Multi-mode neck rehabilitation training device for cervical vertebra pain patients

Abstract

The invention relates to a multi-mode neck rehabilitation training device for patients suffering from cervical vertebra pain. The multi-mode neck rehabilitation training device comprises an ergonomic seat, a position adjusting mechanism, a generalized spherical parallel mechanism and a neck positioning structure. The generalized spherical parallel mechanism is used for controlling the pose of the neck positioning structure and comprises a first branch chain, a second branch chain, a third branch chain and a fourth branch chain; one ends of the first branch chain, the second branch chain and the third branch chain are rotationally connected with the tail end of a horizontal connecting plate of the position adjusting mechanism and have rotating axes coincident, and the other ends of the first branch chain, the second branch chain and the third branch chain are rotationally connected with the top of a helmet of the neck positioning structure and have rotating axes coincident; one end of the third branch chain is rotationally connected with the middle of the horizontal connecting plate of the position adjusting mechanism, and the other end is rotationally connected with the upper part of the rear side of the helmet of the neck positioning structure; the rotating axes of one ends of the first branch chain, the second branch chain and the third branch chain intersect with the rotating axes of the other ends of the first branch chain, the second branch chain and the third branch chain at one point, and the point is the virtual rotating sphere center of the generalized spherical parallel mechanism. The third branch chain is used for controlling the position of the virtual rotating sphere center, the first branch chain and the second branch chain are used for controlling pitching and lateral bending movement of the head, and the fourth branch chain is used for controlling left-right rotation of the head. The device has a good training effect on patients with different cervical vertebra pain degrees.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to a multi-mode cervical rehabilitation training device for patients with cervical pain. Background Art

[0002] A cervical rehabilitation training device is a rehabilitation training instrument for patients with cervical pain. It controls the neck to move in multiple degrees of freedom to achieve the purpose of relieving cervical pain and improving cervical toughness. Existing cervical rehabilitation devices are mainly divided into two types: unpowered and motor-driven. An unpowered cervical rehabilitation device is essentially a neck brace that can only provide neck support and cannot achieve cervical rehabilitation training. Existing motor-driven cervical rehabilitation devices can provide few degrees of freedom and a single rehabilitation function. They cannot simulate physical therapy to perform cervical rehabilitation training on patients, and the human-machine coupling is low, which can easily cause secondary damage to the patient's neck. Based on this, the present invention proposes a multi-mode cervical rehabilitation training device for patients with cervical pain. Summary of the invention

[0003] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a multi-mode neck rehabilitation training device for patients with cervical pain.

[0004] The present invention solves the technical problem by adopting the following technical solution: A multi-mode neck rehabilitation training device for patients with cervical pain, characterized in that it comprises an ergonomic seat, a position adjustment mechanism, a generalized spherical parallel mechanism and a neck positioning structure; the position adjustment mechanism is installed on the backrest of the ergonomic seat and is used to adjust the height of the neck positioning structure; the generalized spherical parallel mechanism is connected with the position adjustment mechanism and the neck positioning structure and is used to control the position and posture of the neck positioning structure; The generalized spherical parallel mechanism includes a first branch chain, a second branch chain, a third branch chain and a fourth branch chain; one end of the first branch chain, the second branch chain and the third branch chain is rotationally connected to the end of the horizontal connecting plate of the position adjustment mechanism and the rotation axis coincides, and the other end of the first branch chain, the second branch chain and the third branch chain is rotationally connected to the top of the helmet of the neck positioning structure and the rotation axis coincides; one end of the third branch chain is rotationally connected to the middle part of the horizontal connecting plate of the position adjustment mechanism, and the other end is rotationally connected to the upper part of the rear side of the helmet of the neck positioning structure; the rotation axis of one end of the first branch chain, the second branch chain and the third branch chain intersects with the rotation axis of the other end of the first branch chain, the second branch chain and the third branch chain at a point, which is the virtual rotation center of the generalized spherical parallel mechanism, and the third branch chain is used to control the position of the virtual rotation center of the ball. The virtual rotation center of the ball for patients with mild cervical pain is located at the center of the seventh vertebral segment, and the virtual rotation center of patients with severe cervical pain is located at the center of the first vertebral segment; the first branch chain and the second branch chain are used to control the pitch and lateral flexion movements of the head, and the fourth branch chain is used to control the left and right rotation of the head.

[0005] Further, the generalized spherical parallel mechanism also includes a first branch chain drive motor, a second branch chain drive motor and a fourth branch chain drive motor; the first branch chain includes a first branch chain drive arm and a first branch chain connecting rod, the second branch chain includes a second branch chain drive arm and a second branch chain connecting rod, the third branch chain includes a third branch chain connecting rod and a third branch chain electric push rod, and the fourth branch chain includes a fourth branch chain telescopic rod and a fourth branch chain drive arm; Among them, the first branch chain drive motor is installed at the other end of the horizontal connecting plate of the position adjustment mechanism, the output shaft of the first branch chain drive motor is fixedly connected to the upper end of the first branch chain drive arm, the lower end of the first branch chain drive arm is rotationally connected to the upper end of the first branch chain connecting rod through a spherical pair, and the lower end of the first branch chain connecting rod is hinged to the top of the helmet of the neck positioning structure; the second branch chain drive motor is installed at the other end of the horizontal connecting plate of the position adjustment mechanism, the output shaft of the second branch chain drive motor is fixedly connected to the upper end of the second branch chain drive arm, the lower end of the second branch chain drive arm is rotationally connected to the upper end of the second branch chain connecting rod through a spherical pair, and the lower end of the second branch chain connecting rod is hinged to the top of the helmet of the neck positioning structure; the upper end of the third branch chain connecting rod is hinged to the end of the horizontal connecting plate of the position adjustment mechanism. The lower end of the third branch chain connecting rod is rotatably connected with the telescopic end of the third branch chain electric push rod through a spherical pair, and the other end of the third branch chain electric push rod is hinged to the top of the helmet of the neck positioning structure; the rotation axis of the third branch chain connecting rod, the first branch chain driving arm and the second branch chain driving arm upper ends coincide, and the rotation axis of the other end of the third branch chain electric push rod coincides with the rotation axis of the lower ends of the first branch chain connecting rod and the second branch chain connecting rod; the fourth branch chain driving motor is installed in the middle of the horizontal connecting plate of the position adjustment mechanism, the output shaft of the fourth branch chain driving motor is fixedly connected to the upper end of the fourth branch chain driving arm, the lower end of the fourth branch chain driving arm is rotatably connected to the telescopic end of the fourth branch chain telescopic rod through a spherical pair, and the other end of the fourth branch chain telescopic rod is hinged to the upper part of the rear side of the helmet of the neck positioning structure.

[0006] Furthermore, when the third branch chain electric push rod is extended, the neck positioning structure is slightly moved along the length direction of the cervical vertebra to achieve cervical vertebra traction training; when the first branch chain, the second branch chain and the fourth branch chain move, cervical vertebra rotation training is achieved.

[0007] Furthermore, the position adjustment mechanism includes a position adjustment electric push rod, a horizontal connecting plate and a telescopic rod; the position adjustment electric push rod is installed on the backrest of the ergonomic seat, and one end of the horizontal connecting plate is fixedly connected to the telescopic end of the position adjustment electric push rod; the upper end of the telescopic rod is hinged to the middle part of the horizontal connecting plate, and the lower end is hinged to the ergonomic seat.

[0008] Furthermore, the neck positioning structure includes a helmet and an inflatable neck brace; the rear end of the inflatable neck brace is inserted into the rear side of the helmet, and a pressure sensor is provided on the inside of the helmet.

[0009] Compared with the prior art, the present invention has the following beneficial effects: The present invention introduces a parallel mechanism into a neck rehabilitation training instrument, solving the problems of existing neck rehabilitation training instruments with few degrees of freedom, few rehabilitation modes, low human-machine coupling and low reliability. The generalized spherical parallel mechanism has a virtual rotating sphere center with adjustable position. For patients with different degrees of cervical pain, adjusting the virtual rotating sphere center to different positions of the patient's cervical spine can produce the best training effect. The neck positioning structure is equivalent to a moving platform. The generalized spherical parallel mechanism drives the neck positioning structure to rotate around the virtual rotating sphere center, thereby controlling the posture of the neck positioning structure to achieve the pitch, lateral flexion and left and right rotation of the patient's neck, thereby achieving the purpose of rehabilitation training. While the third branch of the generalized spherical parallel mechanism controls the position of the virtual rotating sphere center, when the electric push rod of the third branch is slightly extended, the neck positioning structure is slightly moved along the length direction of the cervical spine to pull the patient's cervical spine.

[0010] The single-degree-of-freedom movement and the adjustment of the position of the virtual rotating sphere center are realized through the third branch of the generalized spherical parallel mechanism. When the position of the virtual rotating sphere center is determined, the virtual rotating sphere center is equivalent to the fixed sphere center. The three-degree-of-freedom rotation around the virtual rotating sphere center is realized through the first branch, the second branch and the fourth branch of the generalized spherical parallel mechanism. No additional control is required, and it has the advantages of strong functionality, high reliability and fast response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a partial enlarged view of the position adjustment mechanism of the present invention; Figure 3 It is a structural schematic diagram of the generalized spherical parallel mechanism of the present invention; Figure 4 It is a partial enlarged view of the generalized spherical parallel mechanism of the present invention at a viewing angle; Figure 5 is a partial enlarged view of the generalized spherical parallel mechanism of the present invention at another viewing angle; Figure 6 is a partial enlarged view of the neck positioning structure of the present invention; In the figure: 1. Ergonomic seat; 2. Protective cover; 3. Position adjustment mechanism; 4. Generalized spherical parallel mechanism; 5. Neck positioning structure; 31. Position adjustment electric push rod; 32. Horizontal connecting plate; 33. Telescopic rod; 41. First branch chain driving motor; 42. First branch chain; 43. Third branch chain; 44. Second branch chain driving motor; 45. Fourth branch chain; 46. Second branch chain; 47. Fourth branch chain driving motor; 51. Helmet; 52. Inflatable neck brace; 421, first branch chain driving arm; 422, first branch chain connecting rod; 431, third branch chain connecting rod; 432, third branch chain electric push rod; 451, fourth branch chain telescopic rod; 452, fourth branch chain driving arm; 461, second branch chain driving arm; 462, second branch chain connecting rod. DETAILED DESCRIPTION

[0012] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to further introduce the technical solutions of the present invention and are not intended to limit the protection scope of the present application.

[0013] The present invention provides a multi-mode cervical rehabilitation training device for patients with cervical pain (hereinafter referred to as the device, see Figures 1 to 6 ), including an ergonomic seat 1, a position adjustment mechanism 3, a generalized spherical parallel mechanism 4 and a neck positioning structure 5; the position adjustment mechanism 3 is installed on the backrest of the ergonomic seat 1, and the generalized spherical parallel mechanism 4 is connected with the position adjustment mechanism 3 and the neck positioning structure 5; the neck positioning structure 5 is used to support the patient's head and neck to achieve the positioning of the cervical spine; the position adjustment mechanism 3 is used to adjust the height of the neck positioning structure 5 to make it initially adapt to the patient's head and neck position; the generalized spherical parallel mechanism 4 has a virtual rotating sphere center with adjustable position, and the neck positioning structure 5 is driven to rotate around the virtual rotating sphere center by the generalized spherical parallel mechanism 4, thereby controlling the posture of the neck positioning structure 5 to achieve the pitch, lateral flexion and left and right rotation of the patient's head.

[0014] The position adjustment mechanism 3 includes a position adjustment electric push rod 31, a horizontal connecting plate 32 and a telescopic rod 33; wherein, the position adjustment electric push rod 31 is fixedly installed on the backrest of the ergonomic chair 1, and one end of the horizontal connecting plate 32 is fixedly connected to the telescopic end of the position adjustment electric push rod 31; the upper end of the telescopic rod 33 is hinged to the middle part of the horizontal connecting plate 32, and the lower end is hinged to the ergonomic chair 1; the height of the horizontal connecting plate 32 is adjusted by telescoping the position adjustment electric push rod 31, and then the position of the neck positioning structure 5 is adjusted, so that the height of the neck positioning structure 5 is initially adapted to the patient's head and neck position.

[0015] The generalized spherical parallel mechanism 4 includes a first branch chain drive motor 41, a first branch chain 42, a second branch chain drive motor 44, a second branch chain 46, a third branch chain 43, a fourth branch chain 45 and a fourth branch chain drive motor 47; the first branch chain 42 includes a first branch chain drive arm 421 and a first branch chain connecting rod 422, the second branch chain 46 includes a second branch chain drive arm 461 and a second branch chain connecting rod 462, the third branch chain 43 includes a third branch chain connecting rod 431 and a third branch chain electric push rod 432, and the fourth branch chain 45 includes a fourth branch chain telescopic rod 451 and a fourth branch chain drive arm 452; Among them, the first branch chain drive motor 41 is connected to the other end of the horizontal connecting plate 32 of the position adjustment mechanism 3, the output shaft of the first branch chain drive motor 41 is fixedly connected to the upper end of the first branch chain drive arm 421, the lower end of the first branch chain drive arm 421 is rotationally connected to the upper end of the first branch chain connecting rod 422 through a spherical pair, and the lower end of the first branch chain connecting rod 422 is hinged to the top of the helmet 51 of the neck positioning structure 5; the second branch chain drive motor 44 is installed on the support plate at the other end of the horizontal connecting plate 32, the second branch chain drive motor 44 coincides with the rotation axis of the first branch chain drive motor 41, the output shaft of the second branch chain drive motor 44 is fixedly connected to the upper end of the second branch chain drive arm 461, and the second branch chain drive arm 461 The lower end of the second branch chain link 462 is rotatably connected to the upper end of the second branch chain link 462 through a spherical pair, and the lower end of the second branch chain link 462 is hinged to the top of the helmet 51 of the neck positioning structure 5; since the rotation axis of the first branch chain drive motor 41 and the second branch chain drive motor 44 coincide, the rotation axis of the upper end of the first branch chain drive arm 421 and the second branch chain drive arm coincide; since the lower ends of the first branch chain link 422 and the second branch chain link 462 are both hinged to the top of the helmet 51 of the neck positioning structure 5, the rotation axis of the lower ends of the first branch chain link 422 and the second branch chain link 462 coincide; the rotation axis of the first branch chain drive motor 41 and the second branch chain drive motor 44 coincide with the first branch chain link 422 and the second branch chain link 46 2, the rotation axis of the lower end intersects at a point A, which is the virtual rotation center of the generalized spherical parallel mechanism. The position and posture of the neck positioning structure 5 are controlled by changing the position of the virtual rotation center of the ball, so as to realize neck rehabilitation training; the upper end of the third branch chain link 431 is hinged to the bottom of the support plate at the end of the horizontal connecting plate 32, and the rotation axes of the third branch chain link 431, the first branch chain driving arm 421 and the second branch chain driving arm 461 coincide with each other. The lower end of the third branch chain link 431 is rotatably connected to the telescopic end of the third branch chain electric push rod 432 through a spherical pair. The other end of the third branch chain electric push rod 432 is hinged to the top of the helmet of the neck positioning structure 5, and the rotation axis of the other end of the third branch chain electric push rod 432 coincides with the first branch chain driving arm 421. The rotation axis of the lower end of the chain link 422 and the second branch chain link 462 coincides; the fourth branch chain drive motor 47 is fixedly connected to the middle part of the horizontal connecting plate 32 of the position adjustment mechanism 3 by screws, the output shaft of the fourth branch chain drive motor 47 is fixedly connected to the upper end of the fourth branch chain drive arm 452, the lower end of the fourth branch chain drive arm 452 is rotatably connected to the telescopic end of the fourth branch chain telescopic rod 451 through a spherical pair, and the other end of the fourth branch chain telescopic rod 451 is hinged to the upper part of the rear side of the helmet 51 of the neck positioning structure 5; the first branch chain 42 and the second branch chain 46 are used to control the pitch and lateral flexion movements of the head, the third branch chain 43 is used to control the position of the virtual rotating ball center, and the fourth branch chain 45 is used to control the left and right head turning movements.

[0016] The neck positioning structure 5 includes a helmet 51 and an inflatable neck brace 52; a pressure sensor is installed on the inner side of the helmet 51 to sense the pressure between the patient's head and the helmet 51, and the position of the helmet 51 is adjusted by the position adjustment mechanism 3 so that the patient's head and the helmet 51 reach the expected coupling degree; the rear end of the inflatable neck brace 52 is inserted into the rear side of the helmet 51, and the insertion depth is adjustable, so that the inflatable neck brace 52 contacts the patient's lower jaw to support the patient's neck.

[0017] The device further comprises a protective cover 2 , which covers the position adjustment mechanism 3 and has a lower end connected to the backrest of the ergonomic chair 1 , so as to protect the device and prevent foreign matter from interfering with the position adjustment mechanism 3 .

[0018] The working principle and workflow of the present invention are: When rehabilitation training is needed, first, adjust the height of the horizontal connecting plate 32 by telescoping the position-adjusting electric push rod 31, and then adjust the height of the neck positioning structure 5, so that the neck positioning structure 5 is initially adapted to the position of the patient's head and neck. Then, place the patient's head in the helmet 51, and the pressure sensor inside the helmet 51 senses the pressure between the patient's head and the helmet 51, and continues to fine-tune the height of the helmet 51 through the position adjustment mechanism 3, so that the patient's head and the helmet 51 reach the expected coupling degree. Finally, after the height of the helmet 51 is fine-tuned, adjust the depth of the inflatable neck brace 52 inserted into the helmet 51 so that the upper part of the inflatable neck brace 52 contacts the patient's lower jaw. When the patient feels slight pressure at the lower jaw, fix the inflatable neck brace 52 and the helmet 51 to place the patient's head and neck in the best position.

[0019] For patients with different degrees of cervical pain, the virtual rotating ball center of the generalized spherical parallel mechanism 4 is located at different positions on the patient's cervical spine; for patients with mild cervical pain, the position of the virtual rotating ball center is located at the center of the seventh vertebral segment; for patients with severe cervical pain, the position of the virtual rotating ball center is located at the center of the first vertebral segment (atlas). Therefore, according to the degree of cervical pain of the patient, the position of the virtual rotating ball center is adjusted by controlling the telescopic length of the third branch chain electric push rod 432, and the virtual rotating ball center can be infinitely adjusted. The patient can dynamically adjust the position of the virtual rotating ball center according to his or her actual situation and combined with the training experience to achieve the best training effect.

[0020] The neck rehabilitation training mode includes rotation training and traction training, and the patient can choose different modes according to needs. Rotation training: The first branch chain driving motor 41 drives the first branch chain 42 to move, and the second branch chain driving motor 44 drives the second branch chain 46 to move, so that the neck positioning structure 5 moves in pitch and lateral flexion around the virtual rotating ball center, thereby realizing the pitch and lateral flexion movement of the patient's neck; the fourth branch chain driving motor 47 drives the fourth branch chain 45 to move, so that the neck positioning structure 5 rotates left and right around the virtual rotating ball center, thereby realizing the left and right rotation of the patient's neck.

[0021] Traction training: When the third branch chain electric push rod 432 is slightly extended, the neck positioning structure 5 is slightly moved along the length direction of the cervical spine to achieve traction of the patient's cervical spine; at the same time, the first branch chain drive motor 41, the second branch chain drive motor 44 and the fourth branch chain drive motor 47 respectively drive the first branch chain 42, the second branch chain 46 and the fourth branch chain 45 to move, while traction is performed on the patient's cervical spine, multi-degree-of-freedom rotation is also performed to simulate physical therapy for traction training of the patient's neck.

[0022] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A multi-mode cervical rehabilitation training device for patients with cervical pain, characterized in that: The device comprises an ergonomic seat, a position adjustment mechanism, a generalized spherical parallel mechanism and a neck positioning structure; the position adjustment mechanism is installed on the backrest of the ergonomic seat and is used to adjust the height of the neck positioning structure; the generalized spherical parallel mechanism is connected with the position adjustment mechanism and the neck positioning structure and is used to control the position and posture of the neck positioning structure; The generalized spherical parallel mechanism includes a first branch chain, a second branch chain, a third branch chain and a fourth branch chain; one end of the first branch chain, the second branch chain and the third branch chain is rotationally connected to the end of the horizontal connecting plate of the position adjustment mechanism and the rotation axis coincides, and the other end of the first branch chain, the second branch chain and the third branch chain is rotationally connected to the top of the helmet of the neck positioning structure and the rotation axis coincides; one end of the third branch chain is rotationally connected to the middle part of the horizontal connecting plate of the position adjustment mechanism, and the other end is rotationally connected to the upper part of the rear side of the helmet of the neck positioning structure; the rotation axis of one end of the first branch chain, the second branch chain and the third branch chain intersects with the rotation axis of the other end of the first branch chain, the second branch chain and the third branch chain at a point, which is the virtual rotation center of the generalized spherical parallel mechanism, and the third branch chain is used to control the position of the virtual rotation center of the ball. The virtual rotation center of the ball for patients with mild cervical pain is located at the center of the seventh vertebral segment, and the virtual rotation center of patients with severe cervical pain is located at the center of the first vertebral segment; the first branch chain and the second branch chain are used to control the pitch and lateral flexion movements of the head, and the fourth branch chain is used to control the left and right rotation of the head.

2. The multi-mode cervical rehabilitation training device for patients with cervical pain according to claim 1, characterized in that: The generalized spherical parallel mechanism also includes a first branch chain drive motor, a second branch chain drive motor and a fourth branch chain drive motor; the first branch chain includes a first branch chain drive arm and a first branch chain connecting rod, the second branch chain includes a second branch chain drive arm and a second branch chain connecting rod, the third branch chain includes a third branch chain connecting rod and a third branch chain electric push rod, and the fourth branch chain includes a fourth branch chain telescopic rod and a fourth branch chain drive arm; Among them, the first branch chain drive motor is installed at the other end of the horizontal connecting plate of the position adjustment mechanism, the output shaft of the first branch chain drive motor is fixedly connected to the upper end of the first branch chain drive arm, the lower end of the first branch chain drive arm is rotationally connected to the upper end of the first branch chain connecting rod through a spherical pair, and the lower end of the first branch chain connecting rod is hinged to the top of the helmet of the neck positioning structure; the second branch chain drive motor is installed at the other end of the horizontal connecting plate of the position adjustment mechanism, the output shaft of the second branch chain drive motor is fixedly connected to the upper end of the second branch chain drive arm, the lower end of the second branch chain drive arm is rotationally connected to the upper end of the second branch chain connecting rod through a spherical pair, and the lower end of the second branch chain connecting rod is hinged to the top of the helmet of the neck positioning structure; the upper end of the third branch chain connecting rod is hinged to the end of the horizontal connecting plate of the position adjustment mechanism. The lower end of the third branch chain connecting rod is rotatably connected with the telescopic end of the third branch chain electric push rod through a spherical pair, and the other end of the third branch chain electric push rod is hinged to the top of the helmet of the neck positioning structure; the rotation axis of the third branch chain connecting rod, the first branch chain driving arm and the second branch chain driving arm upper ends coincide, and the rotation axis of the other end of the third branch chain electric push rod coincides with the rotation axis of the lower ends of the first branch chain connecting rod and the second branch chain connecting rod; the fourth branch chain driving motor is installed in the middle of the horizontal connecting plate of the position adjustment mechanism, the output shaft of the fourth branch chain driving motor is fixedly connected to the upper end of the fourth branch chain driving arm, the lower end of the fourth branch chain driving arm is rotatably connected to the telescopic end of the fourth branch chain telescopic rod through a spherical pair, and the other end of the fourth branch chain telescopic rod is hinged to the upper part of the rear side of the helmet of the neck positioning structure.

3. The multi-mode cervical rehabilitation training device for patients with cervical pain according to claim 2, characterized in that: When the third branch chain electric push rod is extended, the neck positioning structure is slightly moved along the length direction of the cervical vertebra to achieve cervical vertebra traction training; when the first branch chain, the second branch chain and the fourth branch chain move, cervical vertebra rotation training is achieved.

4. The multi-mode cervical rehabilitation training device for patients with cervical pain according to any one of claims 1 to 3, characterized in that: The position adjustment mechanism includes a position adjustment electric push rod, a horizontal connecting plate and a telescopic rod; the position adjustment electric push rod is installed on the backrest of the ergonomic seat, and one end of the horizontal connecting plate is fixedly connected to the telescopic end of the position adjustment electric push rod; the upper end of the telescopic rod is hinged to the middle part of the horizontal connecting plate, and the lower end is hinged to the ergonomic seat.

5. The multi-mode cervical rehabilitation training device for patients with cervical pain according to claim 1, characterized in that: The neck positioning structure comprises a helmet and an inflatable neck support; the rear end of the inflatable neck support is inserted into the rear side of the helmet, and a pressure sensor is arranged inside the helmet.

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