: The wire winding tensioning module A (403) and the wire winding tensioning module B (404) are connected in series; the wire winding tensioning module B (404) comprises a module shell B (4041), a one-way bearing B (4042) and a volute spring B (4043); the module shell B (4041) is provided with an outer groove, the correction wire (7) is wound on the outer groove, the outer ring of the one-way bearing B (4042) and the volute spring B (4043) are arranged in the inner cavity of the module shell B (4041) respectively, the output shaft of the motor (401) is connected with the inner ring of the one-way bearing B (4042) and the driving module (402) respectively, the inner end of the volute spring B (4043) is connected with the driving module (402), and the outer end of the volute spring B (4043) is connected with the inner wall of the module shell B (4041).

5. The active exoskeleton for correcting scoliosis according to claim 1, wherein: The upper connecting piece (501) and the lower connecting piece (502) are both plate-shaped structures.

6. The active exoskeleton for correcting scoliosis according to claim 1 or 5, characterized in that: The upper connecting piece (501) and the lower connecting piece (502) are respectively installed on the fixed module through the upper fixed arm (503) and the lower fixed arm (505).

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