Intelligent spinal brace with dynamic adjustment function and robot system

Abstract

This application provides an intelligent spinal brace and robotic system with dynamic adjustment function, including: an upper ring band, a lower ring band, multiple adjusting rods disposed between the upper and lower ring bands, and a control system. The control system is used to calculate the target length of each adjusting rod according to a preset orthopedic force and a preset mechanics algorithm; determine the length adjustment amount of each adjusting rod based on the target length and the detected current length of each adjusting rod; and control the drive unit to adjust each adjusting rod to the corresponding target length according to the length adjustment amount, so that the upper and lower ring bands achieve a target adjustment posture for correcting / supporting the spine. The brace of this application can dynamically adjust the orthopedic / supporting force applied to the affected area, improving the orthopedic / supporting effect.

Description

Technical Field

[0001] This application relates to the field of rehabilitation aids technology, and in particular to an intelligent spinal brace and robotic system with dynamic adjustment function. Background Technology

[0002] The spine plays a vital role in the human body, supporting body weight, coordinating movement, and maintaining balance. Spinal deformities and other spinal diseases severely impact quality of life. Mild spinal deformities can be corrected by wearing orthotic braces. However, traditional orthotic braces cannot dynamically adjust the corrective force during the correction process, resulting in unsatisfactory corrective effects and poor fit. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose an intelligent spinal brace and robotic system with dynamic adjustment function, which can dynamically adjust the corrective force and improve the corrective effect.

[0004] Based on the above objectives, this application provides an intelligent spinal brace with dynamic adjustment function, including: an upper ring belt, a lower ring belt, a plurality of adjustment rods disposed between the upper ring belt and the lower ring belt, and a control system;

[0005] The control system is used to calculate the target length of each adjustment rod according to a preset orthopedic force and a preset mechanics algorithm, determine the length adjustment amount of each adjustment rod according to the target length of each adjustment rod and the current length of each adjustment rod detected, and control the drive unit to adjust each adjustment rod to the corresponding target length according to the length adjustment amount of each adjustment rod, so that the upper and lower ring belts reach the target adjustment posture for correcting the spine.

[0006] Optionally, pressure sensors are installed at three predetermined positions on the upper and lower ring belts respectively;

[0007] The control system is used to acquire the pressure signal detected by the pressure sensor, determine the driving force of each adjusting rod according to the pressure signal and the corrective force, and determine the target adjustment length of each adjusting rod according to the mechanics solution algorithm.

[0008] Optionally, airbags are provided at each of the three locations;

[0009] The control system is used to determine a pressure control signal based on the pressure signal and a preset target pressure value, and to control the inflation / deflation volume of the airbag based on the pressure control signal.

[0010] Optionally, the adjusting rod includes five active rods and one passive rod. The two ends of the five active rods and the passive rod are respectively hinged to the upper ring belt and the lower ring belt. The control end of the control system is connected to the five active rods through the drive unit.

[0011] Optionally, the passive rod is positioned corresponding to the spine, and the five active rods are arranged between the upper and lower ring bands according to the degree of spinal deformity and the direction of curvature.

[0012] Optionally, three of the five active rods are positioned along the extension direction of the spine, while the other two have a preset angle with the lower ring band.

[0013] Optionally, the upper ring is worn on the chest and the lower ring is worn on the waist. The upper and / or lower rings have a porous structure, and the three positions are determined based on biomechanical analysis. The upper ring has a release opening at a position corresponding to a preset release area.

[0014] Optionally, the intelligent spinal brace further includes:

[0015] Configuration unit for inputting orthopedic forces for periodic testing.

[0016] Optionally, the method for manufacturing the intelligent spinal brace includes:

[0017] Acquire spinal imaging data;

[0018] After preprocessing the spinal imaging data, a preset spinal brace design model is input, and the model outputs spinal brace parameters. The spinal brace parameters include the dimensions of the upper and lower ring bands, the three positions, the connection position between the adjusting rod and the lower ring band, the connection position between the adjusting rod and the upper ring band, the initial length of the adjusting rod, and the length adjustment range of the adjusting rod.

[0019] A smart spinal brace is fabricated based on the spinal brace parameters.

[0020] This application also provides a robotic system, including the aforementioned intelligent spinal brace with dynamic adjustment function.

[0021] As described above, the intelligent spinal brace and robot system with dynamic adjustment function provided in this application includes: an upper ring band, a lower ring band, and multiple adjusting rods disposed between the upper and lower ring bands. The control system is used to calculate the driving force of each adjusting rod according to the orthopedic force and a mechanics algorithm, thereby obtaining the target length of each adjusting rod. Based on the target length of each adjusting rod and the detected current length of each adjusting rod, the system determines the length adjustment amount of each adjusting rod. According to the length adjustment amount of each adjusting rod, the system controls the drive unit to adjust each adjusting rod to the corresponding target length, so that the upper and lower ring bands reach the target adjustment posture for correcting / supporting the spine. The brace of this application can dynamically adjust the orthopedic / supporting force applied to the affected area, improving the orthopedic / supporting effect. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of wearing the intelligent spinal brace according to an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the structure of the intelligent spinal brace according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of the structure of an intelligent spinal brace according to another embodiment of this application;

[0026] Figure 4 This is a schematic diagram illustrating the degrees of freedom of the intelligent spinal brace according to an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of the structure of the adjusting rod according to an embodiment of this application;

[0028] Figure 6 This is a structural block diagram of the control system according to an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of the brace preparation method according to an embodiment of this application;

[0030] Figure 8 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0032] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0033] like Figure 1-3 As shown, this application embodiment provides an intelligent spinal brace 1 with dynamic adjustment function, including: an upper ring belt 10, a lower ring belt 12, a plurality of adjustment rods 11 disposed between the upper ring belt 10 and the lower ring belt 12, and a control system 2;

[0034] The control system is used to calculate the target length of each adjustment rod according to the preset orthopedic force and the preset mechanics algorithm, determine the length adjustment amount of each adjustment rod according to the target length of each adjustment rod 11 and the current length of each adjustment rod detected, and control the drive unit to adjust each adjustment rod to the corresponding target length according to the length adjustment amount of each adjustment rod, so that the upper ring belt 10 and the lower ring belt 12 reach the target adjustment posture for correcting the spine.

[0035] The intelligent spinal brace provided in this embodiment is worn on the lower back and chest to correct / support the spine. The brace includes an upper band 10 and a lower band 12, with multiple adjusting rods 11 positioned between them. The upper band 10 is worn on the chest, and the lower band 12 is worn on the lower back. The length of each adjusting rod is adjustable. By coordinating the adjustment of one or more adjusting rods, the position and posture between the upper band 10 and the lower band 12 are adjusted, thereby changing the traction force and / or correction angle on the affected area and applying corresponding corrective / supporting force to the spine to achieve spinal correction.

[0036] In some embodiments, the adjusting rod includes five active rods and one passive rod 15. The two ends of the five active rods and the passive rod 15 are hinged to the upper ring belt 10 and the lower ring belt 12, respectively. The control end of the control system is connected to the five active rods via a drive unit. The control system can control the length of the five active rods. Changing the length of one or more of the five active rods can change the length of the passive rod 15, thus adjusting the overall position and attitude between the upper ring belt 10 and the lower ring belt 12. In some embodiments, such as... Figure 5 As shown, the two ends of the adjusting rod 11 are provided with movable connecting parts 110 for movable connection with the upper ring belt 10 and the lower ring belt 12. The surface of the adjusting rod 11 can be made of a knitted mesh weave structure 111, which is sturdy, durable and has a certain degree of comfort.

[0037] In some configurations, the passive bar 15 is positioned corresponding to the spine, and five active bars are positioned between the upper band 10 and the lower band 12 according to the degree of spinal deformity and the direction of curvature. For example, three of the five active bars are positioned corresponding to the direction of spinal curvature, and the other two are positioned in the opposite direction to the direction of spinal curvature, providing appropriate corrective force for the curvature direction to achieve a curvature correction / support effect.

[0038] In some configurations, three of the five active rods are positioned along the extension of the spine, while the other two are at a predetermined angle to the lower circumference band. For example, three active rods are positioned approximately parallel to each other on both sides of the lumbar region to provide support for spinal correction, while the other two are positioned on both sides of the passive rod 15, each at an angle to the upper circumference band 10 and the lower circumference band 12. Optionally, the angle between the two active rods and the lower circumference band is greater than 60 degrees.

[0039] In some methods, a limiting part 18 is provided at the position where the lower ring belt 12 connects to the adjusting rod 11. The limiting part 18 is used to limit the adjustment range of the adjusting rod 11, thereby improving the position adjustment accuracy while ensuring that a certain amount of movement space is provided.

[0040] Considering that the volume of the thoracic and abdominal cavities increases during human respiration, and due to pressure on one side of the pressure zone, the scoliosis can only shift towards the release area with space to achieve correction. Therefore, release openings 16 are set on the upper band 10 at the corresponding release area positions. This allows the body to generate active orthopedic / supporting forces through respiratory movements and muscle strength to guide spinal growth, improving the correction effect. The location of the release area can be specifically determined according to the individual patient's condition.

[0041] In some embodiments, the upper band 10 and the lower band 12 have openings for wearing, making it easier for the patient to wear the brace; the upper band 10 and the lower band 12 have openings 17 on the edge side near the openings for threading flexible straps, making it easier to fix the brace after it is worn.

[0042] Combination Figure 4 As shown, the intelligent spinal brace in this embodiment is based on a 5-UPS / PRPU parallel mechanism. By adjusting the length of one or more of the five active rods, three degrees of freedom in the coronal plane can be achieved, as well as flexion, extension, and torsion movements, namely lateral flexion, forward and backward flexion, rotation around the trunk, and vertical extension and lateral displacement movements within the coronal plane. This can meet the correction / support needs of different patients and improve adaptability. The brace can be worn independently, which is beneficial for patients to perform rehabilitation training in standing or other postures.

[0043] In some embodiments, pressure sensors are respectively installed at three predetermined positions on the upper ring belt 10 and the lower ring belt 12;

[0044] The control system is used to acquire the pressure signal detected by the pressure sensor, determine the driving force of each adjusting rod according to the pressure signal and the straightening force, and determine the target adjustment length of each adjusting rod according to the driving force.

[0045] In this embodiment, when the brace is initially worn, the adjustment rods can be adjusted to the target length using the set orthopedic / supporting force. The brace, in a specific posture, applies the corresponding orthopedic / supporting force to the spine to achieve spinal correction. After a certain period of wear, the actual orthopedic / supporting force applied by the brace in the initial posture may change due to the influence of the patient's daily activities and the gradual emergence of the corrective effect. To achieve dynamic adjustment and provide a stable orthopedic / supporting force, a pressure sensor is installed at a predetermined position on the brace. The pressure value detected in real time by the pressure sensor, combined with the set orthopedic / supporting force, enables force feedback control of the brace. That is, based on the difference between the pressure signal and the orthopedic / supporting force, the target adjustment length of each adjustment rod is determined through force feedback, so that after adjusting the length of each adjustment rod according to the target adjustment length, the brace can still apply the set orthopedic / supporting force.

[0046] In some embodiments, airbags are also provided at three positions on the upper ring belt 10 and the lower ring belt 12;

[0047] The control system is used to determine the pressure control signal based on the pressure signal and the preset target pressure value, and to control the inflation and deflation of the airbag according to the pressure control signal.

[0048] like Figure 2 , 6As shown, in this embodiment, airbag structures are set at three positions on the upper ring 10 and / or the lower ring 12. By detecting the pressure signals at these three positions in real time, the inflation and deflation of the airbags are adjusted according to the detected pressure signals and the set target pressure value. On the one hand, during the wearing of the brace, the pressure provided by the airbags can be used to apply a certain degree of flexible orthopedic / supporting force to the patient, providing fine-tuning of the orthopedic / supporting force within a certain range. By adopting a passive compliant control method, the fine-tuning of the airbag pressure combined with the dynamic adjustment of the adjustment rod can accurately track the movement trajectory of the human spine, meet the normal living needs of patients with spinal diseases, and improve the orthopedic effect. On the other hand, it has a cushioning effect, improving comfort.

[0049] In some configurations, the control system includes a control unit, an air source, and a control valve. The air source is connected to the inflation port of the airbag via the control valve, and the control terminal of the control unit is connected to the control terminal of the control valve. Pressure sensors 13 on the upper band 10 and / or lower band 12, which are in contact with the human body, detect the pressure signal exerted on the body by the upper band 10 and / or lower band 12. The control unit compares the pressure signal with a set target pressure value and adjusts the inflation / deflation volume of the airbag 14 based on the deviation. For example, if the detected current pressure value is greater than the target pressure value, the airbag is deflated to reduce the pressure on the body; if the current pressure value is less than the target pressure value, the airbag is inflated via the control valve to increase the pressure on the body. Thus, by adjusting the inflation / deflation volume of the airbag 14, the pressure exerted on the body by the upper band 10 and / or lower band 12 is adjusted, improving wearing comfort and safety while also providing a cushioning effect.

[0050] In some embodiments, based on data acquired through medical testing methods (e.g., acquiring medical images, measurements, etc.), biomechanical analysis is used to determine the patient's correction / support parameters. These parameters include spinal deformity angle parameters (e.g., the Cobb angle of the spine), the location of the spinal deformity, maximum load-bearing capacity, and upper body length. Based on the acquired Cobb angle, for Cobb angles outside the normal range, biomechanical analysis is used to calculate three corrective / support forces required to correct the deformed spine, which the brace uses to correct / support the spine. In some embodiments, the spinal Cobb angle may include the scoliosis Cobb angle or the kyphosis Cobb angle, meaning the brace can adaptively correct / support these two spinal deformities. After calculating the corrective / support forces based on the Cobb angle using biomechanical analysis, a preset kinematic algorithm is used to calculate the driving force of each adjustment rod, and then the target length of each adjustment rod is obtained.

[0051] like Figure 6As shown, in some embodiments, the intelligent spinal brace also includes a configuration unit for inputting the orthopedic force for periodic monitoring. That is, during the correction process of wearing the intelligent spinal brace, the patient obtains current orthopedic parameters through periodic examinations. Based on these parameters, the current orthopedic force / support force is determined, allowing the intelligent spinal brace to readjust the target lengths of each adjustment rod according to the current orthopedic / support force. By controlling the length of each adjustment rod, the brace's target posture for the current stage of adjustment is achieved, realizing dynamic adjustment during the correction process and improving the correction effect. In some methods, the orthopedic force / support force of the brace can be adjusted periodically according to the patient's degree of spinal deformity, for example, every three months, with the configuration unit readjusting the orthopedic force / support force. During the three-month wearing period, the brace dynamically adjusts the actual applied orthopedic / support force through force feedback control and / or airbag pressure adjustment.

[0052] In some embodiments, a temperature and humidity sensor may be installed on the upper ring 10 and / or the lower ring 12 at a position that is in contact with the human body. The signal output terminal of the temperature and humidity sensor is connected to the signal input terminal of the control unit. The temperature and humidity sensor is used to sense the temperature and humidity of the human body. Based on the detected temperature and humidity, the control unit will issue a safety alarm in a timely manner when it determines that the current temperature has reached a preset temperature threshold and / or the current humidity has reached a preset humidity threshold.

[0053] In some embodiments, the control system further includes a monitoring module for monitoring various data such as current orthopedic parameters, the length of each adjustment rod, the pressure of the airbag, and the body's temperature and humidity. This monitoring module enables real-time, remote monitoring of the intelligent spinal brace, improving the user experience. Optionally, the monitoring module can be application software installed on a terminal.

[0054] In some embodiments, pressure sensor arrays are evenly distributed at the positions where the upper and lower loops fit against the human body. The control unit receives pressure signals from different areas detected by the pressure sensor arrays and generates pressure cloud maps of the pressure on the chest and waist based on the pressure signals. The pressure cloud maps can be displayed through the monitoring module, allowing users to intuitively view the location and magnitude of the corrective / supporting forces applied during spinal correction.

[0055] This embodiment provides a monitoring system for an intelligent spinal brace, including a monitoring module (e.g., a mobile APP) and hardware devices such as pressure sensors, temperature and humidity sensors, and alarm units. It can monitor parameters such as pressure, temperature, and humidity in the wearing area in real time to ensure human safety and reliability. It can also dynamically adjust parameters such as the length of the adjustment rod or the orthopedic / support force in real time to provide different corrective or support forces.

[0056] like Figure 7 As shown, in some embodiments, the method for manufacturing the intelligent spinal brace includes:

[0057] S701: Acquire spinal imaging data;

[0058] In this embodiment, spinal image data of spinal patients is acquired by a computer-based scanning instrument or by a magnetic resonance imaging device.

[0059] S702: After preprocessing the spinal image data, input the preset spinal brace design model, and the model outputs the spinal brace parameters;

[0060] In this embodiment, after acquiring the patient's spinal imaging data, the spinal imaging data is preprocessed to obtain feature vectors suitable for model processing. These feature vectors are then input into a pre-trained spinal brace design model, which outputs spinal brace parameters for designing an intelligent spinal brace. These spinal brace parameters include the dimensions of the upper and lower bands, the three positions of the airbag in the upper and / or lower bands, the connection position of the adjusting rods to the lower band, the connection position of the adjusting rods to the upper band, the initial length of the adjusting rods (five active rods), the length adjustment range of the adjusting rods (five active rods), and the location of the release area.

[0061] S703: Prepare intelligent spinal braces based on spinal brace parameters.

[0062] In this embodiment, after determining the spinal brace parameters, a smart spinal brace is fabricated based on these parameters. In some methods, fabricating a smart spinal brace includes:

[0063] For the upper and lower ring bands, generate solid upper ring band models and solid lower ring band models based on their dimensions;

[0064] Mesh the upper and lower ring models of the solid to obtain the upper and lower ring models of the mesh.

[0065] Based on parameters such as the wearing location and the release area, the mesh density of the upper and lower mesh ring models is adjusted to obtain the adjusted upper and lower mesh ring models.

[0066] Based on the adjusted mesh lines of the upper and lower ring band models, a lofting operation is performed according to a specific cross-sectional shape to generate the upper and lower ring band models of the rod structure.

[0067] The intelligent spinal brace prepared using the above method can be quickly and easily manufactured to meet the requirements for wearing performance, such as mechanical properties and breathability. Both the upper and lower bands of the brace have porous structures. During the preparation process, imaging and clinical examinations are combined to assess the condition of both hard and soft tissues. Based on the assessment results and considering the characteristics of both hard and soft tissues, a personalized correction plan is developed. The layout of the brace and the method of force application are designed according to the characteristics of the hard and soft tissues. At the same time, through regular follow-up visits, the force and direction of the brace are adjusted according to the soft tissue response, thereby achieving synergistic correction of the spine's soft and hard tissues, which helps to restore the integrated physiological function of the human spine's muscles and bones.

[0068] In some embodiments, the method for pre-training the spinal brace design model includes:

[0069] Obtain spinal case sample data;

[0070] Training samples were constructed based on spinal case sample data.

[0071] Obtain the spinal brace parameters corresponding to the spinal case sample data;

[0072] Using the corresponding spinal brace parameters as output, the machine learning model is trained using training samples to obtain the spinal brace design model.

[0073] In this embodiment, the method for constructing a spinal brace design model is as follows: A certain number of spinal case sample data are acquired, including spinal case data from different patients. Simultaneously, for each patient's spinal case data, corresponding spinal brace parameters are acquired. For example, for each patient, spinal brace parameters input by an expert are acquired. Then, training samples for training the model are constructed based on the acquired spinal case sample data. The machine learning model is trained using the spinal brace parameters corresponding to each patient's spinal case data as output, resulting in a spinal brace design model. Using this model, spinal brace parameters suitable for the input patient's spinal case data can be output. The patient then wears a smart spinal brace designed with these parameters to correct their spine.

[0074] In some methods, when designing a brace, after obtaining the patient's upper body length through medical testing, the length of the adjusting rod in its unextended state and its maximum extension can be determined based on this upper body length. By adjusting the length of the adjusting rod within its maximum extension range, the orthopedic position can be accommodated for the patient. For example, if the patient's upper body length is x millimeters, the length of the adjusting rod in its unextended state can be determined to be (x – A) millimeters, where A is the width of the upper band, and the maximum extension of the adjusting rod is 125 millimeters.

[0075] In some approaches, biomechanical finite element analysis (FEA) can simulate the stress and strain distribution exerted on the spine by orthotics of different designs during use. By establishing the patient's musculoskeletal system and considering the interactions between muscles, bones, and joints, FEA can more accurately simulate the stress and strain distribution exerted on the spine and surrounding tissues by the upper and lower bands during use. This facilitates a comprehensive understanding of the brace's performance in real-world use, thereby optimizing the design and reducing damage to the spine and surrounding tissues. FEA modeling combined with patient imaging data (such as CT and MRI) allows for personalized design of the upper and lower bands. Targeted designs based on each patient's specific circumstances (such as spinal morphology and lesion location) improve rehabilitation training effectiveness and comfort. Virtual testing using FEA combined with the musculoskeletal system before brace fabrication can save significant time and costs. Computer simulation can preliminarily verify the effectiveness and safety of the brace design, reducing trial-and-error processes and improving R&D efficiency.

[0076] In the specific design, finite element analysis technology based on the musculoskeletal system is used as the support. First, finite element simulation of the human spinal musculoskeletal system is carried out to find the optimal force application points of the upper and lower ring bands, providing a basis for the design and manufacturing of the upper and lower ring bands. Then, finite element simulation analysis combining the spinal musculoskeletal system and the upper and lower ring bands is carried out to verify the accuracy, effectiveness and safety of the force application points of the upper and lower ring bands. Finally, through multiple simulation analyses, the positional parameters of the upper and lower ring bands on the spine are determined, providing support for the design and fabrication of intelligent spinal braces.

[0077] In some embodiments, considering the varying corrective effects and changes in body posture at different stages of the treatment process, the spinal brace design model can be optimized to adapt to the postural changes at different stages. Specifically, the model can be trained using spinal imaging data samples from different stages, enabling it to provide adaptive spinal brace parameters for patients at different stages. Therefore, when training the spinal brace design model, for each patient, spinal case sample data from different stages and the corresponding spinal brace parameters are obtained. The spinal brace design model is then trained using this data to obtain a spinal brace design model capable of outputting corresponding spinal brace parameters based on spinal imaging data from different stages.

[0078] The intelligent spinal brace provided in this application allows for the fabrication of a suitable brace based on patient medical data after determining the brace parameters. The upper and lower loops of the brace are biomechanically based porous structures that can apply a certain corrective force to the patient. During treatment with the intelligent spinal brace, the target adjustment posture of the brace can be determined through orthopedic parameters at different stages. By adjusting the length of one or more of the multiple adjustment rods, the entire brace is adjusted to the target adjustment posture, allowing it to apply appropriate orthopedic / supporting force to the spine under this posture. Dynamic adjustment improves the corrective effect. Furthermore, the brace has a simple structure, occupies little space, and is easy to wear, enhancing the user experience.

[0079] Figure 8 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0080] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0081] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0082] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0083] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0084] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0085] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0086] The electronic devices described above are used to implement the corresponding methods in the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0087] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0088] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0089] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0090] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0091] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this disclosure.

Claims

1. A smart spinal brace with dynamic adjustment function, characterized in that, include: The system includes an upper ring belt, a lower ring belt, multiple adjusting rods disposed between the upper and lower ring belts, and a control system. Pressure sensors are respectively installed at three predetermined positions on the upper and lower ring belts. The adjustment rod includes five active rods and one passive rod. The two ends of the five active rods and the passive rod are respectively hinged to the upper ring belt and the lower ring belt. The passive rod is set at a position corresponding to the position of the spine. The five active rods are arranged between the upper ring belt and the lower ring belt according to the degree of spinal deformity and the direction of curvature. The control terminal of the control system is connected to the five active rods through the drive unit. The control system is configured to calculate the target length of each adjustment rod according to a preset orthopedic force and a preset mechanics algorithm; determine the length adjustment amount of each adjustment rod based on the target length and the detected current length of each adjustment rod; and control the drive unit to adjust each adjustment rod to the corresponding target length according to the length adjustment amount, so that the upper and lower ring straps reach the target adjustment posture for correcting the spine. The system is also configured to acquire the pressure signal detected by the pressure sensor; determine the driving force of each adjustment rod according to the pressure signal and the orthopedic force and the mechanics algorithm; determine the target adjustment length of each adjustment rod based on the driving force; and apply the orthopedic force to the brace after adjusting the length of each adjustment rod to the target adjustment length. The orthopedic force is calculated based on biomechanical analysis of the detected Cobb angle of scoliosis or Cobb angle of kyphosis.

2. The intelligent spinal orthosis of claim 1, wherein Airbags are respectively installed at the three locations; The control system is used to determine a pressure control signal based on the pressure signal and a preset target pressure value, and to control the inflation / deflation volume of the airbag based on the pressure control signal.

3. The intelligent spinal orthosis of claim 1, wherein, Three of the five active rods are positioned along the extension direction of the spine, while the other two have a preset angle with the lower ring band.

4. The intelligent spinal orthosis of claim 1, wherein, The upper ring is worn on the chest and the lower ring is worn on the waist. The upper and / or lower rings have a porous structure. The three positions are determined based on biomechanical analysis. The upper ring has a release opening at the position corresponding to the preset release area.

5. The intelligent spinal brace according to claim 1, characterized in that, Also includes: Configuration unit for inputting orthopedic forces for periodic testing.

6. The intelligent spinal brace according to claim 1, characterized in that, The method for preparing the intelligent spinal brace includes: Acquire spinal imaging data; After preprocessing the spinal imaging data, a preset spinal brace design model is input, and the model outputs spinal brace parameters. The spinal brace parameters include the dimensions of the upper and lower ring bands, the three positions, the connection position between the adjusting rod and the lower ring band, the connection position between the adjusting rod and the upper ring band, the initial length of the adjusting rod, and the length adjustment range of the adjusting rod. A smart spinal brace is fabricated based on the spinal brace parameters.

7. A robot system, characterized in that, Including the intelligent spinal brace with dynamic adjustment function as described in any one of claims 1-6.

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