Numerical control three-dimensional spine correcting instrument and key parameter setting method thereof

Abstract

The invention relates to a numerical control three-dimensional spine correcting instrument and a key parameter setting method thereof.The numerical control three-dimensional spine correcting instrument comprises a rack, a head and chest plate, a hip and leg plate and a hip plate, the head and chest plate is arranged on a sliding rail base in a sliding mode along the y axis, the hip and leg plate can rotate around the x axis and the y axis respectively, and the hip plate is rotationally arranged on the hip and leg plate; the sliding rail seat is rotationally arranged on the rack, and the sliding rail seat rotates to enable one side, close to the hip-leg plate, of the head-chest plate to quickly jack up and down in the z-axis direction; the impact stroke of the head and chest plate is 30-100 mm and adjustable, the up-down fast jacking stroke of the head and chest plate is + 50--50 mm and adjustable, the angle formed by rotating the hip and leg plate around the x axis is + 15--25 degrees and adjustable, the angle formed by rotating the hip and leg plate around the y axis is 0-30 degrees and adjustable, and the torsion angle of the hip plate is 0-15 degrees and adjustable. The impact and fast jacking actions of the head-chest plate, the rotation action of the hip-leg plate around the y axis and the twisting action of the hip plate are required to be synchronously completed within 0.25 second. Various key actions of the traditional Chinese medicine spine correction technique are more accurately achieved, the accurately quantified three-dimensional actions act on the lesion intervertebral space at the same time, and the correction effect can be remarkably improved.

Description

Technical field:

[0001] The present invention relates to the technical field of mechanical correction without human body intervention, and in particular to a numerically controlled three-dimensional spine correction instrument and a method for setting key parameters thereof. Background technology:

[0002] After years of research and clinical experience, the inventor of this case has concluded that although the temporary names of cervical spondylosis, lumbar disc herniation, thoracic and lumbar posterior joint disorder, secondary lumbar spinal stenosis, lumbar muscle strain, lumbar three transverse process syndrome and various injuries related to the spine have different clinical manifestations, their causes, pathologies and treatment principles are basically the same; the existing temporary names cannot fully indicate the exact location and nature of the lesions, so the inventor, based on the principles of disease naming, first proposed the concept of spinal intervertebral disease. Spinal intervertebral disease is a general term for a series of diseases caused by adverse mechanical behaviors such as excessive movement or overload of the spine, and three-dimensional changes (imbalances) in the relative position of the vertebrae caused by wind, cold and dampness, combined with injuries to the intervertebral tendons. Diseases that occur in a certain intervertebral space are called certain intervertebral diseases, such as cervical 4 / 5 intervertebral disease, thoracic 7 / 8 intervertebral disease, lumbar 5 / sacral 1 intervertebral disease, etc. The concept of intervertebral disease of the spine clarifies the site of the lesion - a certain intervertebral space of the spine, clarifies the cause of the disease - injury, clarifies the pathological changes - bone dislocation and tendon dislocation, and clarifies the treatment principle - to set things right and return to the natural state.

[0003] At present, the treatment of spinal intervertebral disease mainly includes three categories:

[0004] One is a surgical method aimed at destroying the diseased intervertebral disc. It includes open surgery and minimally invasive surgery. It is mainly suitable for patients who have not responded to various non-surgical treatments. It is the final choice and accounts for a very small number of the patient population.

[0005] The second is to adopt symptomatic palliative therapy: including rest, medicine, acupuncture, physical therapy, traction, etc., and ultimately rely on self-repair, adaptation, and compensation. It is mainly suitable for patients with mild symptoms.

[0006] The third is the causal correction treatment method to correct the relative position changes between the diseased vertebrae, relieve the tension between the intervertebral soft tissues, and make them tend to a natural state: including Chinese medicine massage bone setting, European Orthopaedic Medicine, American Chiropractic and other mechanical methods and three-dimensional spinal correction therapy.

[0007] Among them, the three-dimensional spinal correction therapy is the first invention of the inventor of this case. It refers to the use of information technology to control automated machinery (three-dimensional spinal correction instrument), simulate the various key movements of traditional Chinese medicine spinal correction techniques (the trick to the movement is to exert force instantly), and simultaneously apply precise and quantified three-dimensional movements to the diseased intervertebral space, so as to correct the dislocation of the tendons and bones between the spine, correct the intervertebral position, and achieve the purpose of harmonious intervertebral structure to treat spinal intervertebral diseases. The three-dimensional spinal correction instrument is a key automated mechanized equipment in the three-dimensional spinal correction therapy. The inventor has developed and continuously improved the three-dimensional spinal correction instrument and applied for patent protection. The relevant existing patent documents are as follows:

[0008] Chinese patent numbers: ZL97182091.0; ZL200880129766.2; ZL201110300155.3; ZL201911231855.4.

[0009] The three-dimensional spine correction device developed by the inventor has achieved satisfactory results after clinical application. During this period, the inventor cooperated with a professor of mechanics at Tsinghua University to conduct real-time measurement of the therapeutic effect of the three-dimensional spine correction device, and the conclusion was that it was safe and effective.

[0010] However, after many years of clinical application by the inventor and his peers, especially with the increase in the number of patients treated and the increasing complexity of patients' conditions, it was found that the three-dimensional chiropractic instrument still has some deep-seated technical problems that need to be solved urgently. This is mainly reflected in two aspects. First, the three-dimensional structure is deficient in spatial movement. The head and chest plate in the existing three-dimensional chiropractic instrument can only move horizontally along the longitudinal axis, and the hip and leg plates rotate around the transverse axis to form an angle with the head and chest plate. The hip and leg plates rotate around the longitudinal axis (i.e., the rotation angle), and the hip plate rotates (i.e., the torsion angle). These are all the spatial movements of the existing three-dimensional chiropractic instrument. The combination of these movements has a good correction effect on most intervertebral lesions in the spine. However, in actual applications, it was found that the correction effect of some intervertebral lesions is not ideal, such as spondylolisthesis (such as Figure 13 As shown in the figure, another example is abnormal spinal curvature in children, especially kyphosis. After in-depth analysis and multiple clinical experiments, it was found that the main reason for the unsatisfactory correction of the above-mentioned intervertebral diseases is the lack of coordination of the anterior and posterior top movements of the vertebrae with anterior and posterior displacement; secondly, the fixation of patients is still manual, which is time-consuming and labor-intensive and cannot be accurately quantified; thirdly, the key parameters of the three-dimensional spinal correction instrument were previously only given a safety range, and most of them were set by doctors within the safety range based on clinical experience. The key parameter settings were quite different, which led to large differences in the correction effect. Therefore, it is necessary to set the key parameters reasonably, and at the same time, the parameters can be adjusted adaptively according to individual differences.

[0011] In summary, it is necessary to further optimize and improve on the basis of the existing three-dimensional chiropractic instrument, with a view to perfecting the three-dimensional space movement, realizing automatic quantification and fixation, and making the key parameter settings more reasonable. The whole machine integrates mechanization, informatization, digitization and automation, more accurately reflects various key movements of traditional Chinese medicine chiropractic techniques, uses techniques to exert force instantly (fast), and instantaneously applies the three-dimensional six-degree-of-freedom movements that are difficult to quantify by manual chiropractic to the diseased intervertebral space, prompting the intervertebral structure to tend to the natural state.

[0012] It should be noted that the above content belongs to the technical cognitive scope of the inventor and does not necessarily constitute the prior art. Summary of the Invention:

[0013] The purpose of the present invention is to solve the problems existing in the prior art, and to provide a numerically controlled three-dimensional chiropractic instrument and its key parameter setting method. On the basis of the original three-dimensional chiropractic instrument, by adding a fast top action in the z-axis direction for the diseased vertebra and automatically quantifying and fixing the patient, it makes up for the deficiencies of the actions of the original three-dimensional chiropractic instrument and provides a degree of automation, more accurately realizes various key actions of traditional Chinese medicine chiropractic techniques, and simultaneously applies the precisely quantified three-dimensional six-degree-of-freedom actions to the diseased intervertebral space, and the correction effect will be significantly improved. At the same time, through the scientific and reasonable design of the key parameters of the numerically controlled three-dimensional chiropractic instrument, it can reduce the difference in treatment effects caused by the differences in doctors' clinical experience, and can also meet the treatment needs that vary from person to person.

[0014] The present invention realizes the above object by adopting the following technical solutions:

[0015] A numerically controlled three-dimensional chiropractic instrument, including a frame, on which a head and chest plate and a hip and leg plate are sequentially arranged along the y-axis direction. A hip plate is rotatably arranged on the hip and leg plate. The head and chest plate is slidably arranged along the y-axis on a slide rail seat. A bow-shaped bracket that rotates around the x-axis is arranged on the frame, and a hip and leg plate that rotates around the y-axis is arranged on the bow-shaped bracket; an impact driving mechanism for driving the head and chest plate to slide along the y-axis by impact is arranged on the slide rail seat; the slide rail seat is rotatably arranged on the frame, and a fast top driving mechanism for driving the side of the head and chest plate close to the hip and leg plate to quickly move up and down along the z-axis is arranged between the frame and the slide rail seat; an angle adjustment mechanism for driving the bow-shaped bracket to rotate around the x-axis is arranged between the frame and the bow-shaped bracket; a linkage driving mechanism is arranged between the bow-shaped bracket and the hip and leg plate, and the linkage driving mechanism respectively drives the hip and leg plate to rotate around the y-axis and drives the hip plate to twist around the z-axis; the impact of the head and chest plate along the y-axis and the fast top action along the z-axis, the rotation action of the hip and leg plate around the y-axis, and the twisting action of the hip plate around the z-axis are required to be synchronously completed within 0.25 seconds.

[0016] The slide rail seat is rotatably arranged at the upper end of the frame through a rotating shaft A and a pedestal bearing A. The rotating shaft A and the pedestal bearing A are arranged along the x-axis direction. The quick jacking drive mechanism includes a servo electric cylinder A rotatably arranged on the frame. A hinge seat A is arranged at the lower end of one side of the slide rail seat. The servo electric cylinder A is rotatably connected to the hinge seat A through a piston rod joint A. The servo electric cylinder A drives the slide rail seat and the head and chest plate thereon to perform a quick jacking action.

[0017] Automatic quantification fixing mechanisms are respectively arranged on the head and chest plate and the hip plate. The automatic quantification fixing mechanism includes an electric tightening device, a buckle and a pressure sensor. A webbing is wound around the electric tightening device. The front end of the webbing is provided with a lock tongue for cooperating with the buckle. Pressure slides are respectively arranged on the head and chest plate and the hip plate. Pulley supports are arranged on the pressure slides. A pulley is arranged at the front end of the pulley support and acts on the pressure sensor at the rear end. The webbing is arranged on the pulley.

[0018] A slide rail is arranged along the y-axis at the upper end of the slide rail seat. A slider is arranged on the slide rail. The head and chest plate is fixed on the slider.

[0019] A reset protection mechanism is arranged between the head and chest plate and the slide rail seat. The reset protection mechanism includes a limit block A and a limit block B arranged at intervals along the y-axis direction on the slide rail seat. A guide post is arranged between the limit block A and the limit block B. A guide post plate is arranged at the lower end of the side of the head and chest plate. A guide hole is arranged on the guide post plate. The guide hole is sleeved on the guide post. A reset spring is arranged on the guide post between the guide post plate and the limit block A.

[0020] The impact drive mechanism includes a motor seat arranged on the slide rail seat. An adjustment motor is arranged on the motor seat. The adjustment motor is connected with an adjustment lead screw through a coupling. The adjustment lead screw is connected with an adjustment nut seat arranged in a sliding manner. The adjustment nut seat is connected with an impact driver. An impact slide plate is connected to the impact driver. The upper end of the impact slide plate is connected with the head and chest plate, and the lower end is arranged in a sliding manner on an impact chute. The impact chute is arranged on the slide rail seat. A distance measuring sensor is arranged between the impact driver and the slide rail seat for controlling the impact stroke. The quick impact driver is an oil cylinder. The oil cylinder is connected with an accumulator. The accumulator is connected with a hydraulic station.

[0021] The impact stroke of the head and chest plate is 30 - 100 mm and adjustable. The up and down quick jacking stroke of the head and chest plate is +50 - -50 mm and adjustable. The rotation angle of the hip and leg plate around the x-axis is +15° - -25° and adjustable. The rotation angle of the hip and leg plate around the y-axis is 0 - 30° and adjustable. The torsion angle of the hip plate is 0 - 15° and adjustable.

[0022] The angulation adjustment mechanism includes a servo electric cylinder B rotatably arranged on the frame. An articulated seat B is provided on the bow-shaped bracket. The servo electric cylinder B is rotatably connected to the articulated seat B through a piston rod joint B. The servo electric cylinder B drives the bow-shaped bracket to rotate around the x-axis for angulation adjustment.

[0023] Two pedestal bearings B are arranged at intervals along the y-axis direction at the upper end of the bow-shaped bracket. A rotating shaft B is provided on the two pedestal bearings B. A hip and leg plate is provided on the rotating shaft B. A bearing C is vertically provided on one side of the hip and leg plate close to the head and chest plate. A rotating shaft C is rotatably provided on the bearing C. A hip plate is provided at the upper end of the rotating shaft C.

[0024] The linkage drive mechanism includes a motor mounting plate arranged at the lower end of the hip and leg plate. A drive motor is provided on the motor mounting plate. The drive motor is connected with a drive shaft. A support seat is provided at the lower end of the hip and leg plate. A support bearing is provided on the support seat. The drive shaft is rotatably arranged on the support bearing. A drive gear and a drive bevel gear are respectively provided on the drive shaft. A toothed ring meshing with the drive gear is provided on the bow-shaped bracket. A driven bevel gear meshing with the drive bevel gear is provided at the lower end of the rotating shaft C. The drive gear and the toothed ring cooperate to drive the hip and leg plate to rotate around the y-axis, and the drive bevel gear and the driven bevel gear cooperate to drive the hip plate to twist.

[0025] Guard plates are provided on the frame on both sides of the head and chest plate. Soft pads are respectively provided on the head and chest plate, the guard plates, the hip and leg plate, and the upper end of the hip plate.

[0026] A front strap is provided at the front end of the head and chest plate. The front strap is inserted and connected with the chest and back fixed shoulder sleeve. A rear strap is provided at the rear end of the hip and leg plate. The rear strap is inserted and connected with the pelvis fixed skirt.

[0027] The key parameter setting method of a numerical control three-dimensional spinal orthosis. The key parameters include the impact distance of the head and chest plate along the y-axis, that is, the impact stroke L; the up and down fast top stroke S of the head and chest plate along the z-axis direction on the side close to the hip and leg plate; the rotation angle of the hip and leg plate around the x-axis, that is, the angulation α; the rotation angle of the hip and leg plate around the y-axis, that is, the rotation angle β, and the torsion angle of the hip plate around the z-axis, that is, the torsion angle γ;

[0028] (1) The impact stroke L is:

[0029]

[0030] L = L0 + ΔL; 0 ≤ ΔL ≤ 3mm

[0031] In the formula, H is the height of the patient, M is the weight of the patient, L0 is the impact stroke reference value, and ΔL is the impact stroke fine-tuning variable;

[0032] (2) The fast top stroke S is:

[0033]

[0034] (3) The included angle α is as follows:

[0035] When the buttock and thigh plate is angled downward, α ≤ 25°. The higher the diseased intervertebral space, the smaller the included angle. When the diseased intervertebral space reaches the L2 / 3 position, the included angle α ≤ 12°. When it reaches the middle and upper thoracic segments, α = 0°;

[0036] When the buttock and thigh plate is angled upward, α ≤ 15°;

[0037] (4) The rotation angle β is as follows:

[0038] When the buttock and thigh plate is angled downward, 20 ≤ β ≤ 30°;

[0039] When the buttock and thigh plate is angled upward, β ≤ 18°. The rotation angle of the lower intervertebral space can increase, and the higher it is, the smaller the rotation angle;

[0040] (5) The torsion angle γ is as follows:

[0041] The buttock plate and the buttock and thigh plate are driven in a linkage manner. Through the design of the driving gear, the gear ring, the driving bevel gear and the driven bevel gear, it is made that:

[0042]

[0043] Adopting the above structure, the present invention can bring the following beneficial effects:

[0044] (1) By designing the head and chest plate into a structure that quickly moves up and down along the z-axis on the side close to the buttock and thigh plate, it can realize the quick top correction action of the head and chest plate on the anterior and posterior displacement of the diseased vertebra, make up for the deficiencies of the previous three-dimensional orthopedic instrument in the spatial motion structure, more accurately realize various key actions of traditional Chinese medicine orthopedic manipulation, simultaneously act on the diseased intervertebral space with precisely quantified three-dimensional six-degree-of-freedom actions, promote the intervertebral structure to tend to the natural state, and significantly improve the correction effect.

[0045] (2) Reasonably and scientifically setting the key parameters of the numerically controlled three-dimensional orthopedic instrument, and at the same time taking into account the personalized setting requirements of different patients, helps to achieve a better correction effect.

[0046] (3) Through the quantitative setting of the fixing device, the disadvantages of time-consuming, laborious and difficult to quantify in manual fixing can be overcome. Description of the drawings:

[0047] Figure 1 It is the front view structural schematic diagram of the numerically controlled three-dimensional orthopedic instrument of the present invention;

[0048] Figure 2 It is the top view structural schematic diagram of the numerically controlled three-dimensional orthopedic instrument of the present invention;

[0049] Figure 3 It is a top view structural schematic diagram of the impact driving mechanism of the present invention;

[0050] Figure 4 It is a side view structural schematic diagram of the impact driving mechanism of the present invention;

[0051] Figure 5 It is a structural schematic diagram of the quick top driving mechanism of the present invention;

[0052] Figure 6 It is a structural schematic diagram of the automatic quantification fixing mechanism of the present invention;

[0053] Figure 7 It is a mounting structural schematic diagram of the pulley and the pressure sensor of the present invention;

[0054] Figure 8 It is a structural schematic diagram of the electric tightener of the present invention;

[0055] Figure 9 It is a structural schematic diagram of the angle adjustment mechanism and the linkage driving mechanism of the present invention;

[0056] Figure 10 It is a mounting structural schematic diagram of the hip plate of the present invention;

[0057] Figure 11 It is a meshing schematic diagram of the driving gear and the gear ring of the present invention;

[0058] Figure 12 It is a load and translation structural schematic diagram of the CNC three-dimensional spinal orthosis of the present invention acting on the spine;

[0059] Figure 13 It is a medical image of spondylolisthesis;

[0060] In the figure, 1 is the frame, 2 is the head and chest plate, 3 is the hip and leg plate, 4 is the hip plate, 5 is the slide rail seat, 6 is the bow-shaped bracket, 7 is the impact drive mechanism, 701 is the motor seat, 702 is the adjustment motor, 703 is the coupling, 704 is the adjustment lead screw, 705 is the adjustment nut seat, 706 is the impact driver, 707 is the impact slide plate, 708 is the impact chute, 709 is the distance measuring sensor, 710 is the accumulator, 711 is the hydraulic station, 8 is the fast top drive mechanism, 801 is the servo electric cylinder A, 802 is the hinge seat A, 803 is the piston rod joint A, 9 is the angle adjustment mechanism, 901 is the servo electric cylinder B, 902 is the hinge seat B, 903 is the piston rod joint B, 10 is the linkage drive mechanism, 1001 is the motor mounting plate, 1002 is the drive motor, 1003 is the drive shaft, 1004 is the support seat, 1005 is the support bearing, 1006 is the drive gear, 1007 is the drive bevel gear, 1008 is the gear ring, 1009 is the driven bevel gear, 11 is the rotating shaft A, 12 is the bearing with housing A, 13 is the automatic quantization fixing mechanism, 1301 is the electric tightener, 1302 is the buckle, 1303 is the pressure sensor, 1304 is the webbing, 1305 is the lock tongue, 1306 is the pressure slideway, 1307 is the pulley support, 1308 is the pulley, 14 is the slide rail, 15 is the slider, 16 is the reset protection mechanism, 1601 is the limit block A, 1602 is the limit block B, 1603 is the guide post, 1604 is the guide plate, 1605 is the guide hole, 1606 is the reset spring, 17 is the bearing with housing B, 18 is the rotating shaft B, 19 is the bearing C, 20 is the rotating shaft C, 21 is the guard plate, 22 is the cushion, 23 is the front strap, 24 is the rear strap, 25 is the control system. Specific implementation manner:

[0061] In order to more clearly illustrate the overall concept of the present invention, the following will be described in detail by way of examples in conjunction with the specification drawings.

[0062] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0063] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0064] In addition, terms such as "x-axis", "y-axis", "z-axis", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the position of the indicated technical features.

[0065] In the present invention, unless otherwise clearly defined and limited, terms such as "provided with", "set", "connected", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection; it may be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] Such as Figures 1-12As shown in the figure, a numerically controlled three-dimensional spinal adjuster includes a frame 1. Along the y-axis direction on the frame 1, a head and chest plate 2 and a hip and leg plate 3 are successively arranged. A hip plate 4 is rotatably arranged on the hip and leg plate 3. The head and chest plate 2 is slidably arranged along the y-axis on a slide rail seat 5. On the frame 1, a bow-shaped bracket 6 that rotates around the x-axis is provided. On the bow-shaped bracket 6, a hip and leg plate 3 that rotates around the y-axis is provided. An impact driving mechanism 7 for driving the head and chest plate 2 to slide impulsively along the y-axis is provided on the slide rail seat 5. The slide rail seat 5 is rotatably arranged on the frame 1, and a fast top driving mechanism 8 for driving the side of the head and chest plate 2 close to the hip and leg plate 3 to quickly lift and lower along the z-axis direction is provided between the frame 1 and the slide rail seat 5. An angle adjustment mechanism 9 for driving the bow-shaped bracket 6 to rotate around the x-axis is provided between the frame 1 and the bow-shaped bracket 6. A linkage driving mechanism 10 is provided between the bow-shaped bracket 6 and the hip and leg plate 3. The linkage driving mechanism 10 respectively drives the hip and leg plate 3 to rotate around the y-axis and drives the hip plate 4 to twist. The impact along the y-axis and the fast top action along the z-axis of the head and chest plate 2, the rotation action of the hip and leg plate 3 around the y-axis, and the twisting action of the hip plate 4 are required to be synchronously completed within 0.25 seconds. By adding the ability of the side of the head and chest plate 2 close to the hip and leg plate 3 to quickly lift and lower along the z-axis direction, the lack of spatial movement of the previous three-dimensional spinal adjuster (bed) is made up for, and it can more accurately simulate various key actions of traditional Chinese medicine spinal adjustment techniques. The precisely quantified three-dimensional six-degree-of-freedom actions are simultaneously applied to the diseased intervertebral space, promoting the intervertebral structure to tend to the natural state, and the correction effect is significantly improved. Especially for the abnormal anterior and posterior convex curvature of the spine in the case of spondylolisthesis, the correction effect is more prominent. In addition, except for angle adjustment, the completion time of other actions is limited and must be synchronously completed within 0.25 seconds, and generally about 0.2 seconds in actual operation. This technical feature fully reflects the core difference from the traction bed: the international and domestic standards of existing traction beds are to control the magnitude of the traction force and the traction time, and the traction force generally is not allowed to exceed the body weight; the reason is that there are stretch receptors in human muscle fibers, and when the stretch receptors are stretched, they will contract and resist. When the traction force exceeds its isometric traction, the muscle fibers will be damaged. The impact and tremor used in this solution require rapid impact force, and what it controls is the impact distance. The impact distance is controlled within the elastic limit of the spinal soft tissue and will not be damaged. The faster the speed, the lighter the pain and the smaller the damage (almost no damage). Since the patient is a living body, according to the fact that the intensity of pain sensation of the human body is related to the action time (time-intensity curve, SD curve), the shorter the time, the less pain. By controlling the action completion time, the impact and tremor action is completed before there is time to react. The impact force in this solution is several times greater than the usual traction force. Due to the existence of the limit blocking member, it is ensured that the extension of the intervertebral space being impacted and tremored is within its elastic limit. The impulse generated by this impact force will not all act on the human body, and the impulse after reaching the treatment amount is dispersed by the blocking member, so it will not cause harm to people.

[0067] The slide rail seat 5 is rotatably arranged at the upper end of the frame 1 through the rotating shaft A11 and the bearing pedestal A12. The rotating shaft A11 and the bearing pedestal A12 are arranged along the x-axis direction. The quick jacking driving mechanism 8 includes a servo electric cylinder A801 rotatably arranged on the frame 1. A hinge seat A802 is arranged at the lower end of one side of the slide rail seat 5. The servo electric cylinder A801 is rotatably connected with the hinge seat A802 through a piston rod joint A803. The servo electric cylinder A801 drives the slide rail seat 5 and the head and chest plate 2 thereon to quickly jack up and down. By adding a rotating motion to the slide rail seat 5 and the head and chest plate 2 thereon, and driving the head and chest plate 2 to rotate through the quick jacking driving mechanism 8, when the head and chest plate 2 rotates, the side close to the hip and leg plate 3 can quickly move up and down along the z-axis direction, thereby realizing the quick jacking action. The driving form mainly uses a servo electric cylinder. The servo electric cylinder (abbreviation: servo cylinder) is an integrated product integrating a servo motor and a lead screw. Its running speed is 0.1 - 2 m / s. At the same time, it adopts closed-loop servo control, has the advantages of adjustable stroke and high running accuracy, and also has a self-locking function. When the jacking action is not required, the head and chest plate 2 can be kept in a horizontal posture. In this technical solution, the maximum stroke is 50 mm and it is required to be completed within 0.25 seconds. Therefore, the running speed is required to be greater than 0.2 m / s. Obviously, the prior art can meet the design requirements. In addition, the maximum thrust of the JWMC product system can reach 35 tons and the maximum speed can reach 2 m / s. In actual application, the head and chest plate 2 is adjusted to a horizontal state through the servo electric cylinder A801, and it can run up or down when the quick jacking action is required.

[0068] An automatic quantitative fixing mechanism 13 is respectively provided on the cephalothoracic plate 2 and the gluteal plate 4. The automatic quantitative fixing mechanism 13 includes an electric tightening device 1301, a buckle 1302 and a pressure sensor 1303. A webbing 1304 is wound around the electric tightening device 1301. A locking tongue 1305 cooperating with the buckle 1302 is provided at the front end of the webbing 1304. Pressure slides 1306 are respectively provided on the cephalothoracic plate 2 and the gluteal plate 4. A pulley support 1307 is slidably provided on the pressure slide 1306. A pulley 1308 is provided at the front end of the pulley support 1307, and the rear end acts on the pressure sensor 1303. The webbing 1304 is arranged on the pulley 1308. In the past, the fixation of the key parts (waist and buttocks) of patients was completed by manual operation of medical staff, which led to a large difference in the tightness of human fixation. And the fixation of the key part directly affects the correction effect. If the fixation is too loose, the correction action will not be in place, and the correction effect will be poor. If the fixation is too tight, not only will the patient feel uncomfortable, but it will also affect the correction effect. By designing the automatic quantitative fixing mechanism 13, automatic fixation can be achieved. Through the cooperation of the pulley 1308 and the pressure sensor 1303, not only can the webbing 1304 be smoothly reversed and retracted, but also the pressure received by the pulley 1308 can be transmitted to the pressure sensor 1303. The tightness of the webbing is quantitatively detected by the pressure sensor 1303, realizing the quantification of the fixation tightness, effectively reducing the possibility of human intervention, ensuring that the fixation tightness of the patient is more reasonable, and thus helping to improve the correction effect.

[0069] A slide rail 14 is provided on the upper end of the slide rail seat 5 along the y-axis. A slider 15 is provided on the slide rail 14. The cephalothoracic plate 2 is fixed on the slider 15. The design of the slide rail 14 and the slider 15 can ensure that the impact sliding of the cephalothoracic plate 2 is more accurate and reliable.

[0070] A reset protection mechanism 16 is provided between the cephalothoracic plate 2 and the slide rail seat 5. The reset protection mechanism 16 includes a limit block A 1601 and a limit block B 1602 which are arranged at intervals along the y-axis on the slide rail seat 5. A guide post 1603 is provided between the limit block A 1601 and the limit block B 1602. A guide post plate 1604 is provided at the lower end of the side of the cephalothoracic plate 2. A guide hole 1605 is provided on the guide post plate 1604. The guide hole 1605 is sleeved on the guide post 1604. A reset spring 1606 is provided on the guide post 1603 between the guide post plate 1604 and the limit block A 1601. The design of the reset protection mechanism 16 can achieve impact limitation, that is, the impact stroke cannot exceed the set maximum value, thus providing good protection for the patient. At the same time, the reset spring 1606 can elastically reset the cephalothoracic plate 2 to prepare for the next impact.

[0071] The impact driving mechanism 7 includes a motor base 701 provided on the slide rail base 5. An adjusting motor 702 is provided on the motor base 701. The adjusting motor 702 is connected to an adjusting lead screw 704 through a coupling 703. The adjusting lead screw 704 is connected to an adjusting nut seat 705 that is slidably arranged. The adjusting nut seat 705 is connected to an impact driver 706. An impact slide plate 707 is connected to the impact driver 706. The upper end of the impact slide plate 707 is connected to the head and chest plate 2, and the lower end is slidably arranged on an impact chute 708. The impact chute 708 is provided on the slide rail base 5; a distance measuring sensor 709 is provided between the impact driver 706 and the slide rail base 5; the quick impact driver 706 is an oil cylinder, the oil cylinder is connected to an accumulator 710, and the accumulator 710 is connected to a hydraulic station 711. First, the cooperation of the adjusting motor 702, the adjusting lead screw 704, and the adjusting nut seat 705 (nut seat) can accurately adjust the position of the impact driver 706 (oil cylinder), so as to meet the requirements of different impact strokes. Then, the impact action can be completed within 0.25 seconds through the oil cylinder.

[0072] The impact stroke of the head and chest plate 2 is 30 - 100 mm and adjustable. The up and down quick top stroke of the head and chest plate 2 is +50 - -50 mm and adjustable. The angle of rotation of the hip and leg plate 3 around the x-axis is +15° - -25° and adjustable. The left and right rotation angle of the hip and leg plate 3 around the y-axis is 0 - 30° and adjustable. The positive and negative torsion angles of the hip plate 4 are 0 - 15° and adjustable. The ranges of various movements in the space are set to ensure safety and reliability.

[0073] The angle adjustment mechanism 9 includes a servo electric cylinder B901 rotatably arranged on the frame 1. A hinge seat B902 is provided on the bow-shaped bracket 6. The servo electric cylinder B901 is rotationally connected to the hinge seat B902 through a piston rod joint B903. The servo electric cylinder B901 drives the bow-shaped bracket 6 to rotate and adjust the angle around the x-axis. The angle adjustment is an operation that needs to be completed before other actions. By using a servo electric cylinder to complete it, it not only has the advantages of mature technology, low cost (no speed requirement, a servo electric cylinder with a lower price can be used), adjustable stroke, and high precision.

[0074] Two pedestal bearings B17 are provided at intervals along the y-axis direction at the upper end of the bow-shaped bracket 6. A rotating shaft B18 is provided on the two pedestal bearings B17. A hip and leg plate 3 is provided on the rotating shaft B18. A bearing C19 is vertically provided on one side of the hip and leg plate 3 close to the head and chest plate 2. A rotating shaft C20 is rotatably provided on the bearing C19. The hip plate 4 is provided at the upper end of the rotating shaft C20. By adopting the pedestal bearing and rotating shaft structure, the hip and leg plate 3 can be rotated around the y-axis, and the torsion movement of the hip plate 4 can be realized through the bearing and rotating shaft.

[0075] The linkage drive mechanism 10 includes a motor mounting plate 1001 provided at the lower end of the hip and thigh plate 3. A drive motor 1002 is provided on the motor mounting plate 1001. The drive motor 1002 is connected to a drive shaft 1003. A support seat 1004 is provided at the lower end of the hip and thigh plate 3. A support bearing 1005 is provided on the support seat 1004. The drive shaft 1003 is rotatably arranged on the support bearing 1005. A drive gear 1006 and a drive bevel gear 1007 are respectively provided on the drive shaft 1003. A toothed ring 1008 meshing with the drive gear 1006 is provided on the bow-shaped bracket 6. A driven bevel gear 1009 meshing with the drive bevel gear 1007 is provided at the lower end of the rotating shaft C20. The drive gear 1006 and the toothed ring 1008 cooperate to drive the hip and thigh plate 3 to rotate around the y-axis, and the drive bevel gear 1007 and the driven bevel gear 1009 cooperate to drive the hip plate 4 to twist. By designing the linkage drive mechanism 10, the linkage movement of the hip and thigh plate 3 and the hip plate 4 is realized, which not only realizes three-dimensional synchronous actions, helps to improve the correction effect, but also saves the drive cost.

[0076] Guard plates 21 are provided on the frames 1 on both sides of the head and chest plate 2. Soft pads 22 are respectively provided on the head and chest plate 2, the guard plates 21, the hip and thigh plate 3, and the upper end of the hip plate 4. There was no design of guard plates 21 on both sides of the head and chest plate 2 of the previous three-dimensional spinal orthosis, and both the aesthetics and the sense of security were relatively poor. By designing the guard plates 21, the overall appearance is more beautiful and the sense of security of the patient is more fulfilling. The soft pads 22 ensure the comfort of the patient.

[0077] A front strap 23 is provided at the front end of the head and chest plate 2. The front strap 23 is inserted into the chest and back fixed shoulder sleeve. A rear strap 24 is provided at the rear end of the hip and thigh plate 3. The rear strap 24 is inserted into the pelvis fixed skirt. The chest and back fixed shoulder sleeve and the pelvis fixed skirt play a role of tight fixation, which has been publicly disclosed before and will not be elaborated here.

[0078] A key parameter setting method for the numerical control three-dimensional spinal orthosis, the key parameters include the impact distance of the head and chest plate 2 along the y-axis, that is, the impact stroke L; the fast top stroke S in the up and down directions along the z-axis on the side of the head and chest plate 2 close to the hip and thigh plate 4; the rotation angle of the hip and thigh plate 3 around the x-axis, that is, the angulation α; the rotation angle of the hip and thigh plate 3 around the y-axis, that is, the rotation angle β, and the torsion angle of the hip plate 4, that is, the torsion angle γ;

[0079] (1) The impact stroke L is:

[0080]

[0081] In the formula, H is the height of the patient, M is the weight of the patient, L0 is the reference value of the impact stroke, and ΔL is the fine-tuning variable of the impact stroke;

[0082] (2) The fast top stroke S is:

[0083]

[0084] In practical applications, specific values ​​need to be determined based on the location and severity of the patient's intervertebral disease.

[0085] (3) The angle α is:

[0086] The hip-leg plate 3 is angled downward at α≤25°. The more the lesion intervertebral space is upward, the smaller the angle is. When the lesion intervertebral space reaches the L2 / 3 position, the angle is α≤12°. When it reaches the middle and upper thoracic segment, α=0°.

[0087] When the hip and leg plate 3 is angled upward, α≤15°;

[0088] (4) The rotation angle β is:

[0089] When the hip and leg plate 3 is angled downward, 20≤β≤30°;

[0090] When the hip-leg plate 3 is angled upward, β≤18°, the lower intervertebral rotation angle can be increased, and the rotation angle decreases as it goes upward;

[0091] (5) The torsion angle γ is:

[0092] The hip plate 4 and the hip-leg plate 3 are driven in linkage, and the driving gear 1006, the gear ring 1008, the driving bevel gear 1007 and the driven bevel gear 1009 are designed so that:

[0093]

[0094] Instructions for use of this application's CNC three-dimensional spine correction instrument:

[0095] In actual application or final product, it is also necessary to design a control system 25. This part can be directly entrusted to a third-party company to develop the hardware and software according to the design requirements.

[0096] Before use, refer to the above key parameter setting method according to the patient's height, weight, gender, age, intervertebral lesion site and lesion severity, determine the impact stroke L of the head and chest board 2, the quick top direction (front end upward top or rear end upward top) and quick top stroke of the head and chest board 2, the angular direction (upward or downward) and angle α of the hip and leg board 3, the rotation direction and rotation angle β of the hip and leg board 4 around the y-axis, and the torsional movement of the hip and leg board 4 is linked with the rotational movement of the hip and leg board 3 (the torsional direction and torsional angle are determined according to the rotation direction and rotation angle);

[0097] During use, the patient wears a chest and back fixing shoulder strap and a pelvic fixing skirt and then lies prone on the numerically controlled three-dimensional spinal orthosis, so that the diseased intervertebral space is located at the junction of the head and chest plate 2 and the buttock and leg plate 4. The automatic quantification fixing mechanism 13 on the head and chest plate 2 automatically fixes the patient's waist position, and the chest is fixed on the head and chest plate 2 by inserting the front strap 23 into the chest fixing shoulder strap (the fixing tightness is determined by the pressure sensor 1303); the automatic quantification fixing mechanism 13 on the buttock plate 4 automatically fixes the patient's buttocks, and the pelvis is fixed on the buttock plate 4 by inserting the rear strap 24 into the pelvic fixing skirt. The control system 11 controls the buttock and leg plate 3 to be angled and tilted as set, and then the impact, rotation, torsion and / or jacking actions are started through a control switch (such as a foot switch). The above actions complete a key treatment for correcting the three-dimensional changes of the intervertebral space within 0.25 seconds, realizing various key actions of the traditional Chinese medicine spinal orthosis manipulation, simultaneously applying the precisely quantified three-dimensional actions to the diseased intervertebral space, promoting the intervertebral structure to tend to the natural state, and significantly improving the correction effect.

[0098] The above specific implementation manners cannot be used as a limitation on the protection scope of the present invention. For those skilled in the art of this technology, any alternative improvement or transformation made to the implementation manner of the present invention falls within the protection scope of the present invention.

[0099] Where the present invention is not described in detail, it is all well-known technology to those skilled in the art of this technology.

Claims

1. A numerically controlled three-dimensional spinal corrector, characterized in that, It includes a frame. Along the y-axis direction on the frame, a head and chest plate and a hip and leg plate are successively arranged. A hip plate is rotatably arranged on the hip and leg plate. The head and chest plate is slidably arranged along the y-axis on a slide rail seat. On the frame, a bow-shaped bracket that rotates around the x-axis is provided, and on the bow-shaped bracket, a hip and leg plate that rotates around the y-axis is provided. On the slide rail seat, an impact driving mechanism for driving the head and chest plate to slide impulsively along the y-axis is provided. The slide rail seat is rotatably arranged on the frame, and between the frame and the slide rail seat, a fast top driving mechanism for driving the side of the head and chest plate close to the hip and leg plate to quickly move up and down along the z-axis is provided. Between the frame and the bow-shaped bracket, an angle adjustment mechanism for driving the bow-shaped bracket to rotate around the x-axis is provided. Between the bow-shaped bracket and the hip and leg plate, a linkage driving mechanism is provided, and the linkage driving mechanism respectively drives the hip and leg plate to rotate around the y-axis and drives the hip plate to twist around the z-axis. The impact along the y-axis and the fast top action along the z-axis of the head and chest plate, the rotation action of the hip and leg plate around the y-axis, and the twisting action of the hip plate around the z-axis are required to be synchronously completed within 0.25 seconds.

2. The numerical control three-dimensional chiropractic instrument according to claim 1, characterized in that, The slide rail seat is rotatably arranged at the upper end of the frame through a rotating shaft A and a bearing with housing A. The rotating shaft A and the bearing with housing A are arranged along the x-axis direction. The fast top driving mechanism includes a servo electric cylinder A rotatably arranged on the frame. At the lower end of one side of the slide rail seat, a hinge seat A is provided. The servo electric cylinder A is rotatably connected to the hinge seat A through a piston rod joint A. The servo electric cylinder A drives the slide rail seat and the head and chest plate thereon to perform a fast top action.

3. A numerically controlled three-dimensional chiropractic instrument according to claim 1 or 2, characterized in that, Automatic quantification fixing mechanisms are respectively provided on the head and chest plate and the hip plate. The automatic quantification fixing mechanism includes an electric tightener, a lock and a pressure sensor. A webbing is wound around the electric tightener. The front end of the webbing is provided with a lock tongue that cooperates with the lock. Pressure slides are respectively provided on the head and chest plate and the hip plate. On the pressure slides, a pulley support is slidably arranged. The front end of the pulley support is provided with a pulley, and the rear end acts on the pressure sensor. The webbing is arranged on the pulley.

4. The CNC three-dimensional chiropractic instrument according to claim 3, characterized in that At the upper end of the slide rail seat, a slide rail is provided along the y-axis. On the slide rail, a slider is provided. The head and chest plate is fixed on the slider. Between the head and chest plate and the slide rail seat, a reset protection mechanism is provided. The reset protection mechanism includes a limit block A and a limit block B that are arranged at intervals along the y-axis direction on the slide rail seat. Between the limit block A and the limit block B, a guide post is provided. At the lower end of the side of the head and chest plate, a guide post plate is provided. A guide hole is provided on the guide post plate, and the guide hole is sleeved on the guide post. A reset spring is provided on the guide post between the guide post plate and the limit block A.

5. The numerically controlled three-dimensional spinal orthosis according to claim 4, wherein The impact driving mechanism includes a motor seat arranged on the slide rail seat. An adjusting motor is provided on the motor seat. The adjusting motor is connected with an adjusting lead screw through a coupling. The adjusting lead screw is connected with a slidably arranged adjusting nut seat. The adjusting nut seat is connected with an impact driver. The impact driver is connected with an impact slide plate. The upper end of the impact slide plate is connected with the head and chest plate, and the lower end is slidably arranged on an impact chute. The impact chute is arranged on the slide rail seat. A distance measuring sensor is provided between the impact driver and the slide rail seat for controlling the impact stroke. The fast impact driver is an oil cylinder. The oil cylinder is connected with an accumulator, and the accumulator is connected with a hydraulic station.

6. The CNC three-dimensional chiropractic instrument according to claim 1, characterized in that, The impact stroke of the head and chest plate is 30 - 100 mm and adjustable, the up and down fast top stroke of the head and chest plate is +50 - -50 mm and adjustable, the hip and leg plate rotates around the x-axis at an angle of +15° - -25° and adjustable, the hip and leg plate rotates left and right around the y-axis at an angle of 0 - 30° and adjustable, and the forward and reverse torsion angle of the hip plate is 0 - 15° and adjustable.

7. A numerically controlled three-dimensional spinal orthosis according to claim 6, characterized in that, At the upper end of the arched bracket, two pedestal bearings B are arranged at intervals along the y-axis direction. A rotating shaft B is arranged on the two pedestal bearings B. A hip and leg plate is arranged on the rotating shaft B. A bearing C is arranged vertically on one side of the hip and leg plate close to the head and chest plate. A rotating shaft C is rotatably arranged on the bearing C. The upper end of the rotating shaft C is provided with a hip plate.

8. A numerically controlled three-dimensional chiropractic instrument according to claim 7, characterized in that, The linkage drive mechanism includes a motor mounting plate arranged at the lower end of the hip and leg plate. A drive motor is arranged on the motor mounting plate. The drive motor is connected with a drive shaft. A support seat is arranged at the lower end of the hip and leg plate. A support bearing is arranged on the support seat. The drive shaft is rotatably arranged on the support bearing. A drive gear and a drive bevel gear are respectively arranged on the drive shaft. A toothed ring meshing with the drive gear is arranged on the arched bracket. A driven bevel gear meshing with the drive bevel gear is arranged at the lower end of the rotating shaft C. The drive gear and the toothed ring cooperate to drive the hip and leg plate to rotate around the y-axis, and the drive bevel gear and the driven bevel gear cooperate to drive the hip plate to twist.

9. A numerically controlled three-dimensional spinal orthosis according to claim 8, characterized in that, Guard plates are arranged on the frames on both sides of the head and chest plate. Soft pads are respectively arranged on the head and chest plate, the guard plates, the hip and leg plate and the upper end of the hip plate; A front strap is arranged at the front end of the head and chest plate. The front strap is inserted into the chest and back fixed shoulder sleeve. Rear straps are arranged at intervals at the rear end of the hip and leg plate. The rear straps are inserted into the pelvic fixed skirt.

10. A method for setting key parameters of a numerically controlled three-dimensional spinal orthosis, characterized in that, The key parameters of a numerically controlled three-dimensional spinal orthosis including any one of claims 1 - 9 include the impact distance of the head and chest plate along the y-axis, that is, the impact stroke L; the up and down fast top stroke S of the head and chest plate along the z-axis direction on the side close to the hip and leg plate; the rotation angle of the hip and leg plate around the x-axis, that is, the included angle α; the rotation angle of the hip and leg plate around the y-axis, that is, the rotation angle β, and the torsion angle of the hip plate around the z-axis, that is, the torsion angle γ; (1) The impact stroke L is: L = L0 + ΔL; 0 ≤ ΔL ≤ 3 mm In the formula, H is the height of the patient, M is the weight of the patient, L0 is the reference value of the impact stroke, and ΔL is the fine-tuning variable of the impact stroke; (2) The fast top stroke S is: (3) The included angle α is: When the hip and leg plate forms an angle downward, α ≤ 25°, the higher the diseased intervertebral space, the smaller the included angle; when the diseased intervertebral space reaches the L2 / 3 position, then α ≤ 12°, and when it reaches the middle and upper thoracic segments, α = 0°; When the hip and leg plate forms an angle upward, α ≤ 15°; (4) The rotation angle β is: When the hip and leg plate forms an angle downward, 20 ≤ β ≤ 30°; When the hip and leg plate forms an angle upward, β ≤ 18°, the rotation angle of the lower intervertebral space can increase, and the higher it is, the smaller the rotation angle; (5) The torsion angle γ is: The hip plate and the hip and leg plate adopt linkage drive. Through the design of the drive gear, the toothed ring, the drive bevel gear and the driven bevel gear, it is made that:

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