Intelligent scoliosis monitoring and correcting system and device

Abstract

The invention discloses an intelligent scoliosis monitoring and correcting system and device, and relates to the technical field of medical correcting instruments, and the intelligent scoliosis monitoring and correcting system comprises a wearable equipment main body, a sensor module, a data processing unit, a correcting execution system, a power supply module and a communication module; parameters of normal postures are set and input, a patient wears the fixing ring frame on the trunk, the two rows of positioning blocks are adjusted to be distributed on the two sides of the spine of the patient, after the positioning blocks are attached to the laterally-bent spine of the patient, the angle sensor and the displacement sensor read the corresponding parameters, and the parameters are compared with the parameters of the normal postures through the data processing unit. A tightening motor drives an output shaft to rotate and wind a connecting belt to tighten the connecting belt, so that the horizontal movement of multiple groups of fixing ring frames is realized, the spine of a patient is corrected, a displacement sensor assists, adjacent positioning blocks tend to be horizontal, and the tightening motor is assisted to act on the fixing ring frames; correction in different directions is matched with each other.

Description

Technical Field

[0001] The present invention relates to the technical field of medical correction equipment, and in particular to an intelligent scoliosis monitoring and correction system and device. Background Art

[0002] The main manifestation of scoliosis is lateral deviation of the spine, which makes the back present a C-shaped or S-shaped curve; spinal X-ray shows that the spine has a lateral curvature greater than 10°, which is diagnosed as scoliosis; the disease is common in adolescence, and the symptoms gradually worsen with age. In severe cases, it affects breathing and heart function, and even causes spinal cord compression and paralysis; the clinical symptoms of scoliosis mainly include a gradual increase in the scoliotic curve angle, asymmetry of the shoulders and pelvis, back pain, difficulty breathing, or one or several segments bending to the side or spinal deformity accompanied by vertebral rotation, as well as unequal shoulders, asymmetric chest, deviation of the spine from the midline, and wrinkled skin lines on one side of the waist; common complications include decreased cardiopulmonary function, leading to respiratory failure and heart failure, and surgery-related complications.

[0003] The methods for treating scoliosis mainly include exercise correction, brace treatment and surgical treatment; exercise correction and brace treatment are suitable for early stage and mild cases; surgical treatment is suitable for patients with severe cases that cannot be corrected by conservative treatment; the key to preventing scoliosis is early detection and timely intervention;

[0004] In summary, the current scoliosis correction process has the following technical problems: although traditional scoliosis correctors such as the Senu orthosis, Lyon orthosis, and Boston orthosis have certain effects, they have limitations; traditional correctors are static in design and cannot adjust the correction force and angle according to the real-time changes of the patient's spine, and the correction accuracy and personalization are insufficient. In terms of monitoring the correction process, there is a lack of dynamic monitoring methods, making it difficult to accurately track the correction process and effects; at the same time, the traditional mold-taking method is relatively cumbersome, and some correctors are not comfortable to wear, which affects patient treatment compliance. Summary of the invention

[0005] In view of the above problems existing in the prior art, the present invention provides an intelligent scoliosis monitoring and correction system and device.

[0006] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0007] An intelligent scoliosis monitoring and correction device, comprising a wearable device body, a sensor module, a data processing unit, a correction execution system, a power module and a communication module;

[0008] The wearable device body includes a positioning part, a fixing part and an adjusting part. The positioning part is provided with several groups. The positioning part includes two positioning blocks. The positioning blocks are fixed at the patient's spine position by attaching technology. Fixing parts are provided on both sides of the positioning part. The fixing part includes a fixing ring frame. The fixing ring frame surrounds the patient's torso. The adjusting part includes a tightening component and a distance adjustment component. Two tightening components are provided between the two positioning blocks laterally. The tightening components cooperate with the corresponding fixing ring frames. A connecting belt is fixedly connected between the tightening component and the fixing ring frame. The sensor module includes a pressure sensor, an angle sensor and a displacement sensor.

[0009] The patient's spinal morphology data is collected in real time, and tiny deformations of the spine are detected, such as spinal curvature angle, pressure distribution between vertebrae, displacement changes of the spine, etc.

[0010] Furthermore, the tightening assembly includes a tightening motor and an angle sensor, and the tightening motor is fixedly connected to the corresponding connecting belt.

[0011] Furthermore, the adjustment component includes a pitch adjustment motor and a displacement sensor.

[0012] Furthermore, a pressure sensor is provided on the side of the positioning block close to the human body, and a data processing unit, a correction execution system, a power module and a communication module are provided in the positioning block;

[0013] Data processing unit: It has a built-in high-performance microprocessor that receives data collected by sensors, analyzes and processes it, and calculates the degree of deviation between the current spinal state and the normal state based on a preset algorithm, thereby determining the required correction force and angle adjustment amount.

[0014] Correction execution system: It is composed of multiple micro electric drives and transmission components connecting them with wearable devices. After receiving sensor signals, it accurately adjusts the correction force and angle according to the instructions of the data processing unit to achieve automatic correction of scoliosis to adapt to the different body postures and scoliosis changes of patients.

[0015] Power module: Provides power for the entire system, uses a rechargeable lithium battery, and has a low-power design to extend battery life and facilitate daily use by patients.

[0016] Communication module: supports wireless communication methods such as Bluetooth or Wi-Fi, and can transmit the collected data to the patient's mobile phone application or the doctor's remote monitoring platform, which is convenient for patients to self-manage and doctors to remotely track treatment.

[0017] An intelligent scoliosis monitoring and correction system, the specific steps are as follows:

[0018] S1: The sensor module collects the patient's spinal data in real time;

[0019] Pressure sensor: monitors the pressure distribution between vertebrae and obtains the pressure change data of the spine in different postures;

[0020] Angle sensor: detects the curvature angle of the spine and monitors the posture changes of the spine in real time;

[0021] Displacement sensor: captures the displacement of the spine and analyzes its movement trajectory;

[0022] S1.1: The data from all sensors are converted into digital signals through analog / digital converters (ADCs) and sent to the data processing unit at a fixed frequency;

[0023] S1.2: Pressure sensor: monitors the pressure changes between the spine in real time and outputs a signal P(t) (pressure value at time t);

[0024] Angle sensor: monitors the bending angle A(t) of the spine (angle value at time t);

[0025] Displacement sensor: measures spinal displacement D(t) (displacement value at time t);

[0026] Calculate the current spinal morphology: Calculate the spinal curvature angle, pressure distribution, displacement, etc. based on sensor data;

[0027] S2: Data processing unit working, data transmission and preprocessing: data is transmitted to the data processing unit and preprocessed to remove noise;

[0028] S2.1: Data acquisition: receiving real-time data from the sensor module, including time series P(t), A(t), D(t);

[0029] S2.2: Status assessment: Calculate the deviation between the current spinal status and the normal status (preset reference standard);

[0030] Assume the normal pressure is P norm , angle A norm , the displacement is D norm ;

[0031] Deviation calculation formula:

[0032] Pressure deviation ΔP=P(t)-P norm

[0033] Angle deviation ΔA=A(t)-A norm

[0034] Displacement deviation ΔD=D(t)-D norm

[0035] S2.3: Judgment logic:

[0036] Set the threshold (Tolerance Level), such as T P ,T A ,T D Corresponding to the allowable deviation range of pressure, angle and displacement respectively;

[0037] Determine the state that needs correction: If |ΔP|>T P or |ΔA|>T A or |ΔD|>T D , it is considered necessary to correct;

[0038] S3: State analysis and correction calculation: Compare the current state with the normal state to calculate the correction requirements;

[0039] PID control, based on the deviation, determines the correction requirement, adjusts the motor output strength, and achieves dynamic correction;

[0040] According to the deviation, calculate the required correction force F and angle adjustment θ:

[0041] F = k P ΔP+k A ΔA+k D ΔD

[0042] where k P ,k A ,k D are the respective weight coefficients, corresponding to the influence of the deviation on the correction strength;

[0043] θ=f(ΔA) is the linear adjustment formula;

[0044] Fuzzy control, where fuzzy control algorithms are used to process inputs and outputs to ensure smooth transitions when uncertainty is high;

[0045] S4: Command transmission: Send the required instructions for correction force and angle to the correction execution system;

[0046] S5: Execution and feedback: Execute corrective actions through micro-electric actuators and monitor feedback data in real time for dynamic adjustments;

[0047] S5.1: Signal reception: The data processing unit sends the correction instruction to the correction execution system, including the correction force F and angle θ.

[0048] S5.2: Electric drive data processing:

[0049] Tightening assembly: The tightening motor receives the command and generates the corresponding torque M to achieve the tightening operation. M = F·r, where r is the effective radius of the motor.

[0050] Adjustment component: The distance adjustment motor adjusts the corresponding distance setting according to the instruction of θ;

[0051] S6: Feedback mechanism: In each execution cycle, after data processing is completed, the correction execution system continuously monitors the sensor data and provides real-time feedback;

[0052] If a new deviation is found (such as ΔP new , ΔA new , ΔD new ), the correction parameters are recalculated to form a closed-loop control.

[0053] S7: Parameter and threshold setting, determine the accuracy and sensitivity of the sensor. The pressure sensor needs to work effectively in the range of 0-100kPa;

[0054] Set the deviation threshold (T P =5kPa,T A =3°), ensuring the stability and response speed of the system;

[0055] Determine k P ,k A ,k D The value is adjusted in real time based on experimental data.

[0056] Beneficial effects of the present invention:

[0057] An intelligent scoliosis monitoring and correction system and device. After the patient wears the intelligent scoliosis monitoring and correction system, the sensor module monitors the spinal status in real time, continuously collects spinal data and transmits it to the data processing unit. The data processing unit analyzes the data in real time. Once abnormal scoliosis is detected, the correction parameters are immediately calculated and instructions are sent to the correction execution system. The correction execution system automatically adjusts the correction force and angle according to the instructions. At the same time, the data is uploaded through the communication module to realize data sharing and remote monitoring. The doctor accurately judges the effectiveness and safety of the corrective treatment based on these results, and adjusts the treatment plan in time to keep the correction effect at the best state at all times, while improving the patient's comfort.

[0058] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0060] Figure 1It is a schematic diagram of the structure of the intelligent scoliosis monitoring and correction system and device according to an embodiment of the present invention;

[0061] Figure 2 A schematic diagram of the structure of a group of wearable device bodies according to an embodiment of the present invention;

[0062] Figure 3 It is a structural schematic diagram of the rear side of the adjustment part according to an embodiment of the present invention;

[0063] Figure 4 It is a structural schematic diagram of the front side of the adjustment part according to an embodiment of the present invention;

[0064] Figure 5 This is a schematic diagram of the structure of the wearable device body on clothing according to an embodiment of the present invention;

[0065] Figure 6 This is a schematic diagram of the rear structure of the wearable device body on clothing according to an embodiment of the present invention.

[0066] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0067] 1-positioning block, 101-fixed ring frame, 102-connecting belt, 110-angle sensor, 111-tightening motor, 120-displacement sensor, 121-adjustable distance motor. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 are within the scope of protection of the present invention.

[0069] Example 1

[0070] like Figure 1-4 Shown

[0071] The intelligent scoliosis monitoring and correction device described in the present invention includes a wearable device body, a sensor module, a data processing unit, a correction execution system, a power module and a communication module;

[0072] The wearable device body comprises a positioning part, a fixing part and an adjusting part. The positioning part is provided with a plurality of groups. The positioning part comprises two positioning blocks (1). The positioning blocks (1) are fixed at the position of the patient's spine by means of an attachment technique. Fixing parts are provided on both sides of the positioning part. The fixing part comprises a fixing ring frame (101). The fixing ring frame (101) surrounds the patient's trunk. The adjusting part comprises a tightening component and a distance adjusting component. Two tightening components are provided between the two positioning blocks (1) in a lateral direction. The tightening components cooperate with the corresponding fixing ring frames (101). A connecting belt (102) is fixedly connected between the tightening components and the fixing ring frame (101). The sensor module comprises a pressure sensor, an angle sensor (110) and a displacement sensor (120).

[0073] Collect the patient's spinal morphology data in real time and detect tiny spinal deformations, such as spinal curvature angle, intervertebral pressure distribution, and spinal displacement changes;

[0074] The tightening assembly comprises a tightening motor (111) and an angle sensor (110); the tightening motor (111) is fixedly connected to a corresponding connecting belt (102);

[0075] The adjustment component comprises a pitch adjustment motor (121) and a displacement sensor (120);

[0076] The positioning block (1) is provided with a pressure sensor on the side close to the human body, and the positioning block (1) is provided with a data processing unit, a correction execution system, a power module and a communication module;

[0077] Data processing unit: It has a built-in high-performance microprocessor that receives data collected by sensors, analyzes and processes it, and calculates the degree of deviation between the current spinal state and the normal state based on a preset algorithm, thereby determining the required correction force and angle adjustment amount.

[0078] Correction execution system: It is composed of multiple micro electric drives and transmission components connecting them with wearable devices. After receiving sensor signals, it accurately adjusts the correction force and angle according to the instructions of the data processing unit to achieve automatic correction of scoliosis to adapt to the different body postures and scoliosis changes of patients.

[0079] Power module: Provides power for the entire system, uses a rechargeable lithium battery, and has a low-power design to extend battery life and facilitate daily use by patients.

[0080] Communication module: supports wireless communication methods such as Bluetooth or Wi-Fi, and can transmit the collected data to the patient's mobile phone application or the doctor's remote monitoring platform, which is convenient for patients to self-manage and doctors to remotely track treatment.

[0081] Example 2

[0082] like Figure 1-4 Shown

[0083] An intelligent scoliosis monitoring and correction system, the specific steps are as follows:

[0084] S1: The sensor module collects the patient's spinal data in real time;

[0085] Pressure sensor: monitors the pressure distribution between vertebrae and obtains the pressure change data of the spine in different postures;

[0086] Angle sensor (110): detects the curvature angle of the spine and monitors the posture changes of the spine in real time;

[0087] Displacement sensor (120): captures the displacement of the spine and analyzes the movement trajectory of the spine;

[0088] S1.1: The data from all sensors are converted into digital signals through analog / digital converters (ADCs) and sent to the data processing unit at a fixed frequency;

[0089] S1.2: Pressure sensor: monitors the pressure changes between the spine in real time and outputs a signal P(t) (pressure value at time t);

[0090] Angle sensor (110): monitors the bending angle A(t) of the spine (angle value at time t);

[0091] Displacement sensor (120): measures spinal column displacement D(t) (displacement value at time t);

[0092] Calculate the current spinal morphology: Calculate the spinal curvature angle, pressure distribution, displacement, etc. based on sensor data;

[0093] S2: Data processing unit working, data transmission and preprocessing: data is transmitted to the data processing unit and preprocessed to remove noise;

[0094] S2.1: Data acquisition: receiving real-time data from the sensor module, including time series P(t), A(t), D(t);

[0095] S2.2: Status assessment: Calculate the deviation between the current spinal status and the normal status (preset reference standard);

[0096] Assume the normal pressure is P norm , angle A norm , the displacement is D norm ;

[0097] Deviation calculation formula:

[0098] Pressure deviation ΔP=P(t)-Pnorm

[0099] Angle deviation ΔA=A(t)-A norm

[0100] Displacement deviation ΔD=D(t)-D norm

[0101] S2.3: Judgment logic:

[0102] Set the threshold (Tolerance Level), such as T P , T A , T D Corresponding to the allowable deviation range of pressure, angle and displacement respectively;

[0103] Determine the state that needs correction: If |ΔP|>T P or |ΔA|>T A or |ΔD|>T D , it is considered necessary to correct;

[0104] S3: State analysis and correction calculation: Compare the current state with the normal state to calculate the correction requirements;

[0105] PID control, based on the deviation, determines the correction requirement, adjusts the motor output strength, and achieves dynamic correction;

[0106] According to the deviation, calculate the required correction force F and angle adjustment θ:

[0107] F = k P ΔP+k A ΔA+k D ΔD

[0108] where k P , k A , k D are the respective weight coefficients, corresponding to the influence of the deviation on the correction strength;

[0109] θ=f(ΔA) is the linear adjustment formula;

[0110] Fuzzy control, where fuzzy control algorithms are used to process inputs and outputs to ensure smooth transitions when uncertainty is high;

[0111] S4: Command transmission: Send the required instructions for correction force and angle to the correction execution system;

[0112] S5: Execution and feedback: Execute corrective actions through micro-electric actuators and monitor feedback data in real time for dynamic adjustments;

[0113] S5.1: Signal reception: The data processing unit sends the correction instruction to the correction execution system, including the correction force F and angle θ.

[0114] S5.2: Electric drive data processing:

[0115] Tightening assembly: The tightening motor (111) receives the command and generates a corresponding torque M to achieve the tightening operation. M = F·r, where r is the effective radius of the motor.

[0116] Adjustment component: The distance adjustment motor (121) adjusts the corresponding distance setting according to the instruction of θ;

[0117] S6: Feedback mechanism: In each execution cycle, after data processing is completed, the correction execution system continuously monitors the sensor data and provides real-time feedback;

[0118] If a new deviation is found (such as ΔP new , ΔA new , ΔD new ), the correction parameters are recalculated to form a closed-loop control.

[0119] S7: Parameter and threshold setting, determine the accuracy and sensitivity of the sensor. The pressure sensor needs to work effectively in the range of 0-100kPa;

[0120] Set the deviation threshold (T P =5kPa,T A =3°), ensuring the stability and response speed of the system;

[0121] Determine k P ,k A ,k D The value is adjusted in real time based on experimental data.

[0122] Example 3

[0123] like Figure 5-6 Shown

[0124] In summary, the present invention provides an intelligent scoliosis monitoring and correction system and device, which sets and inputs parameters of normal posture. The patient wears a fixed ring frame on the trunk, adjusts two rows of positioning blocks to be distributed on both sides of the patient's spine, and fixes them by pasting or adsorption using the existing technology. The fixed ring frame is provided with a toughness structure, and a Velcro using the existing technology is provided at one end of the fixed ring frame away from the positioning block. The fixed ring frame is fitted to the patient's trunk through the Velcro. After the positioning block is fitted to the patient's scoliotic spine, the angle sensor and the displacement sensor read the corresponding parameters, which are compared with the normal posture parameters through the data processing unit, and subsequent calculations and command outputs are performed. The output shaft is driven by a tightening motor to rotate and wrap around the connecting belt, so that the connecting belt is tightened, thereby realizing the horizontal position movement of multiple groups of fixed ring frames, so that the patient's spine is corrected. The displacement sensor assists, so that the adjacent positioning blocks are close to the horizontal, and the auxiliary tightening motor acts on the fixed ring frame, so that corrections in different directions cooperate with each other. Combined with the pressure sensor, data is continuously fed back during the patient's activities to perform dynamic correction.

[0125] After the patient wears the intelligent scoliosis monitoring and correction system, the sensor module monitors the spinal status in real time, continuously collects spinal data and transmits it to the data processing unit. The data processing unit analyzes the data in real time. Once scoliosis abnormality is detected, it immediately calculates the correction parameters and sends instructions to the correction execution system. The correction execution system automatically adjusts the correction force and angle according to the instructions. At the same time, the data is uploaded through the communication module to achieve data sharing and remote monitoring. Doctors can accurately judge the effectiveness and safety of corrective treatment based on these results, and adjust the treatment plan in time to keep the correction effect in the best state at all times, improve the patient's comfort, and solve the problem that the existing technology can only perform static correction for scoliosis. Through the real-time feedback mechanism, it can reduce the risk of complications caused by failure to adjust the correction force in time during the treatment process.

[0126] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0127] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent scoliosis monitoring and correction device, characterized in that: It includes a wearable device body, a sensor module, a data processing unit, a correction execution system, a power module and a communication module; The wearable device body includes a positioning part, a fixing part and an adjusting part. The positioning part is provided with several groups. The positioning part includes two positioning blocks. Fixing parts are provided on both sides of the positioning part. The fixing part includes a fixing ring frame. The adjusting part includes a tightening component and a distance adjustment component. Two tightening components are provided between the two positioning blocks laterally. The tightening components cooperate with the corresponding fixing ring frames. A connecting belt is fixedly connected between the tightening component and the fixing ring frame. The sensor module includes a pressure sensor, an angle sensor and a displacement sensor.

2. The intelligent scoliosis monitoring and correction device according to claim 1, characterized in that: The tightening assembly comprises a tightening motor and an angle sensor, and the tightening motor is fixedly connected to the corresponding connecting belt.

3. The intelligent scoliosis monitoring and correction device according to claim 2, characterized in that: The adjustment component includes a pitch adjustment motor and a displacement sensor.

4. The method according to claim 3, wherein: A pressure sensor is arranged on the side of the positioning block close to the human body, and a data processing unit, a correction execution system, a power supply module and a communication module are arranged inside the positioning block.

5. An intelligent scoliosis monitoring and correction system, the specific steps are as follows: S1: the sensor module performs real-time collection of patient spinal data; Pressure sensor: monitors the pressure distribution between vertebrae and obtains the pressure change data of the spine in different postures; Angle sensor: detects the curvature angle of the spine and monitors the posture changes of the spine in real time; Displacement sensor: captures the displacement of the spine and analyzes its movement trajectory; S1.1: The data from all sensors are converted into digital signals through analog / digital converters (ADCs) and sent to the data processing unit at a fixed frequency; S1.2: Pressure sensor: monitors the pressure changes between the spine in real time and outputs a signal P(t) (pressure value at time t); Angle sensor: monitors the bending angle A(t) of the spine (angle value at time t); Displacement sensor: measures spinal displacement D(t) (displacement value at time t); Calculate the current spinal morphology: Calculate the spinal curvature angle, pressure distribution, displacement, etc. based on sensor data; S2: Data processing unit working, data transmission and preprocessing: data is transmitted to the data processing unit and preprocessed to remove noise; S2.1: Data acquisition: receiving real-time data from the sensor module, including time series P(t), A(t), D(t); S2.2: Status assessment: Calculate the deviation between the current spinal status and the normal status (preset reference standard); Assume the normal pressure is P norm , angle A norm , the displacement is D norm ; Deviation calculation formula: Pressure deviation ΔP=P(t)-P norm Angle deviation ΔA=A(t)-A norm Displacement deviation ΔD=D(t)-D norm S2.3: Judgment logic: Set the threshold (Tolerance Level), such as T P ,T A ,T D Corresponding to the allowable deviation range of pressure, angle and displacement respectively; Determine the state that needs correction: If |ΔP|>T P or |ΔA|>T A or |ΔD|>T D , it is considered necessary to correct; S3: State analysis and correction calculation: Compare the current state with the normal state to calculate the correction requirements; PID control, based on the deviation, determines the correction requirement, adjusts the motor output strength, and achieves dynamic correction; According to the deviation, calculate the required correction force F and angle adjustment θ: F=k P ·ΔP+k A ·ΔA+k D ·ΔD where k P ,k A ,k D are the respective weight coefficients, corresponding to the influence of the deviation on the correction strength; θ=f(ΔA) is the linear adjustment formula; Fuzzy control, where fuzzy control algorithms are used to process inputs and outputs to ensure smooth transitions when uncertainty is high; S4: Command transmission: Send the required instructions for correction force and angle to the correction execution system; S5: Execution and feedback: Execute corrective actions through micro-electric actuators and monitor feedback data in real time for dynamic adjustments; S5.1: Signal reception: The data processing unit sends the correction instruction to the correction execution system, including the correction force F and angle θ. S5.2: Electric drive data processing: Tightening assembly: The tightening motor receives the command and generates the corresponding torque M to achieve the tightening operation. M = F·r, where r is the effective radius of the motor. Adjustment component: The distance adjustment motor adjusts the corresponding distance setting according to the instruction of θ; S6: Feedback mechanism: In each execution cycle, after data processing is completed, the correction execution system continuously monitors the sensor data and provides real-time feedback; If a new deviation is found (such as ΔP new , ΔA new , ΔD new ), the correction parameters are recalculated to form a closed-loop control. S7: Parameter and threshold setting, determine the accuracy and sensitivity of the sensor. The pressure sensor needs to work effectively in the range of 0-100kPa; Set the deviation threshold (T P =5kPa,T A =3°), ensuring the stability and response speed of the system; Determine k P ,k A ,k D The value is adjusted in real time based on experimental data.

Images