Novel space pose scar therapeutic apparatus

Abstract

The invention discloses a novel space pose scar therapeutic apparatus which comprises a sliding rail support, a sliding rail module is arranged on the sliding rail support, a wire box base is slidably connected to the sliding rail module, a transverse shaft is hinged to the top end of the wire box base, a large arm is hinged to the end of the transverse shaft, a small arm is hinged to the end of the large arm, and a pressing mechanism is arranged in the small arm. The pressing mechanism comprises a pressing rod and a pressing head, the two ends of the pressing rod penetrate through the small arm correspondingly, the pressing head is installed at the lower end, penetrating through the small arm, of the pressing rod, and the pressing head is provided with a pneumatic wrapping magnetic head. Therefore, joint abrasion and mechanical vibration can be reduced under the condition that the movement precision is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of scar treatment, and in particular relates to a novel spatial posture scar treatment device. Background Art

[0002] With the rapid development of medical technology, the demand for scar treatment is increasing, especially after burns, surgery and trauma. Scar formation has a significant impact on the patient's physical and mental health. At present, although there are many scar treatment methods on the market, such as laser therapy, chemical peeling, etc., these methods often have disadvantages such as strong invasiveness, inconsistent effects, and long recovery period during the treatment process. At the same time, traditional compression therapy requires manual operation by medical professionals, which is difficult to achieve standardization and continuity, resulting in unstable treatment effects. Therefore, the development of a new therapeutic device that can accurately control the applied force and posture, suitable for the non-invasive treatment of scars, has important clinical significance and market value. Summary of the invention

[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide a new spatial posture scar treatment device, which can achieve continuous, uniform and controllable pressure on the scar area while ensuring safety and comfort, significantly improve the therapeutic effect, and promote the improvement and regeneration of scars.

[0004] To achieve the above object, the technical solution of the present invention is as follows: A novel spatial posture scar treatment device comprises a slide rail bracket, on which a slide rail module is provided, on which a wire box base is slidably connected, a transverse axis is hinged on the top of the wire box base, a large arm is hinged at the end of the transverse axis, a small arm is hinged at the end of the large arm, a pressing mechanism is provided inside the small arm, the pressing mechanism comprises a pressing rod and a pressing head, both ends of the pressing rod pass through the small arm respectively, wherein a pressing head is installed at the lower end of the pressing rod passing through the small arm, and the pressing head is provided with a pneumatically wrapped magnetic head.

[0005] Furthermore, the pressing mechanism includes a pressing motor, a cam, a connecting gear and a bevel gear. A bevel gear is installed at the output end of the pressing motor. The bevel gear is meshed with the connecting gear. The connecting gear is installed on a rotating shaft on a bearing seat. A cam is rotatably provided on the rotating shaft. A limit block is provided between the cam and the connecting gear. A bending rod is hinged on the cam.

[0006] Furthermore, two limiting groove blocks are symmetrically arranged on the pressing rod, and the end of the bending rod is rotatably installed between the two limiting groove blocks.

[0007] Furthermore, the small arm is an elliptical cylinder structure with a cavity.

[0008] Furthermore, the boom includes a boom frame, a reducer and an output flange, wherein the boom frame is installed inside the boom shell, a boom motor is installed on the boom frame, the output end of the boom motor passing through the boom frame is provided with a gear, a reducer is provided on one side of the boom motor, a gear is provided at the input end of the reducer, the gear is connected to the gear through a synchronous belt, an output flange is provided at the output end of the reducer, the output flange is fixedly connected to the active end of the third rotating joint, and the third rotating joint is fixed in the cavity of the forearm.

[0009] Furthermore, the transverse axis includes a transverse axis motor, wherein the transverse axis motor is installed in a transverse axis housing, a reducer 2 is provided at the output end of the transverse axis motor, an output flange 2 is installed at the output end of the reducer 2, the output flange 2 is fixedly connected to the active end of the second rotating joint, and the second rotating joint is fixed to the end of the upper arm housing.

[0010] Furthermore, the wire box base includes a motor connecting barrel, a wire box base motor is arranged inside the motor connecting barrel, a reducer three is arranged at the output end of the wire box base motor, an output flange three is arranged at the output end of the reducer three, the output flange three is fixedly connected to the active end of the first rotating joint, and the first rotating joint is fixed to the bottom of the horizontal axis shell; a wire baffle plate is arranged at the bottom of the motor connecting barrel, and a wire box base end cover is arranged at the bottom of the wire baffle plate.

[0011] Furthermore, the slide rail module includes a group of slide rails and a slide rail module motor, two slide rails are symmetrically arranged on the slide rail bracket, both ends of the slide rails are installed in support seats, the two support seats at the same end are connected by a connecting shaft, the output end of the slide rail module motor is connected to the connecting shaft through a coupling, a slide table is slidably connected to the slide rail, a gear belt is provided in the slide rail for making the slide table slide, the gear belt is rotatably connected to the connecting shaft, and the end cover of the wire box base is connected to the slide table.

[0012] Furthermore, it includes a multifunctional medical bed, which is located on one side of the slide rail bracket, wherein the pressing head is located above the multifunctional medical bed.

[0013] Furthermore, it includes a control terminal for controlling the scar treatment device.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1) The novel spatial position scar treatment device of the present invention can achieve accurate treatment and personalized adjustment of scar areas by adopting advanced three-dimensional spatial positioning and intelligent control technology; the device can obtain scar position information in real time according to the patient's specific scar condition, and automatically adjust the position and angle of the treatment head through the intelligent positioning system to ensure that each scar area can receive uniform and effective treatment; 2) Through efficient spatial posture adjustment and intelligent parameter control, the therapeutic device can significantly shorten the patient's treatment cycle, improve treatment efficiency, and help patients achieve ideal recovery effects faster; 3) Compared with the traditional six-degree-of-freedom robot arm, the horizontal axis of the present invention can move in the spatial position direction, so that the planned trajectory is satisfied while meeting the constraints of the joint space, thereby achieving the goal of reducing joint wear and mechanical vibration while ensuring the motion accuracy; 4) The pressing mechanism of the present invention combines the gear module and the cam module, so that the pressing mechanism has the advantages of high precision, constant transmission ratio and strong load-bearing capacity of the gear mechanism and high precision control of the cam mechanism; 5) Compared with traditional therapeutic devices on the market, the scar therapeutic device of the present invention has the characteristics of stable operation, high efficiency, flexible posture, precise positioning and high degree of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the scar treatment device of the present invention; Figure 2 The structure of the pressing mechanism of the present invention is shown in FIG. Figure 1 ; Figure 3 The structure of the pressing mechanism of the present invention is schematically shown in FIG. Figure 2 ; Figure 4 It is a schematic diagram of the structure of the big arm of the present invention; Figure 5 It is a schematic diagram of the horizontal axis structure of the present invention; Figure 6 This is a schematic diagram of the structure of the slide rail module of the present invention; Figure 7 It is a schematic diagram of the local structure of the slide rail module of the present invention; Figure 8 This is a schematic diagram of the structure of the wire box base of the present invention; Fig. 9 It is a schematic diagram of the rotary joint of the present invention.

[0016] In the figure, 1, pressing motor; 2, cam; 3, bending rod; 4, limiting slot block; 5, pressing rod; 6, pressing head; 7, connecting gear; 8, bevel gear; 9, first rotating joint; 10, second rotating joint; 11, rail module motor; 12, coupling; 13, connecting shaft; 14, third rotating joint; 15, slide; 16, slide rail; 161, gear belt; 17, support seat; 18, motor seat; 21, control box; 22, wire box base motor; 23, wire box base end cover; 24, wire baffle; 25, motor connecting barrel; 26. Reducer three; 27. Output flange three; 28. Limit block two; 31. Horizontal axis motor; 32. Horizontal axis motor end cover; 33. Output flange two; 34. Reducer two; 41. Upper arm motor; 42. Upper arm frame; 43. Gear one; 44. Synchronous belt; 45. Gear two; 46. Reducer one; 47. Output flange one; 100. Forearm; 101. Multifunctional medical bed; 102. Slide rail bracket; 103. Upper arm; 104. Horizontal axis; 105. Wire box base; 106. Slide rail module; 107. Control end. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings, but the scope of protection of the present invention is not limited to the described scope.

[0018] Please refer to Figure 1 A novel spatial position scar treatment device includes a scar treatment device, a control terminal 107 and a multifunctional medical bed 101. The scar treatment device is located on one side of the multifunctional medical bed 101, and the control terminal 107 is used to operate the entire scar treatment device and is used in conjunction with the multifunctional medical bed 101.

[0019] The scar treatment device includes a pressing mechanism, a large arm 103, a horizontal axis 104, a slide rail module 106, and a wire box base 105. It can achieve continuous, uniform and controllable pressing on the scar area while ensuring safety and comfort, significantly improve the therapeutic effect, and promote the improvement and regeneration of scars.

[0020] Please refer to Figure 2-3 The pressing mechanism includes a pressing motor 1, a cam 2, a connecting gear 7, a bevel gear 8, a pressing rod 5 and a pressing head 6. A bevel gear 8 is installed at the output end of the pressing motor 1. The bevel gear 8 is meshed with the connecting gear 7. The connecting gear 7 is installed on the rotating shaft on the bearing seat. A cam 2 is rotatably provided on the rotating shaft. A limit block 1 is provided between the cam 2 and the connecting gear 7. A bending rod 3 is hinged on the cam 2.

[0021] The present invention can realize complex motion trajectories and periodic motion changes through the cam 2, while the gear set can provide stable rotational motion. Compared with the prior art, the combination of the two enables the system to flexibly switch between different working stages and adapt to various motion requirements. It can also form a redundant design. If a part fails, another part can continue to maintain some functions, thereby increasing the reliability and stability of the system.

[0022] Two limit slots 4 are symmetrically arranged on the pressing rod 5, which are used to connect the bending rod and the pressing rod and limit the movement range of the pressing head. The end of the bending rod 3 is rotatably installed between the two limit slots 4. Both ends of the pressing rod 5 pass through the small arm 100 respectively, and the lower end of the pressing rod 5 passing through the small arm 100 is installed with a pressing head 6, which is provided with a pneumatic wrapped magnetic head for pressing therapy.

[0023] The transmission process of the pressing mechanism is as follows: Start the pressing motor 1, which drives the bevel gear 8 to rotate, the bevel gear 8 drives the connecting gear 7 to rotate, the connecting gear 7 drives the rotating shaft to rotate, the rotating shaft drives the cam 2 to rotate, the cam 2 drives the bending rod 3 to rotate, and the bending rod 3 drives the pressing rod 5 to move up and down in the limiting slot block.

[0024] In this embodiment, the forearm 100 is an elliptical cylinder structure with a cavity.

[0025] Please refer to Figure 4 The boom 103 includes a boom frame 42, a reducer 46 and an output flange 47, wherein the boom frame 42 is installed inside the boom shell, a boom motor 41 is installed on the boom frame 42, a gear 43 is provided at the output end of the boom motor 41 passing through the boom frame 42, a reducer 46 is provided on one side of the boom motor 41, a gear 2 45 is provided at the input end of the reducer 46, the gear 2 45 is connected to the gear 1 43 through a synchronous belt 44, an output flange 47 is provided at the output end of the reducer 46, and the output flange 47 is fixedly connected to the active end of the third rotating joint 14, and the third rotating joint 14 is fixed in the cavity of the forearm 100.

[0026] The transmission process of the big arm 103 is as follows: Start the upper arm motor 41, which drives the gear 1 43 to rotate. The gear 1 43 cooperates with the gear 2 45 and the synchronous belt 44 to transmit the power of the motor to the reducer 1 46. The reducer 1 46 drives the output flange 1 47 to rotate. The output flange 1 47 drives the third rotating joint 14 to rotate. The third rotating joint 14 drives the forearm 100 to rotate.

[0027] Please refer to Figure 5The horizontal axis 104 includes a horizontal axis motor 31, wherein the horizontal axis motor 31 is installed in the horizontal axis housing, and a reducer 2 34 is provided at the output end of the horizontal axis motor 31, and an output flange 2 33 is installed at the output end of the reducer 2 34, and the output flange 2 33 is fixedly connected to the active end of the second rotating joint 10, and the second rotating joint 10 is fixed to the end of the upper arm housing.

[0028] In this embodiment, a transverse-axis motor end cover 32 is provided at the end of the transverse-axis motor 31 to protect the internal components of the motor and fix the motor.

[0029] The transmission process of the horizontal axis 104 is as follows: The horizontal axis motor 31 is started, the horizontal axis motor 31 drives the second reducer 34 to rotate, the second reducer 34 drives the second output flange 33 to transmit, the second output flange 33 drives the second rotating joint 10 to rotate, and the second rotating joint 10 drives the upper arm 103 to rotate.

[0030] Please refer to Figure 8-9 The wire box base 105 is a centralized wire box with data transmission control. The wire box base 105 includes a motor connecting barrel 25. The motor connecting barrel 25 is provided with a wire box base motor 22. The output end of the wire box base motor 22 is provided with a reducer 3 26. The output end of the reducer 3 26 is provided with an output flange 3 27. The output flange 3 27 is fixedly connected to the active end of the first rotating joint 9. The first rotating joint 9 is fixed to the bottom of the horizontal axis shell.

[0031] A wire blocking plate 24 is provided at the bottom of the motor connection barrel 25 , and a wire box base end cover 23 is provided at the bottom of the wire blocking plate 24 .

[0032] The centralized line box base 105 of the present invention can converge multiple signal lines to a central point, simplifying the management of data transmission and control and improving the overall efficiency of the system. Through the first rotating joint 9, the line box can flexibly adjust its direction so as to connect and distribute data with other modules or devices. At the same time, the centralized line box can integrate signal converters and processing units, which can convert different types of signals to each other, ensuring seamless connection of data between various parts of the system.

[0033] The transmission process of the wire box base 105 is as follows: Start the wire box base motor 22, the wire box base motor 22 drives the reducer three 26 to rotate, the reducer three 26 drives the output flange three 27 to transmit, the output flange three 27 drives the first rotating joint 9 to rotate, and the first rotating joint 9 drives the horizontal axis 104 to rotate.

[0034] In this embodiment, the wire box base 105 further includes a second limit block 28 for limiting the range of motion of the slide rail module 106. A control box 21 is provided on the side of the motor connection barrel 25 for controlling the motor and other electronic components.

[0035] Please refer to Figure 6-7 The slide rail module 106 includes a group of slide rails 16 and a slide rail module motor 11. Two slide rails 16 are symmetrically arranged on the slide rail bracket 102. Both ends of the slide rails 16 are installed in the support seat 17. The two support seats 17 at the same end are connected by a connecting shaft 13. The output end of the slide rail module motor 11 is connected to the connecting shaft 13 through a coupling 12. A slide table 15 is slidably connected to the slide rail 16. A gear belt 161 is provided in the slide rail 16 for sliding the slide table 15. The gear belt 161 is rotatably connected to the connecting shaft 13, and the end cover 23 of the wire box base is connected to the slide table 15.

[0036] The transmission process of the slide rail module 106 is as follows: The slide rail module motor 11 is started, the slide rail module motor 11 drives the gear belt 161 to rotate, the gear belt 161 drives the slide 15 to rotate, and the slide 15 drives the wire box base 105 to rotate.

[0037] In this embodiment, the slide rail module motor 11 is installed on a motor base 18 , and the motor base 18 is fixed to the side of the slide rail 16 .

[0038] The process of applying pressure to treat the patient's wound using the scar treatment device of the present invention is as follows: First, the patient lies on the multifunctional medical bed 101 under the guidance of medical staff. The multifunctional medical bed 101 has the height of the head and foot of the bed that can be adjusted electrically or manually to make the patient more comfortable during treatment. At the same time, adjustable guardrails are usually provided on both sides of the bed to provide additional safety to prevent the patient from accidentally falling off the bed. Then the relevant staff sits on the control terminal 107 to control the therapeutic device. The specific implementation steps are as follows: Step 1: First, the control end 107 controls the slide rail module motor 11 located on the motor seat of the slide rail module 106, starts the slide rail module motor 11, the slide rail module motor 11 drives the gear belt 161 to rotate, the gear belt 161 drives the slide 15 to rotate, the slide 15 drives the wire box base 105 to rotate, and the entire therapeutic device moves through the connection between the slide 15 and the wire box base end cover 23; Step 2: By starting the wire box base motor 22, the wire box base motor 22 drives the reducer 3 26 to rotate, the reducer 3 26 drives the output flange 3 27 to transmit, the output flange 3 27 drives the first rotating joint 9 to rotate, the first rotating joint 9 drives the horizontal axis 104 to rotate, and the first rotating joint 9 drives the entire therapeutic device to rotate. At the same time, the reducer 3 26 can reduce the original rotation rate to improve the accuracy; Step 3: After the above steps are completed, the therapeutic device is roughly moved to the top of the patient's wound, and then the horizontal axis motor 31 is controlled to rotate the upper arm 103 in the spatial direction to complete the posture adjustment in the spatial direction. At the same time, the wire of the horizontal axis motor 31 can be passed through the horizontal axis motor end cover 32 to the control box 21 in the wire box base, or it can be wound downward outside the motor connection barrel 25 and placed on the wire baffle 24 to connect with the wire box base; Step 4: Then, the arm motor 41 on the arm is operated, and the power is transmitted to the output flange 1 47 through the synchronous belt module composed of the gear 1 43, the synchronous belt 44 and the gear 2 45, so as to control the rotation of the arm 103, and accurately position the pressing head for applying medicine to the patient on the wound; and the power transmission is also made more efficient, stable and reliable through the reducer 1 46 located on the synchronous belt module; Step 5: The control end 107 controls the pressing motor 1 on the pressing mechanism, and enables the connecting gear 7 to run through the bevel gear 8. Since the rotating shafts of the connecting gear 7 and the cam 2 are coaxial, the connecting gear 7 and the cam 2 can rotate synchronously, driving the bending rod 3 to move in the control limit slot block 4. Through the transmission of a simple slider four-bar mechanism, the pressing rod 5 moves up and down. The pressing head 6 is provided with a pneumatically wrapped magnetic head coated with ointment, and the patient's wound is pressed and treated under the action of the pressing rod 5.

[0039] It should be noted that the movement of the pressing rod 5 can be changed by designing different shapes of the cam 2, and can be changed according to the specific conditions and physical conditions of different patients, so that the therapeutic device can cope with various working conditions. The head of the pressing head 6 is a circular component with special therapeutic materials attached to the surface, which is replaceable, such as square, cylindrical, spherical, etc.

Claims

1. A novel spatial position scar treatment device, comprising a slide rail support (102), characterized in that The slide rail bracket (102) is provided with a slide rail module (106), and a wire box base (105) is slidably connected to the slide rail module (106). The top of the wire box base (105) is hinged with a transverse axis (104), and the end of the transverse axis (104) is hinged with a large arm (103), and the end of the large arm (103) is hinged with a small arm (100). A pressing mechanism is provided inside the small arm (100), and the pressing mechanism comprises a pressing rod (5) and a pressing head (6). The two ends of the pressing rod (5) pass through the small arm (100) respectively, and the pressing head (6) is installed at the lower end of the pressing rod (5) passing through the small arm (100), and the pressing head (6) is provided with a pneumatically wrapped magnetic head.

2. A novel spatial posture scar treatment device according to claim 1, characterized in that The pressing mechanism comprises a pressing motor (1), a cam (2), a connecting gear (7) and a bevel gear (8); the output end of the pressing motor (1) is provided with a bevel gear (8); the bevel gear (8) is meshed with the connecting gear (7); the connecting gear (7) is installed on a rotating shaft on a bearing seat; a cam (2) is rotatably provided on the rotating shaft; a limit block is provided between the cam (2) and the connecting gear (7); and a bending rod (3) is hingedly connected to the cam (2).

3. A novel spatial posture scar treatment device according to claim 2, characterized in that Two limiting slot blocks (4) are symmetrically arranged on the pressing rod (5), and the end of the bending rod (3) is rotatably mounted between the two limiting slot blocks (4).

4. A novel spatial posture scar treatment device according to claim 1, characterized in that The small arm (100) is an elliptical cylinder structure with a cavity.

5. A novel spatial posture scar treatment device according to claim 4, characterized in that The boom (103) comprises a boom frame (42), a reducer 1 (46) and an output flange 1 (47), wherein the boom frame (42) is mounted inside a boom housing, a boom motor (41) is mounted on the boom frame (42), a gear 1 (43) is provided at the output end of the boom motor (41) passing through the boom frame (42), a reducer 1 (46) is provided on one side of the boom motor (41), a gear 2 (45) is provided at the input end of the reducer 1 (46), the gear 2 (45) is connected to the gear 1 (43) via a synchronous belt (44), an output flange 1 (47) is provided at the output end of the reducer 1 (46), the output flange 1 (47) is fixedly connected to the active end of the third rotating joint (14), and the third rotating joint (14) is fixed in the cavity of the forearm (100).

6. A novel spatial posture scar treatment device according to claim 5, characterized in that The transverse axis (104) comprises a transverse axis motor (31), wherein the transverse axis motor (31) is installed in a transverse axis housing, a second reducer (34) is provided at an output end of the transverse axis motor (31), an output flange (33) is installed at the output end of the second reducer (34), the output flange (33) is fixedly connected to an active end of a second rotating joint (10), and the second rotating joint (10) is fixed to an end of the upper arm housing.

7. A novel spatial posture scar treatment device according to claim 6, characterized in that The wire box base (105) comprises a motor connection barrel (25), a wire box base motor (22) is arranged inside the motor connection barrel (25), a reducer three (26) is arranged at the output end of the wire box base motor (22), an output flange three (27) is arranged at the output end of the reducer three (26), the output flange three (27) is fixedly connected to the active end of the first rotating joint (9), and the first rotating joint (9) is fixed to the bottom of the horizontal axis housing; a wire blocking plate (24) is arranged at the bottom of the motor connection barrel (25), and a wire box base end cover (23) is arranged at the bottom of the wire blocking plate (24).

8. The novel spatial position scar treatment device according to claim 7 is characterized in that The slide rail module (106) comprises a group of slide rails (16) and a slide rail module motor (11); two slide rails (16) are symmetrically arranged on the slide rail bracket (102); two ends of the slide rail (16) are installed in a support seat (17); the two support seats (17) at the same end are connected via a connecting shaft (13); the output end of the slide rail module motor (11) is connected to the connecting shaft (13) via a coupling (12); a slide table (15) is slidably connected to the slide rail (16); a gear belt (161) is arranged in the slide rail (16) for sliding the slide table (15); the gear belt (161) is rotatably connected to the connecting shaft (13); and the wire box base end cover (23) is connected to the slide table (15).

9. The novel spatial posture scar treatment device according to claim 1 is characterized in that It comprises a multifunctional medical bed (101), wherein the multifunctional medical bed (101) is located on one side of a slide rail bracket (102), wherein a pressing head (6) is located above the multifunctional medical bed (101).

10. The novel spatial posture scar treatment device according to claim 1 is characterized in that It includes a control terminal (107) for controlling the scar treatment device.

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