A six-dimensional cervical spine traction system based on facial posture recognition technology

Abstract

The invention discloses a six-dimensional cervical vertebra bone correction traction system based on facial posture recognition technology, comprising a load-bearing movable plate provided with a facial posture recognition module, a cervical vertebra arc traction module, a left-right rotation torque plate module, a left-right lateral flexion torque plate module, a bed surface inclination and front neck inclination association module and a control module, wherein the cervical vertebra arc traction module comprises a manipulator neck holding component, a manipulator forehead holding component and a rear inclination drive component; the control module can perform lateral rotation traction and / or lateral flexion traction, and adjust the facial posture to an ideal posture before traction and after traction resetting; the ideal posture before traction is horizontal, front neck inclination or back neck inclination, and the ideal posture after traction resetting is horizontal; the bed surface inclination and front neck inclination association module adjusts the face to a horizontal state, the manipulator neck holding component adjusts the face to a front neck inclination, and the rear inclination drive component and the manipulator forehead holding component adjust the face to a back neck inclination, so as to achieve the best traction effect.

Description

Technical Field

[0001] The invention belongs to the technical field of medical rehabilitation, and in particular relates to a six-dimensional cervical vertebrae correction and traction system based on facial posture recognition technology. Background Art

[0002] In modern society, cervical spine diseases are becoming more common. This is mainly because people have bad habits such as long-term desk work and frequent use of electronic devices with their heads down, which puts the cervical spine under pressure for a long time. This continuous pressure leads to the emergence of various cervical spine diseases, such as cervical disc herniation, bone hyperplasia, straightening of the physiological curvature, tendon dislocation and bone dislocation, which have a serious negative impact on people's quality of life.

[0003] During the treatment of cervical vertebrae, accurately grasping the patient's facial posture is crucial for accurately adjusting the angle and strength of cervical traction. The existing cervical spine bone-setting rehabilitation system with the publication number CN105662684B treats cervical spondylosis by imitating traditional Chinese medicine bone-setting techniques, but it lacks facial posture detection. When each traction is completed and the cervical spine is repositioned, the face may not be in a horizontal posture. At this time, the next traction will have an adverse effect on the treatment effect and there are certain safety hazards. At the same time, during each traction process, lateral rotation traction and / or lateral pull traction are performed when the facial posture does not reach the ideal posture, and the traction effect is not ideal.

[0004] In addition, the traditional cervical rehabilitation system cannot locate the cervical arc traction position to the target cervical segment during cervical spine treatment, which limits its treatment effect to a certain extent. Summary of the invention

[0005] One of the purposes of the present invention is to provide a six-dimensional cervical spine bone correction and traction system based on facial posture recognition technology to solve the problem of lack of facial posture monitoring in the existing cervical spine bone correction and rehabilitation system mentioned in the background technology.

[0006] The second purpose of the present invention is to provide a six-dimensional cervical spine bone correction and traction system based on facial posture recognition technology to solve the problem that the existing cervical spine bone correction and rehabilitation system mentioned in the background technology cannot locate the target cervical spine segment.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A six-dimensional cervical spine bone correction traction system based on facial posture recognition technology, comprising a load-bearing mobile disk, a cervical spine arc traction module, a left and right rotation torque disk module, a left and right lateral flexion torque disk module and a control module, the cervical spine arc traction module comprises a neck support neck holding component and a manipulator forehead holding component, the cervical spine arc traction module also includes a rear tilt drive component; the neck support neck holding component is a manipulator neck holding component, which can hold the neck and lift the neck; the system also includes:

[0009] The bed surface tilt and cervical front tilt association module is used to adjust the bed surface tilt angle and the height of the cervical vertebra arc traction module in a linked manner;

[0010] A facial posture recognition module is disposed on the load-bearing movable plate and is used to obtain the patient's facial posture;

[0011] The control module can control the modules and / or components to adjust the facial posture to an ideal posture, wherein the ideal posture is horizontal, front neck tilted or back neck tilted;

[0012] The method for adjusting the horizontal facial posture is as follows: the cervical spine is raised and lowered by the bed surface tilting and cervical front tilting association module, so that the cervical spine forms an arc traction state, and the neck is raised and lowered by the manipulator neck holding component according to the normal value of the cervical spine physiological arc to achieve a horizontal facial posture;

[0013] The method of adjusting the facial posture of the front neck tilt is: adjust the height between the cervical spine and the bed surface through the neck support and neck holding component to form a front tilt traction;

[0014] The method for adjusting the facial posture with posterior neck tilt is as follows: adjusting the head height through the posterior tilt drive assembly, and at the same time using the manipulator forehead holding assembly to stabilize the head, thereby forming posterior neck tilt traction.

[0015] Preferably, the manipulator neck-holding assembly includes two neck-holding manipulators arranged opposite to each other, a neck-holding belt suspended on the two neck-holding manipulators, and a first synchronous driving mechanism for driving the two neck-holding manipulators to move synchronously to opposite sides.

[0016] Preferably, the neck-holding manipulator comprises:

[0017] The neck stand arm has a third gear linkage group rotatably mounted on the front and rear sides respectively, the gears of the third gear linkage group at the bottom are fixedly connected through the second drive shaft, the second drive shaft runs through the neck stand arm, and a damper is arranged between the neck stand arm and the second drive shaft;

[0018] The forearm hand support has a bottom portion coaxially fixedly connected with the gear of the third gear linkage group located at the top;

[0019] One end of the contoured finger is coaxially fixedly connected with the top end of the forearm hand support.

[0020] Preferably, the system further comprises a waist hugging module for hugging the waist.

[0021] Preferably, the waist-holding module comprises two folding manipulators arranged opposite to each other, a waist-holding belt suspended on the folding manipulators, and a waist-holding driving mechanism for driving each folding manipulator to move to opposite sides.

[0022] Preferably, the folding robot comprises:

[0023] A drive shaft mounting seat, used for mounting a rotatable first drive shaft, one end of the first drive shaft being connected to a drive mechanism;

[0024] The waist standing arm has first gear linkage groups rotatably mounted on the front and rear sides respectively, the first drive shaft passes through the waist standing arm and the gear fixing sleeves of the two first gear linkage groups at the bottom are arranged outside the first drive shaft, and a damper is arranged between the waist standing arm and the first drive shaft;

[0025] A limiting plate, which is coaxially arranged on the first driving shaft in cooperation with the waist standing arm, and is used to limit the rotation angle of the waist standing arm;

[0026] The forearm has a second gear linkage group rotatably mounted on the front and rear sides respectively. The gear shafts of the two first gear linkage groups at the top penetrate the forearm and are fixedly connected to the gears of the second gear linkage group at the bottom. A damper is arranged between the gear shaft and the forearm.

[0027] A rotation limit relationship is set between the waist standing arm and the forearm to limit the rotation angle of the forearm;

[0028] The upper arc-shaped support has a bottom end coaxially fixedly connected to the gear located at the top of the second gear linkage group;

[0029] The lower arc-shaped support has a top that is sleeved on the gear shaft of the second gear connecting group located at the top.

[0030] Preferably, the system further comprises:

[0031] Neck shape recognition module, used to obtain the neck contour and calculate the neck length;

[0032] The cervical target segment positioning module determines the position information of the cervical target segment according to the length of the neck;

[0033] Shoulder measurement module, used to obtain shoulder position information in real time;

[0034] A traction distance calculation module calculates the waist traction distance information based on the position information of the target cervical segment and the position information of the shoulder;

[0035] The waist holding and traction module is connected to the waist holding module of the robot to move the held waist forward and pull it backward;

[0036] The control module can control the waist holding and traction module to move forward and pull backward the held waist based on the waist holding and traction distance information.

[0037] Preferably, the bed surface tilt and front neck tilt association module includes a bed surface tilt mechanism, a front neck tilt mechanism and a linkage unit. The front neck tilt mechanism is a lifting platform. The bed surface tilt mechanism includes a bed board arranged corresponding to the shoulder and back parts, an articulated connecting plate arranged in an "in" shape at the bottom of the bed board, and a spiral transmission drive mechanism that drives one end of the articulated connecting plate to move forward and backward.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1) Before each lateral flexion and / or lateral rotation traction, the facial posture is adjusted to an ideal facial posture through modules and / or components to ensure the lateral flexion and / or lateral rotation traction effect. After the lateral flexion and / or lateral rotation traction is completed, the facial posture is adjusted to a horizontal state to ensure the accuracy of the next traction operation;

[0040] 2) When the patient lies in the supine position, the waist is moved by the waist traction module to achieve forward and backward movement of the cervical spine, helping to position the target cervical segment on the cervical arc traction module to ensure the traction effect;

[0041] 3) During cervical traction, the waist traction module is used to hold the waist tightly to achieve body stability, prevent cervical vertebrae from shifting, and ensure the safety and reliability of traction. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a top view of the six-dimensional cervical spine orthopedic traction system of embodiment 1 of the present invention.

[0043] Figure 2 It is a side view of the six-dimensional cervical spine bone correction traction system of embodiment 1 of the present invention.

[0044] Figure 3 It is a front view of the six-dimensional cervical spine bone correction traction system of embodiment 1 of the present invention.

[0045] Figure 4 This is a top view of the cervical vertebra arc traction module.

[0046] Figure 5 It is a top view of the left and right side bending traction disk modules.

[0047] Figure 6 It is a cross-sectional view of the left and right side bending traction disk modules.

[0048] Figure 7 This is a top view of the bed tilt module.

[0049] Figure 8 It is a side view of the bed tilt module.

[0050] Fig. 9 This is the measurement point map in the facial gesture recognition module.

[0051] Fig.10 This is a schematic diagram of the structure of the robot neck holding assembly in the initial state.

[0052] Fig.11 This is a schematic diagram of the structure of the neck-holding component of the robot in the neck-holding state.

[0053] Fig.12 This is a schematic diagram of the structure of the robot's waist-holding module in the initial state.

[0054] Fig.13 This is a schematic diagram of the structure of the robot's waist-holding module when working.

[0055] Fig.14 This is a side view of the robot's waist-holding module.

[0056] Fig.15 Schematic diagram of the structure of the folding robot.

[0057] Fig.16 This is a front view of a six-dimensional cervical spine correction and traction system according to Example 2 of the present invention.

[0058] Fig.17 This is a top view of a six-dimensional cervical spine correction and traction system according to Example 2 of the present invention.

[0059] Fig.18 It is a side view of the traction mechanism in the waist-hugging traction module.

[0060] Figure numerals: 1, cervical vertebra arc traction module; 2, left and right lateral flexion torque disk module; 3, left and right rotation torque disk module; 4, front neck tilt mechanism; 5, bed surface tilt mechanism; 6, manipulator waist holding module; 7, infrared distance sensor device; 8, waist holding traction module; 9, load-bearing movable plate; 11, head load-bearing platform; 12, manipulator forehead holding assembly; 13, cervical support slide assembly; 14, manipulator neck holding assembly; 15, rear tilt drive assembly; 151, rear extension angle lifting plate; 152, rear extension angle bracket, 154, rear extension position slide plate; 153, rear extension angle support plate; 155, slide plate drive assembly; 21, lateral flexion torque mounting plate; 51, bed board; 52, articulated connecting plate; 53, spiral transmission drive mechanism; 61. Folding manipulator; 611. Drive shaft mounting seat; 612. First drive shaft; 613. Waist stand arm; 614. First gear linkage group; 615. Forearm; 616. Second gear linkage group; 617. Limiting plate; 618. Upper arc support; 619. Lower arc support; 610. Locking rod; 62. Waist support belt; 141. Neck holding manipulator; 141a. Neck stand arm; 141b. Third gear linkage group; 141c. Forearm hand support; 141d. Imitation finger; 142. Neck support belt; 143. Synchronous drive motor; 80. Traction mechanism; 81. Linear bearing; 82. Linear bearing fixing plate; 83. Optical axis; 84. Optical axis fixing plate; 85. Sprocket chain transmission mechanism; 86. Worm gear drive motor; 87. Chain fixing plate. DETAILED DESCRIPTION

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention. Example 1

[0062] Reference Figure 1-Figure 3As shown, a six-dimensional cervical spine bone correction traction system based on facial posture recognition technology includes a cervical spine arc traction module 1, a left and right rotating torque disk module 3, a left and right lateral flexion torque disk module 2, a bed tilt and front cervical tilt association module, a facial posture recognition module, a load-bearing movable disk 9 and a control module. The bed tilt and front cervical tilt association module includes a bed tilt mechanism 5, a front cervical tilt mechanism 4 and a linkage unit; the bed tilt mechanism 5 is used to adjust the bed tilt angle of the shoulder and back position; the front cervical tilt mechanism 4 uses an existing lifting platform to lift the cervical spine arc traction module 1, and the linkage unit is used to control the coordinated movement of the bed tilt mechanism 5 and the lifting platform. The load-bearing movable disk 9 uses an existing load-bearing movable turntable, which is a vertical support movable rotating disk, and uses a bearing rotating pair to achieve relative rotation. The load-bearing movable disk 9 is arranged on the top of the lifting platform and can move back and forth on the lifting platform. The left and right rotating torque disk module 3 is used to output the traction force of left and right rotation; the left and right lateral flexion torque disk module 2 is used to output the traction force of left and right side pulling, which can be achieved by existing devices. The left and right lateral flexion torque disks are fixedly arranged on the lateral flexion torque mounting disk 21, which is passed through the hollow part of the load-bearing movable disk 9 and is slidably connected to the load-bearing movable disk 9. The output ends of the left and right lateral flexion torque disks are connected to the cervical vertebra arc traction module 1 to drive it to rotate; the left and right rotating torque disk module 3 is fixedly connected to the lifting platform, and the output ends of the left and right rotating torque disk module 3 are coaxial with the vertical supporting movable rotating disk; the output ends of the left and right rotating turntables are connected to the rear side of the lateral flexion torque mounting disk 21 through a connecting plate to realize the left and right rotation of the cervical vertebra arc traction module 1.

[0063] Reference Figure 4 The cervical vertebra arc traction module 1 includes a head load-bearing platform 11, a manipulator neck holding component 14, a manipulator forehead holding component 12, a cervical support slide component 13, and a rear tilt drive component 15; the head load-bearing platform 11 is set corresponding to the patient's head and neck; the manipulator neck holding component 14 is used to hold and lift the neck; the manipulator forehead holding component 12 includes a telescopic manipulator, a mechanical clutch, a second tension sensor and a forehead strap sliding hanger, in which the forehead strap is directly pressed on the forehead, and its structure is set according to the existing technology; the cervical support slide component 13 is set at the bottom of the head load-bearing platform 11, and the sprocket chain transmission is driven by a motor and a gear transmission mechanism connected to the motor. One of the links of the chain is fixedly connected to the head load-bearing platform 11 through a fixing member, and at the same time, a linear bearing (not shown in the figure) is combined to assist in realizing the supine cervical vertebra arc traction to achieve the purpose of cervical extension function. The specific structure of the cervical support slide component 13 is set according to conventional technical means in this field; refer to Figure 5-Figure 6The rear tilt drive assembly 15 is arranged between the neck support slide assembly 13 and the left and right side flexion traction disk modules 2, and includes a rear extension angle lifting plate 151, a rear extension angle bracket 152, a rear extension slide plate 154, a slide plate driving assembly 155, a rear extension angle sensor and a rear extension angle support plate 153, etc. The inclination angle of the neck support slide assembly 13 is adjusted to synchronously adjust the inclination angle of the head load-bearing platform 11. The output end of the left and right side flexion traction disk modules 2 directly acts on the rear tilt drive assembly 15 to realize the rotation of the rear tilt drive assembly 15.

[0064] Reference Figure 7-Figure 8 The bed surface tilting mechanism 5 includes a bed board 51 arranged at the shoulder and back part, an "in"-shaped hinged connecting plate 52 arranged at the bottom of the bed board 51, and a spiral transmission driving mechanism 53 for driving one end of the connecting plate to move forward and backward. The spiral transmission driving mechanism 53 includes a screw, a tilting driving motor connected to the screw, a nut, and a push-pull component connected to the nut and moving synchronously to drive the rear end of the hinged connecting plate 52 to move forward and backward. The control end of the tilting driving motor is connected to the control module.

[0065] In this embodiment, the facial posture recognition module is arranged on the load-bearing movable plate 9. The facial posture recognition module includes a data acquisition unit and a facial posture estimation unit. The facial posture estimation unit estimates the facial posture based on the data collected by the data acquisition unit. The data acquisition unit can use an image acquisition device such as a camera, or use multiple infrared ranging sensors to measure the distance of the face and head and neck. For example, the data acquisition unit can realize face acquisition by arranging three cameras on the upper half of the outer side of the load-bearing movable plate 9, such as Figure 3 As shown, or a measurement layout can be formed by 18 infrared positioning diode measuring devices, which are installed on the upper half of the outer side of the load-bearing movable plate 9, namely L1R1, L2R2, L3R3, L4R4, L5R5, L6R6, L7R7, L8R8, L9R9, to form a facial measurement layout. Fig. 9 The facial measurement points include two straight lines drawn on both sides of the nose, and 10 measurement points are set from top to bottom at the upper middle of the eyebrow (L1R1), the lower middle of the eye (L2R2), the 1st side of the nose tip (L3R3), the upper side of the lip (L4R4), and the lower side of the lip (L5R5). 8 measurement points are set at the upper end of the eyebrow (L6R6), the side of the eye corner (L7R7), the 2nd side of the nose tip (L8R8), and the side of the lip (L9R9) to capture the changes in facial posture. The face posture estimation unit has a built-in face posture estimation algorithm, which can obtain the three-dimensional contour and posture data of the patient's face in three-dimensional space based on the collected image or distance data. The posture data includes the rotation angles in three directions of pitch, yaw, and roll; the face posture estimation algorithm is common knowledge in the field and will not be described here.

[0066] In this embodiment, the manipulator neck-holding assembly 14 includes two neck-holding manipulators 141 arranged opposite to each other, a neck-holding belt suspended on the two neck-holding manipulators 141, and a first synchronous driving mechanism driving the two neck-holding manipulators 141 to move synchronously to opposite sides.

[0067] Specifically, refer to Figure 10-11 , the neck holding manipulator 141 comprises:

[0068] The neck stand arm 141a is rotatably mounted with a third gear linkage group 141b on both the front and rear sides. The third gear linkage group 141b includes four gears meshing in sequence from top to bottom. The gears at the bottom of the third gear linkage group 141b are fixedly connected via a second drive shaft. The second drive shaft passes through the neck stand arm 141a, and a damper is provided between the neck stand arm 141a and the second drive shaft.

[0069] The forearm 615 hand support has its bottom fixedly connected to the gear shaft of the third gear linkage group 141b at the top;

[0070] The contour finger 141d has one end coaxially fixedly connected to the top of the hand support of the forearm 615;

[0071] A limiter, used to limit the rotation angle of the neck stand arm 141a;

[0072] In this embodiment, the first synchronous drive mechanism can be composed of a synchronous drive motor 143, a worm gear, etc. The synchronous drive motor 143 is equipped with a pre-encoder and a post-encoder to control the vertical angle of the neck holding manipulator 141. The neck holding force can be transmitted to the control module through a torque sensor for accurate control. The second drive shaft arranged on the right side rotates clockwise and the second drive shaft arranged on the left side rotates counterclockwise through the first synchronous drive mechanism. Here, the neck holding manipulator 141 on the right is taken as an example to further explain: Since the damping is set between the second drive shaft and the neck stand arm 141a, the second drive shaft drives the neck stand arm 141a to rotate clockwise. When the neck stand arm 141a rotates to abut against the limiter, the neck stand arm 141a can no longer rotate. The second drive shaft drives the third gear linkage group 141b to rotate, and the forearm 615 hand support rotates counterclockwise under the action of the third gear linkage group 141b. At this time, the neck support strap 142 is deformed to form a U shape, realizing the automatic neck holding with the fingers downward to hold up the cervical vertebrae, imitating the "overlapping hands" stretching technique, and holding up the neck from below the 3rd and 4th cervical vertebrae. At the same time, the lifting and lowering of the neck holding strap is achieved by controlling the different rotation angles of the forearm 615 hand support.

[0073] In this embodiment, the stopper is a mounting groove in the head load-bearing platform 11 for horizontally placing the forearm 615 hand support, and the outer side of the mounting groove limits the forearm 615 hand support when it rotates to 90°. In the present invention, the position and structural setting of the stopper can be set by those skilled in the art according to the rotation angle required for the arm to stand upright while holding the neck.

[0074] The bone-setting traction control method of the six-dimensional cervical bone-setting traction system comprises the following steps:

[0075] Step 1, preparation stage, when the patient is in a centered supine position, the control module controls the facial posture recognition module to perform face recognition and obtain the current facial posture, the control module determines whether the current facial posture is horizontal, and adjusts the facial posture to be horizontal if it is not horizontal, stabilizes the forehead by the manipulator forehead holding component 12, and executes step 2;

[0076] Step 2, traction stage, after the control module controls the current facial posture to be in an ideal posture, controls the cervical support slide assembly 13 to stretch the cervical vertebrae, and then controls the left and right rotation torque disc module 3 and / or the left and right lateral flexion torque disc module 2 to traction the cervical vertebrae, and executes step 3;

[0077] Step 3, reset phase, the control module controls all modules executed in step 2 to reset, controls the facial posture recognition module to perform face recognition and obtain the current facial posture, determines whether the current facial posture is horizontal, and adjusts the facial posture to be horizontal if it is not horizontal, and returns to step 2.

[0078] The horizontal facial posture in the preparation and reduction phases is a specific ideal posture. The ideal posture in the traction phase can be a horizontal facial posture, anterior cervical tilted facial posture, or posterior cervical tilted facial posture, which varies according to the traction treatment plan and is determined by the doctor based on the patient's condition. It should be noted that due to individual differences, the inclination angles of the anterior cervical tilted facial posture and posterior cervical tilted facial posture in the ideal posture during the traction phase are different for different patients.

[0079] The method for adjusting the horizontal facial posture is: the cervical spine is raised and lowered through the bed surface tilt and cervical front tilt association module to form an arc traction state of the cervical spine, and the neck is raised and lowered through the manipulator neck holding component 14 according to the normal value of the cervical spine physiological arc (12±5mm) to achieve a horizontal facial posture.

[0080] In the bed surface tilt and front neck tilt association module, the control end of the lifting platform and the control end of the bed surface tilt mechanism 5 are connected to the linkage unit, and the linkage unit is connected to the control module. When the linkage unit can be a linkage mechanism arranged between the bed surface tilt mechanism 5 and the front neck tilt mechanism 4, it can also be a control method for controlling the bed surface tilt mechanism 5 and the front neck tilt mechanism 4 to work together. When the manipulator neck holding assembly holds the neck according to different patient cervical vertebrae, the waist holding belt will form different heights with the bed surface due to the different rotation angles of the forearm hand support. At this time, the bed surface tilt angle is adjusted by the bed surface tilt mechanism to prevent the shoulders and back from being suspended in the air while adjusting the facial posture to be horizontal. The lifting platform is lifted and lowered in accordance with the tilt angle of the bed surface tilt mechanism 5 to prevent the height difference between the head, neck and shoulders. The specific implementation method of the linkage unit is not unique and can be set by technicians in this field.

[0081] The method for adjusting the front tilt facial posture of the neck is as follows: the height between the neck holding strap and the bed surface is adjusted by the manipulator neck holding component 14 to form a front tilt traction.

[0082] The method for adjusting the facial posture by tilting the back of the neck is as follows: adjusting the tilt angle of the head load-bearing platform 11 by the rear tilt driving component 15, and at the same time using the manipulator forehead holding component 12 to stabilize the head, forming a traction for tilting the back of the neck, and the forehead holding force is controlled by the corresponding torque sensor.

[0083] In the present invention, the rear tilt drive assembly 15 acts on the segment of the cervical spine close to the brain, the front cervical tilt module acts on the middle segment of the cervical spine, and the bed surface tilt module acts on the segment of the cervical spine close to the shoulder. The cervical spine is subdivided into three parts for lifting and lowering adjustment, which can also help the system to achieve fine adjustment of facial posture, so that the current facial posture can be automatically adjusted to the ideal facial posture.

[0084] In the present invention, the doctor will need to adjust the cervical spine to different curvatures according to the different cervical spine pathological conditions of the patients before performing left and right lateral pulling and left and right lateral rotation. The system is connected to the control module by setting up a data interaction module. The doctor only needs to input the traction treatment plan to directly help the doctor implement the traction treatment.

[0085] During the traction and reduction process, the head and neck are stabilized by the manipulator neck holding component 14 and the manipulator forehead holding component 12. After the traction and reduction, the head and neck will not have relative lateral rotation and relative lateral flexion, but there may be a certain degree of forward or backward deviation, which makes the current facial posture deviate from the horizontal posture. Therefore, it is necessary to judge the horizontal posture. This step 3 will directly affect the effect of the next traction operation. The present invention adjusts the facial posture before each traction to ensure that the traction position is correct and each traction can reach an ideal traction angle.

[0086] Here, the system is improved: a waist-holding module is set at the waist position to stabilize the waist and prevent the torso from moving when the system adjusts or pulls the cervical spine.

[0087] In this embodiment, a new waist holding module is provided, which is a manipulator waist holding module 6. Figure 12-14 It includes two oppositely arranged folding manipulators 61, a waist-holding belt 62 suspended on the folding manipulators 61, and two waist-holding driving mechanisms. The waist-holding driving mechanisms correspond to and are connected to the folding manipulators 61 one by one, and drive the corresponding folding manipulators 61 to move to the opposite side.

[0088] Combination Fig.15As shown, this embodiment provides a specific structure of a folding manipulator 61, including a manipulator mounting seat, a drive shaft mounting seat 611, a waist standing arm 613, a limit plate 617, a forearm 615, an upper arc support 618, and a lower arc support 619; the drive shaft mounting seat 611 is fixedly arranged on the manipulator mounting seat, and the drive shaft mounting seat 611 is installed with a rotatable first drive shaft 612, one end of the first drive shaft 612 is connected to a waist holding drive mechanism to realize the rotation of the first drive shaft 612, and the waist holding drive mechanism can be a gear transmission drive mechanism, which realizes the driving force by driving the gear transmission through a motor, wherein the motor is provided with a front The waist holding drive mechanism is also equipped with a torque sensor; the waist standing arm 613 is "U" shaped, with its opening facing the inside, and the two sides are arranged front and back, and the front and back sides of the waist standing arm 613 are rotatably installed with a first gear linkage group 614, which is composed of 6 gears meshed in sequence from top to bottom, and the first drive shaft 612 passes through the waist standing arm 613 and the two first gear linkage groups 614 are located at the bottom of the gear fixed sleeve outside the first drive shaft 612, and a damper is arranged between the waist standing arm 613 and the first drive shaft 612; the limit plate 617 is circular , and the limit plate 617 has an arc-shaped notch along the circumferential direction, the arc notch has an arc angle of 45°, the limit plate 617 is sleeved on the first driving shaft 612, and is fixedly connected to the waist standing arm 613, and a locking rod 610 is set on the driving shaft mounting seat 611 to cooperate with the arc-shaped notch to limit the rotation of the waist standing arm 613; the forearm 615 is also in a U-shape with an opening inward, and the front and rear sides of the forearm 615 are rotatably mounted with a second gear linkage group 616, which is also composed of 6 gears meshed in sequence from top to bottom, and the gear shafts of the two first gear linkage groups 614 at the top penetrate the forearm 6 15 and is fixedly connected with the gear at the bottom of the second gear linkage group 616, and a damping is set between the gear shaft and the forearm 615; a rotation limit relationship is set between the forearm 615 and the waist standing arm 613. When the forearm 615 rotates 90 degrees, the lower end of the forearm 615 abuts against the top of the waist standing arm 613 to limit the rotation of the forearm 615; the bottom end of the upper arc-shaped support 618 is coaxially fixedly connected with the gear at the top of the second gear linkage group 616, and the top of the lower arc-shaped support 619 is matched and sleeved on the gear shaft at the top of the second gear linkage group 616, and the waist bag belt 62 is suspended and fixed by the upper arc-shaped support 618 and the lower arc-shaped support 619.

[0089] Here, taking the folding manipulator 61 arranged on the left side as an example, when the waist holding drive mechanism drives the first drive shaft 612 to rotate clockwise, since a damping is arranged between the waist standing arm 613 and the first drive shaft 612, the rotation of the first drive shaft 612 drives the waist standing arm 613 to rotate clockwise. Under the action of the limit plate 617 and the locking member, when the waist standing arm 613 rotates 45°, the waist standing arm 613 can no longer rotate. At this time, the first drive shaft 612 drives the first gear linkage group 614 to rotate, and the gear at the top of the first gear linkage group 614 rotates counterclockwise. The gear shaft 614 rotates to make the corresponding gear shaft rotate synchronously. Since the damping is set between the gear shaft and the forearm 615, the gear shaft drives the forearm 615 to rotate counterclockwise. When the forearm 615 rotates 90°, it contacts the waist standing arm 613, causing the forearm 615 to be unable to rotate. The first drive shaft 612 rotates continuously, and realizes the movement of the first gear linkage group 614 and the second gear linkage group 616. The gear set at the top of the second gear linkage group 616 rotates clockwise, driving the coaxially fixed upper arc support 618 to rotate synchronously counterclockwise to achieve the waist hugging. In the process of the waist hugging drive mechanism driving the folding manipulator 61 to hug the waist, the front and rear encoders will monitor the standing angle of the waist standing arm 613 in real time, and the torque sensor will monitor the waist hugging torque; when the standing angle is close to the preset value, the motor reduces the speed and slowly adjusts to the accurate angle; when the waist hugging torque reaches the preset safety threshold, the motor stops and the waist hugging is completed.

[0090] In the orthopedic traction control method of the six-dimensional cervical vertebra orthopedic traction system, the control module controls the manipulator waist holding module 6 to hold the waist tightly in the preparation stage. Specifically, after the patient is in a centered supine position, the control module controls the manipulator waist holding module 6 to hold the waist tightly, and then controls the facial posture recognition module to perform face recognition and obtain the current facial posture. The control module determines whether the current facial posture is horizontal, and adjusts the facial posture to be horizontal when it is not horizontal, stabilizes the forehead through the manipulator forehead holding component 12, and executes step 2.

[0091] In this embodiment, the upper arc support 618 and the lower arc support 619 each include two arc connecting plates symmetrically arranged front and back, and the two arc connecting plates are fixedly connected by two connecting shafts. The upper arc support 618 and the lower arc support 619 cooperate to form a support support for the waist-holding belt 62, and the connecting shaft is used to suspend the end of the waist-holding belt 62 at multiple points to ensure the reliability of the suspension. The waist is supported by suspending the waist-holding belt 62 on the support support. When the folding manipulator 61 holds the waist tightly, the waist-holding belt 62 can be deformed with the action of the folding manipulator 61, so as to provide covering support for the waist, ensure the reliability of the waist holding, and not cause damage to the waist. Example 2

[0092] Further improvements are made to the above embodiment, the system is also provided with the following modules:

[0093] Neck shape recognition module, used to obtain the neck contour and calculate the neck length;

[0094] The cervical target segment positioning module determines the location information of the cervical target segment according to the length of the neck;

[0095] Shoulder measurement module, used to obtain the position information of the shoulder in real time;

[0096] A traction distance calculation module calculates the waist traction distance information based on the position information of the target cervical segment and the position information of the shoulder;

[0097] The waist holding and pulling module 8 is connected to the manipulator waist holding module 6 to move the held waist forward and pull it backward;

[0098] The control module can also control the waist-holding traction module 8 to move the held waist forward and backward based on the waist-holding traction distance information, so as to achieve the positioning of the target cervical segment on the cervical arc traction module 1.

[0099] In the present invention, the neck morphology recognition module includes a neck data acquisition unit and a neck morphology acquisition unit. The neck data acquisition unit can acquire images through a camera, or measure the distance of the neck by setting a plurality of infrared ranging sensors. The neck morphology acquisition unit determines the neck morphology, such as neck contour, neck size, etc., based on the acquired data, and then acquires the neck length based on the neck morphology. The cervical vertebra target segment positioning module is used to obtain the position of the third segment of the cervical vertebra. The cervical vertebra length under different neck lengths is different, so it is necessary to calculate and locate for different lengths. The installation position and specific implementation of the neck morphology recognition module and the cervical vertebra target segment positioning module are conventional technical means in this field, and those skilled in the art can set them according to actual conditions.

[0100] In this embodiment, Fig.16 As shown, there are two shoulder distance measuring modules, which are symmetrically arranged on the left and right sides. The shoulder distance measuring modules are arranged on the left and right sides of the midline position of the neck hugging strap, and each shoulder distance measuring module includes at least one infrared distance sensor device 7; the measuring points of the infrared distance sensor device 7 and the 18 measuring points in Example 1 together constitute a measurement layout, and at this time, the waist traction distance calculated by the traction distance calculation module is the position difference between the position information of the target cervical segment and the position information of the shoulder in the traction direction, and the positive and negative position difference is used to characterize forward movement and backward pull. At this time, the target cervical segment (segment 3) can be moved to the midline position of the neck hugging strap.

[0101] In the present invention, the lower arc-shaped support 619 in the waist-holding module 6 of the manipulator is arranged to move freely with the waist-holding shape, and the lower arc-shaped support 619 is fixed on the suspended waist-holding belt 62. When the waist-holding traction module 8 is used to move forward and pull backward for waist-holding traction, the torque of the waist-holding belt 62 will not be internally consumed.

[0102] In this embodiment, Fig.17 As shown, the waist holding traction module 8 includes two traction mechanisms 80, each traction mechanism 80 is connected to a corresponding folding manipulator 61 to drive the folding manipulator 61 to move, and the control ends of the two traction mechanisms 80 are connected to the controller, and the controller drives the two traction mechanisms 80 to move forward and pull backward synchronously. The traction mechanism 80 uses a four-axis linear motor to drive the sprocket chain to realize the forward movement and backward pulling of the folding manipulator 61, referring to Fig.18 , which specifically includes a linear bearing fixing plate 82 for fixing a linear bearing 81, an optical axis fixing plate 84 for installing an optical axis 83, a sprocket chain transmission mechanism 85, and a worm gear drive motor 86 for driving the sprocket to rotate. The chain is fixedly connected to the optical axis 83 through a chain fixing plate 87, and the traction mechanism is equipped with an encoder and a torque sensor in conjunction with the worm gear drive motor 86. The driving force of the four-axis linear motor is stable and accurate, the displacement distance is accurately controlled by the encoder, and the stretching force is accurately monitored and controlled by the torque sensor. This design can adapt to the conditions and treatment needs of different patients, ensure the accurate and safe movement of the folding manipulator 61, and is also equipped with overload protection and emergency stop functions. During the waist-holding movement process, the front and rear encoders in the traction mechanism 80 will continuously monitor the displacement distance, and the torque sensor will monitor the stretching force; when the displacement distance reaches the preset value or the stretching force approaches the safety upper limit, the motor stops moving.

[0103] In the present invention, different patients have different neck lengths, so the positions of the target cervical segments are also different. The present invention sets the target cervical segment (the third segment of the cervical spine) at the midline position of the neck strap by identifying and moving the target cervical segments of different patients, so as to adjust the patient's cervical spine to a normal physiological curvature and ensure the later traction effect.

[0104] The bone setting traction control method of the six-dimensional cervical bone setting traction system in this embodiment is as follows:

[0105] Step 1, positioning stage, after the patient is in a centered supine position, the control module obtains the neck holding traction distance information, and after controlling the manipulator waist holding module 6 to hold the waist tightly, controls the waist holding traction module 8 to move to achieve the positioning of the cervical target stage on the neck holding belt (midline position);

[0106] Step 2, preparation stage, the facial posture recognition module performs face recognition and obtains the current facial posture, the control module determines whether the current facial posture is horizontal, and adjusts the facial posture to be horizontal if it is not horizontal, stabilizes the forehead through the manipulator forehead holding mechanism, and executes step 3;

[0107] Step 3, traction phase, after the control module controls the current facial posture to be in an ideal posture, controls the cervical support slide assembly 13 to stretch the cervical vertebra, and then controls the left and right rotation torque disc module and / or the left and right lateral flexion torque disc module to pull the cervical vertebra, and executes step 4;

[0108] Step 4, reset phase, the control module controls all modules executed in step 3 to reset, controls the facial posture recognition module to perform face recognition and obtain the current facial posture, determines whether the current facial posture is horizontal, and adjusts the facial posture to be horizontal if it is not horizontal, and returns to step 3.

[0109] During the positioning stage, when the waist is moved by using the waist traction module 8 to move the cervical spine, the facial posture will change. For example, when the facial posture is horizontal, moving the waist forward will cause a backward facial posture, and moving the waist backward will cause a forward facial posture. At this time, step 2 is used to level the facial posture in order to perform the first traction operation.

[0110] Here, the method of leveling the current facial posture and adjusting the forward and backward tilted facial posture has been specifically described in Example 1 and will not be expanded here.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-dimensional cervical spine bone correction traction system based on facial posture recognition technology, comprising a cervical spine arc traction module (1), a left and right rotation torque disk module, a left and right lateral flexion torque disk module, a load-bearing movable disk (9) and a control module, wherein the cervical spine arc traction module (1) comprises a neck support neck holding component and a manipulator forehead holding component (12), characterized in that: The cervical vertebra arc traction module (1) further comprises a rear tilt drive assembly (15); the cervical support neck holding assembly is a manipulator neck holding assembly (14) capable of holding the neck and lifting and lowering the neck; the system further comprises: A bed surface tilt and cervical front tilt association module, used to adjust the bed surface tilt angle and the height of the cervical vertebra arc traction module (1) in a linked manner; A facial posture recognition module, disposed on the load-bearing movable plate (9), and used for acquiring the facial posture of the patient; The control module can control the modules and / or components to adjust the facial posture to an ideal posture, wherein the ideal posture is horizontal, front neck tilted or back neck tilted; The method for adjusting the horizontal facial posture is as follows: the cervical spine is raised and lowered by means of a bed surface tilting and cervical front tilting association module, so that the cervical spine forms an arc traction state, and the neck is raised and lowered by means of a manipulator neck holding component (14) according to the normal value of the physiological arc of the cervical spine, so as to achieve a horizontal facial posture; The method of adjusting the facial posture of the front neck tilt is: adjust the height between the cervical spine and the bed surface through the neck support and neck holding component to form a front tilt traction; The method for adjusting the facial posture with a posterior neck tilt is as follows: adjusting the head height by means of a posterior tilt driving component (15), and simultaneously stabilizing the head by means of a mechanical hand forehead holding component (12), thereby forming posterior neck tilt traction.

2. A six-dimensional cervical spine correction traction system based on facial posture recognition technology as claimed in claim 1, characterized in that: The manipulator neck-holding assembly (14) comprises two neck-holding manipulators (141) arranged opposite to each other, a neck-holding belt suspended on the two neck-holding manipulators (141), and a first synchronous driving mechanism for driving the two neck-holding manipulators (141) to move synchronously to opposite sides.

3. A six-dimensional cervical spine bone correction traction system based on facial posture recognition technology as claimed in claim 2, characterized in that: The neck-holding manipulator (141) comprises: The neck stand arm (141a) is rotatably provided with a third gear linkage group (141b) on both the front and rear sides, the gears of the third gear linkage group (141b) at the bottom are fixedly connected via a second drive shaft, the second drive shaft passes through the neck stand arm (141a), and a damper is provided between the neck stand arm (141a) and the second drive shaft; A forearm (615) hand support, the bottom of which is fixedly connected to a gear shaft of a third gear linkage group (141b) located at the top; One end of the contour finger (141d) is coaxially fixedly connected to the top end of the forearm (615) hand support.

4. A six-dimensional cervical spine correction traction system based on facial posture recognition technology as claimed in claim 1, characterized in that: The system also includes a waist hugging module, which is used for hugging the waist.

5. A six-dimensional cervical spine bone correction traction system based on facial posture recognition technology as claimed in claim 4, characterized in that: The waist-holding module comprises two folding manipulators (61) arranged opposite to each other, a waist-holding belt (62) suspended on the folding manipulators (61), and a waist-holding driving mechanism for driving each folding manipulator (61) to move to opposite sides.

6. A six-dimensional cervical spine bone correction traction system based on facial posture recognition technology as claimed in claim 5, characterized in that: The folding robot (61) comprises: A drive shaft mounting seat (611) is used to mount a rotatable first drive shaft (612), one end of the first drive shaft (612) being connected to a drive mechanism; The waist standing arm (613) is rotatably mounted with a first gear linkage group (614) on both the front and rear sides, the first drive shaft (612) passes through the waist standing arm (613) and the two first gear linkage groups (614) are located at the bottom of the gear fixed sleeve outside the first drive shaft (612), and damping is arranged between the waist standing arm (613) and the first drive shaft (612); A limiting plate (617) is coaxially arranged on the first driving shaft (612) in cooperation with the waist standing arm (613) and is used to limit the rotation angle of the waist standing arm (613); The forearm (615) is rotatably mounted with a second gear linkage group (616) on both the front and rear sides, the gear shafts of the two first gear linkage groups (614) at the top penetrate the forearm (615) and are fixedly connected to the gears of the second gear linkage group (616) at the bottom, and a damper is arranged between the gear shaft and the forearm (615); A rotation limiting relationship is provided between the waist standing arm (613) and the forearm (615), so as to limit the rotation angle of the forearm (615); An upper arc-shaped support (618), the bottom end of which is coaxially fixedly connected to the gear at the top of the second gear linkage group (616); The lower arc-shaped support (619) has a top that is sleeved on the gear shaft of the second gear connecting group located at the top.

7. A six-dimensional cervical spine traction system based on facial posture recognition technology as claimed in claim 4, characterized in that: The system further comprises: Neck shape recognition module, used to obtain the neck contour and calculate the neck length; The cervical target segment positioning module determines the location information of the cervical target segment according to the length of the neck; Shoulder measurement module, used to obtain the position information of the shoulder in real time; A traction distance calculation module calculates the waist traction distance information based on the position information of the target cervical segment and the position information of the shoulder; The waist holding and traction module (8) is connected to the manipulator waist holding module (6) to move the held waist forward and pull it backward; The control module can control the waist-holding and traction module (8) to move the held waist forward and pull it backward based on the waist-holding and traction distance information.

8. The six-dimensional cervical spine correction traction system based on facial posture recognition technology as claimed in claim 1, characterized in that: The bed surface tilting and front neck tilting association module comprises a bed surface tilting mechanism (5), a front neck tilting mechanism (4) and a linkage unit. The front neck tilting mechanism (4) is a lifting platform. The bed surface tilting mechanism (5) comprises a bed board (51) arranged corresponding to the shoulder and back parts, an articulated connecting plate (52) arranged in an "in" shape at the bottom of the bed board (51), and a screw transmission driving mechanism (53) driving one end of the articulated connecting plate (52) to move forward and backward.

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