Wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system

Abstract

The invention provides a wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system. The wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system comprises a sensor detection system, an intelligent control system and a terminal system, the sensor detection system monitors the current state of the spine of a patient in real time through a built-in high-precision sensor, automatically adjusts movement of robot joints according to a preset treatment scheme and a personalized rehabilitation target, and applies accurate correction force and correction torque to the spine, and relates to the technical field of scoliosis rehabilitation. The robot can monitor the spine motion state and muscle strength change of a patient in real time and adjust treatment parameters and training modes in time according to the feedback information, the real-time interactive rehabilitation training mode can more accurately perform intensive training aiming at weak links of the patient, strength and coordination of muscles around the spine of the patient are improved, and the rehabilitation effect of the patient is improved. The stability of the spine is enhanced, the rehabilitation training effect is further consolidated and improved, and the relapse of scoliosis is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of scoliosis rehabilitation, and particularly to a wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system. Background Art

[0002] Scoliosis is a common spinal deformity disease with a relatively high incidence in the adolescent population. As the condition progresses, it may have serious negative impacts on the patient's cardiopulmonary function, physical appearance, and mental health. Traditional scoliosis treatment methods mainly include brace treatment and surgical treatment. Brace treatment requires the patient to wear a customized orthotic brace for a long time. Although it can limit the progression of scoliosis to a certain extent, the wearing comfort of the brace is poor, often affecting the patient's daily life and compliance. Surgical treatment has a high risk and trauma, a long postoperative recovery process, and may cause a series of complications.

[0003] In recent years, with the rapid development of rehabilitation medicine and robotics, rehabilitation therapy robots have gradually become a research hotspot in the field of scoliosis treatment. However, most of the existing scoliosis rehabilitation therapy robots have some limitations. On the one hand, some devices are large in size and complex in structure, requiring patients to be treated in specific medical institutions or rehabilitation centers, which limits the treatment convenience and flexibility of patients and cannot meet the needs of patients for rehabilitation training at home or in daily life scenarios. On the other hand, the degree-of-freedom design of some robots is not reasonable enough to accurately simulate the complex motion patterns of the human spine in the plane, resulting in unsatisfactory treatment effects.

[0004] In addition, the existing rehabilitation therapy robots also need to improve in terms of human-computer interaction, and it is difficult to adjust the treatment parameters in a timely manner according to the patient's real-time feedback and physical condition, thus affecting the patient's treatment experience and rehabilitation process.

[0005] In summary, developing a wearable scoliosis rehabilitation therapy robot with good wearing comfort, high-degree-of-freedom motion simulation ability, and enhanced human-computer interaction has important practical significance and urgent clinical needs for improving the rehabilitation treatment effect of scoliosis patients and improving the quality of life of patients. Summary of the Invention

[0006] To overcome the existing problems, an embodiment of the present application provides a wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system. Combining an advanced sensor detection system, an intelligent control system, and a terminal system, the robot can real-time monitor the spinal movement state and muscle strength changes of the patient, and timely adjust the treatment parameters and training modes according to this feedback information. This real-time interactive rehabilitation training method can more accurately target the weak links of the patient for intensive training, improve the strength and coordination of the muscles around the patient's spine, enhance the stability of the spine, further consolidate and improve the rehabilitation training effect, and prevent the recurrence of scoliosis.

[0007] The technical solution adopted by the embodiment of the present application to solve its technical problems is as follows:

[0008] A wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system, including a sensor detection system, an intelligent control system, and a terminal system;

[0009] The sensor detection system real-time monitors the current state of the patient's spine through the built-in high-precision sensors, automatically adjusts the movement of the robot joints according to the preset treatment plan and personalized rehabilitation goals, applies precise corrective forces and corrective torques to the spine, and guides the spine to gradually return to the normal physiological curvature and posture. During the correction process, the movement range and speed of each degree of freedom can be precisely controlled. For example, the flexion and extension angle range can reach [-X,X] degrees, the lateral flexion angle range is [-Y,Y] degrees, and the axial rotation angle range is within [-Z,Z] degrees. The speed adjustment accuracy can reach [specific accuracy value] degrees / second to adapt to the conditions and physical conditions of different patients and achieve safe and effective scoliosis correction treatment;

[0010] The intelligent control system realizes precise control of each joint of the robot, real-time analysis and processing of sensor data, and wireless communication functions with external devices through an embedded microprocessor and a real-time operating system;

[0011] The terminal system includes a remote communication module, a cloud server module, and an information feedback module. It can upload the patient's treatment data to the cloud server module in real time through a wireless network for remote doctors and therapists to view and analyze. Doctors and therapists can provide professional rehabilitation guidance and suggestions for the patient at any time and anywhere according to this data, and timely answer the questions encountered by the patient during the treatment process to achieve remote medical monitoring and intervention. The robot can also receive treatment plan updates and parameter adjustment instructions from the remote end to ensure that the patient can receive continuous and effective rehabilitation treatment, break through the limitations of time and space, and improve the utilization efficiency of medical resources. It is especially suitable for patients in remote areas or patients who are unable to regularly go to the hospital for rehabilitation treatment due to special circumstances.

[0012] Preferably, the sensor detection system includes a pressure sensor, an angle sensor, and an electromyography sensor, which are used to collect the activity of the muscles around the patient's spine, the force on the spinal joints, and the real-time posture information of the spine in real time.

[0013] Preferably, the data of the pressure sensor, the angle sensor, and the electromyography sensor will be transmitted to the intelligent control system for analysis and processing, and then fed back to the patient and the therapist in an intuitive manner through a supporting mobile application or display screen. Based on this feedback information, the therapist can adjust the treatment plan in a timely manner, and the robot can also automatically optimize the correction parameters to ensure the safety and effectiveness of the treatment process. At the same time, it helps the patient better understand their rehabilitation progress and physical condition, and improves the compliance of the treatment.

[0014] Preferably, the intelligent control system adopts a hierarchical architecture, including a motor drive and sensor signal acquisition layer module at the bottom layer, a motion control and data processing layer module in the middle, and a human-machine interaction and remote communication layer module at the upper layer;

[0015] Information is collected through the motor drive and sensor signal acquisition layer module;

[0016] Motion information is controlled through the motion control and data processing layer module;

[0017] Program settings and signal transmission are carried out through the human-machine interaction and remote communication layer module.

[0018] Preferably, the remote communication module can receive treatment plan updates and parameter adjustment instructions from the remote end, ensuring that patients can receive continuous and effective rehabilitation treatment, breaking through the limitations of time and space, improving the utilization efficiency of medical resources, and is especially suitable for patients in remote areas or those who are unable to regularly go to the hospital for rehabilitation treatment due to special circumstances.

[0019] Preferably, the pressure sensors, angle sensors, and electromyography sensors are distributed at various key parts of the robot, making direct contact with the patient's body or indirect contact through flexible pads, to ensure accurate acquisition of relevant information about the spine. To achieve the planar three-degree-of-freedom motion function, the robot is provided with multiple intelligent joints at key parts of the spine, such as the thoracic and lumbar regions. These joints adopt miniaturized and high-precision electric or pneumatic drive devices, combined with precise transmission mechanisms such as planetary gear reducers and harmonic reducers, which can achieve flexible and precise angle adjustment and force output. The joints are designed with a certain degree of flexibility and buffering ability to simulate the physiological characteristics of the human spinal joints and avoid causing excessive impact or damage to the patient's spine during the correction process. For example, at the lateral flexion joint, a special elastic connection structure and torque sensor are adopted, which can automatically adjust the magnitude and direction of the lateral flexion force according to the flexibility and lateral flexion resistance of the patient's spine, ensuring the smoothness and safety of the correction process;

[0020] Among them, the pressure sensors are mainly arranged at the supporting parts in contact with the spine, used to monitor the force condition of the spine and judge whether the distribution of the correction force is uniform and reasonable;

[0021] The angle sensors are installed at each joint to measure the angle changes of the joints in real time and feedback the motion posture of the spine;

[0022] The electromyography sensors are closely attached to the surfaces of the main muscle groups on both sides of the spine, such as the erector spinae muscles, to collect the electrical activity signals of the muscles, used to evaluate the fatigue degree and participation of the muscles, and provide a basis for the formulation and adjustment of the rehabilitation training plan;

[0023] Among them, the pressure sensors, angle sensors, and electromyography sensors are all connected to the intelligent control system through flexible circuit boards and shielded cables, to ensure the stability and reliability of data transmission, and at the same time avoid interference caused by the cables to the patient's activities.

[0024] Preferably, the wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system is based on in-depth research on the human spinal anatomical structure, biomechanical characteristics, and the pathogenesis of scoliosis, and adopts a method combining advanced mechanical design, electronic technology, sensor technology, and artificial intelligence algorithms for the overall design of the robot:

[0025] Step 1: Use computer-aided design software to construct a three-dimensional model of the robot and optimize its structure design to achieve the goals of lightweight, miniaturization, and high reliability on the premise of meeting the requirements of the three-degree-of-freedom motion function;

[0026] Step 2: According to the ergonomic principle, perform surface fitting and comfort design on the part of the robot in contact with the human body, so that it can closely fit the patient's body and will not cause obvious restrictions on the normal activities of the patient;

[0027] Step 3: Use machine learning algorithms to train and learn from a large amount of scoliosis patient data, establish a personalized rehabilitation model, and formulate an optimized treatment plan and motion trajectory plan for each patient;

[0028] Step 4: Combine factors such as the patient's age, gender, disease severity, physical function, and lifestyle habits, and use big data analysis and artificial intelligence algorithms to customize a personalized rehabilitation training plan for each patient. The training plan includes the daily training time, training intensity, training frequency, and specific training action combinations, etc., and can be dynamically adjusted according to the patient's rehabilitation progress. For example, for adolescent patients with mild conditions, it may focus on guiding them to perform spinal correction training through interesting interactive games, while for adult patients or those with more severe conditions, a more targeted intensive training mode may be designed to enhance spinal stability and muscle strength;

[0029] Step 5: During the patient's daily activities such as walking, sitting, and standing, the posture of the spine can be monitored in real time. When an abnormal situation is detected, the patient can be reminded to adjust the posture in a timely manner through a slight vibration or voice prompt, cultivating the patient's correct postural habits, thereby integrating the rehabilitation treatment into every aspect of daily life, accelerating the rehabilitation process, and consolidating the treatment effect;

[0030] Among them, according to the design plan, select appropriate materials and manufacturing processes for the processing and assembly of the robot's components. For the main structural components of the robot, such as the frame and joint housing, precision casting and numerical control machining processes are adopted to ensure that the dimensional accuracy and surface quality of the components meet the design requirements. During the manufacturing process, strictly control the quality and performance of the materials, conduct non-destructive testing and mechanical property testing on key components to ensure their reliability and safety. For purchased parts such as sensors, motors, and electronic components, select suppliers with good reputations and quality guarantees, and conduct strict incoming inspection and screening. In the assembly link, establish a standardized assembly process flow and quality inspection system, and adopt an assembly environment with dust-free, constant temperature, and constant humidity to ensure the assembly accuracy and performance stability of the robot. After the assembly is completed, conduct a comprehensive performance test and debugging on the robot, including joint motion accuracy test, sensor calibration, correction force output test, human-computer interaction function test, and system stability test, to ensure that all performance indicators of the robot meet the design requirements and can be safely and stably put into clinical use.

[0031] Preferably, the robot is also equipped with an adjustable fixing strap and buckle system, which can adapt to patients of different body types, ensure a tight fit to the body during wearing, and will not be too tight or too loose. The fixing strap is made of breathable and soft materials, such as cotton or silicone materials, to reduce friction and pressure on the patient's skin. In addition, auxiliary support structures and adjustment knobs are provided at key parts of the shoulders, waist and abdomen to further adjust the wearing position and fit of the robot, and share part of the correction force, improving the comfort of the patient's wearing and the effectiveness of treatment. It has good ergonomic adaptability, can tightly wrap around the upper body of the patient, ensure a stable relative position relationship with the patient's body during treatment, and at the same time does not interfere with the upper limb activities and normal breathing of the patient. The appearance has smooth lines and is made of lightweight and high-strength materials, such as carbon fiber composite materials and aerospace aluminum alloys, to reduce the overall weight as much as possible on the premise of ensuring structural strength, so as to improve the comfort and tolerance of the patient during long-term wearing.

[0032] The advantages of the embodiments of this application are as follows:

[0033] 1. Combining an advanced sensor detection system, an intelligent control system and a terminal system, the robot can monitor the spinal movement state and muscle strength changes of the patient in real time, and adjust the treatment parameters and training modes in a timely manner according to this feedback information. This real-time interactive rehabilitation training method can more accurately target the weak links of the patient for intensive training, improve the strength and coordination of the muscles around the patient's spine, enhance the stability of the spine, further consolidate and improve the rehabilitation training effect, and prevent the recurrence of scoliosis.

[0034] 2. Through a unique three-degree-of-freedom design, the robot control system can accurately simulate the flexion, extension, lateral flexion and rotation movements of the human spine in the plane, and apply precise correction force to the spinal deformity part of scoliosis patients. According to the individual condition and degree of scoliosis of the patient, the robot control system can automatically adjust the correction force and movement trajectory to realize a personalized treatment plan, thereby effectively improving the bending angle of the spine, enhancing the recovery effect of the physiological curvature of the spine, and reducing the risk of body deformity caused by scoliosis in patients.

[0035] 3. The wearable design enables patients to carry out rehabilitation treatment anytime and anywhere in their daily lives without having to go to a medical institution specifically, greatly improving the convenience and flexibility of treatment. The lightweight design and comfortable wearing experience of the robot reduce the patient's resistance to wearing treatment equipment for a long time, help improve the patient's treatment compliance, ensure the continuity and effectiveness of rehabilitation treatment, and thus better play the therapeutic role and promote the correction and rehabilitation of scoliosis.

[0036] 4. Since patients can perform autonomous rehabilitation treatment at home, the dependence on hospital rehabilitation resources is reduced, and the medical costs of patients and the burden on social medical resources are lowered. At the same time, the reusability of the robot and its low maintenance cost also provide an economical and efficient solution for long-term scoliosis rehabilitation treatment, helping to improve the utilization efficiency of medical resources and enabling more scoliosis patients to benefit from advanced rehabilitation treatment technologies.

[0037] 5. As the scoliosis is gradually corrected and the physical appearance is improved, the confidence and mental health of the patients will also be significantly enhanced. The concealed design of the wearable robot avoids the psychological pressure and social barriers that patients may have due to wearing obvious treatment devices, helping patients to better integrate into daily life and social activities, and promoting the overall rehabilitation of patients and the improvement of their quality of life in both physical and mental aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below in conjunction with the drawings and embodiments.

[0039] Figure 1 It is a schematic flow diagram of the control system for wearable planar three-degree-of-freedom scoliosis rehabilitation treatment of the present invention;

[0040] Figure 2 It is a schematic flow diagram of the intelligent control system in the control system for wearable planar three-degree-of-freedom scoliosis rehabilitation treatment of the present invention;

[0041] Figure 3 It is a schematic diagram of the implementation steps of the control system for wearable planar three-degree-of-freedom scoliosis rehabilitation treatment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In addition, for the convenience of description below, the "upper", "lower", "left", "right", etc. cited are consistent with the upper, lower, left, right, etc. of the drawings themselves. The "first", "second", etc. in the following text are used for description and distinction, and have no other special meanings.

[0043] Embodiments of the present application provide a wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system to solve the problems in the prior art. Combining an advanced sensor detection system, an intelligent control system, and a terminal system, the robot can monitor the spinal movement state and muscle strength changes of the patient in real time, and adjust the treatment parameters and training modes in a timely manner according to this feedback information. This real-time interactive rehabilitation training method can more accurately target the weak links of the patient for intensive training, improve the strength and coordination of the muscles around the patient's spine, enhance the stability of the spine, further consolidate and improve the rehabilitation training effect, and prevent the recurrence of spinal scoliosis; through a unique three-degree-of-freedom design, the robot control system can accurately simulate the flexion, lateral flexion, and rotation movements of the human spine in the plane, apply precise corrective forces to the deformed parts of the spine of scoliosis patients, and automatically adjust the corrective force and movement trajectory according to the patient's individual condition and the degree of spinal scoliosis, realizing a personalized treatment plan, thereby effectively improving the bending angle of the spine, enhancing the recovery effect of the physiological curvature of the spine, and reducing the risk of body deformity caused by spinal scoliosis in patients; the wearable design enables patients to perform rehabilitation treatment anytime and anywhere in their daily lives without having to go to a medical institution specifically, greatly improving the convenience and flexibility of treatment. The lightweight design of the robot and the comfortable wearing experience reduce the patient's resistance to wearing the treatment device for a long time, help improve the patient's treatment compliance, ensure the continuity and effectiveness of rehabilitation treatment, and thus better play the therapeutic role and promote the correction and rehabilitation of spinal scoliosis; since patients can perform autonomous rehabilitation treatment at home, the dependence on hospital rehabilitation resources is reduced, the patient's medical costs and the burden on social medical resources are lowered. At the same time, the reusability and low maintenance cost of the robot also provide an economical and efficient solution for long-term spinal scoliosis rehabilitation treatment, helping to improve the utilization efficiency of medical resources and enabling more spinal scoliosis patients to benefit from advanced rehabilitation treatment technologies; as the spinal scoliosis is gradually corrected and the body appearance is improved, the patient's self-confidence and mental health status will also be significantly enhanced. The concealable design of the wearable robot avoids the psychological pressure and social barriers generated by the patient due to wearing an obvious treatment device, helping the patient to better integrate into daily life and social activities, and promoting the overall rehabilitation of the patient and the improvement of the quality of life from both physical and mental aspects.

[0044] The technical solutions in the embodiments of the present application for solving the above problems have the following general idea:

[0045] Embodiment

[0046] This embodiment provides a wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system, as Figures 1-3 shown, including a sensor detection system, an intelligent control system, and a terminal system;

[0047] The sensor detection system monitors the current state of the patient's spine in real time through built-in high-precision sensors. According to the preset treatment plan and personalized rehabilitation goals, it automatically adjusts the movement of the robot joints, applies precise corrective forces and torques to the spine, and guides the spine to gradually return to the normal physiological curvature and posture. During the correction process, the movement range and speed of each degree of freedom can be precisely controlled. For example, the flexion and extension angle range can reach [-X, X] degrees, the lateral flexion angle range is [-Y, Y] degrees, and the axial rotation angle range is within [-Z, Z] degrees. The speed adjustment accuracy can reach [specific accuracy value] degrees per second to adapt to the conditions and physical conditions of different patients and achieve safe and effective scoliosis correction treatment.

[0048] The intelligent control system realizes precise control of each joint of the robot, real-time analysis and processing of sensor data, and wireless communication function with external devices through an embedded microprocessor and a real-time operating system.

[0049] The terminal system includes a remote communication module, a cloud server module, and an information feedback module. It can upload the patient's treatment data to the cloud server module in real time through a wireless network for remote doctors and therapists to view and analyze. Based on this data, doctors and therapists can provide professional rehabilitation guidance and advice to patients at any time, answer the questions encountered by patients during the treatment process in a timely manner, and achieve remote medical monitoring and intervention. The robot can also receive treatment plan updates and parameter adjustment instructions from the remote end to ensure that patients can receive continuous and effective rehabilitation treatment, breaking the limitations of time and space, improving the utilization efficiency of medical resources, and is especially suitable for patients in remote areas or those who are unable to regularly go to the hospital for rehabilitation treatment due to special circumstances.

[0050] The sensor detection system includes pressure sensors, angle sensors, and electromyography sensors, which are used to collect the activities of the muscles around the patient's spine, the force on the spinal joints, and the real-time posture information of the spine in real time.

[0051] The data of the pressure sensors, angle sensors, and electromyography sensors will be transmitted to the intelligent control system for analysis and processing, and feedback to the patient and therapist in an intuitive way through a supporting mobile application or display screen. Based on this feedback information, the therapist can adjust the treatment plan in a timely manner, and the robot can also automatically optimize the correction parameters to ensure the safety and effectiveness of the treatment process. At the same time, it helps the patient better understand their rehabilitation progress and physical conditions, and improves the compliance of the treatment.

[0052] The intelligent control system adopts a hierarchical architecture, including a motor drive and sensor signal acquisition layer module at the bottom layer, a motion control and data processing layer module in the middle, and a human-machine interaction and remote communication layer module at the upper layer.

[0053] Collect information through the motor drive and sensor signal acquisition layer module;

[0054] Control motion information through the motion control and data processing layer module;

[0055] Set programs and transmit signals through the human-computer interaction and remote communication layer module.

[0056] The remote communication module can receive treatment plan updates and parameter adjustment instructions from the remote end, ensuring that patients can receive continuous and effective rehabilitation treatment, breaking through the limitations of time and space, improving the utilization efficiency of medical resources, and is especially suitable for patients in remote areas or those who are unable to regularly go to the hospital for rehabilitation treatment due to special circumstances.

[0057] Pressure sensors, angle sensors, and electromyography sensors are distributed at various key parts of the robot, making direct contact with the patient's body or indirect contact through flexible pads, used to ensure accurate acquisition of relevant information about the spine. To achieve the motion function of three degrees of freedom in the plane, the robot has set up multiple intelligent joints at key parts of the spine, such as the thoracic and lumbar regions. These joints adopt miniaturized and high-precision electric or pneumatic drive devices, combined with precise transmission mechanisms such as planetary gear reducers and harmonic reducers, capable of achieving flexible and precise angle adjustment and force output. The joints are designed with a certain degree of flexibility and buffering capacity to simulate the physiological characteristics of the human spine joints and avoid causing excessive impact or damage to the patient's spine during the correction process. For example, at the lateral flexion joint, a special elastic connection structure and torque sensor are used, which can automatically adjust the magnitude and direction of the lateral flexion force according to the patient's spinal flexibility and lateral flexion resistance, ensuring the smoothness and safety of the correction process;

[0058] Among them, the pressure sensors are mainly arranged at the supporting parts in contact with the spine, used to monitor the force situation of the spine and judge whether the distribution of the correction force is uniform and reasonable;

[0059] The angle sensors are installed at each joint to measure the angle changes of the joints in real time and feedback the motion posture of the spine;

[0060] The electromyography sensors are closely attached to the surface of the main muscle groups on both sides of the spine, such as the erector spinae muscles, to collect the electrical activity signals of the muscles, used to evaluate the fatigue degree and participation of the muscles, providing a basis for the formulation and adjustment of the rehabilitation training plan;

[0061] Among them, the pressure sensors, angle sensors, and electromyography sensors are all connected to the intelligent control system through flexible circuit boards and shielded cables, used to ensure the stability and reliability of data transmission, and at the same time avoid interference caused by the cables to the patient's activities.

[0062] Based on in-depth research on the human spinal anatomical structure, biomechanical characteristics, and the pathogenesis of scoliosis, the wearable planar three-degree-of-freedom scoliosis rehabilitation treatment control system adopts a method that combines advanced mechanical design, electronic technology, sensor technology, and artificial intelligence algorithms for the overall design of the robot:

[0063] Step 1: Use computer-aided design software to construct a three-dimensional model of the robot, optimize its structure design, and ensure the goals of lightweight, miniaturization, and high reliability while meeting the requirements of three-degree-of-freedom motion function;

[0064] Step 2: According to the principles of ergonomics, conduct surface fitting and comfort design for the part of the robot in contact with the human body, so that it can closely fit the patient's body without significantly restricting the patient's normal activities;

[0065] Step 3: Use machine learning algorithms to train and learn a large amount of scoliosis patient data, establish a personalized rehabilitation model, and formulate an optimal treatment plan and motion trajectory planning for each patient;

[0066] Step 4: Combine factors such as the patient's age, gender, disease severity, physical function, and living habits, and use big data analysis and artificial intelligence algorithms to customize a personalized rehabilitation training plan for each patient. The training plan includes the daily training time, training intensity, training frequency, and specific training action combinations, etc., and can be dynamically adjusted according to the patient's rehabilitation progress. For example, for adolescent patients with mild conditions, it may focus on guiding them to perform spinal correction training through interesting interactive games, while for adult patients or those with more severe conditions, a more targeted intensive training mode may be designed to enhance spinal stability and muscle strength;

[0067] Step 5: During the patient's daily activities such as walking, sitting, and standing, it can real-time monitor the spinal posture, and when an abnormal situation is detected, remind the patient to adjust the posture in time through a slight vibration or voice prompt method, cultivate the patient's correct body posture habits, thus integrating the rehabilitation treatment into every aspect of daily life, accelerating the rehabilitation process, and consolidating the treatment effect;

[0068] Among them, according to the design plan, suitable materials and manufacturing processes are selected for the processing and assembly of the robot's components. For the main structural components of the robot, such as the frame and joint housing, precision casting and CNC machining processes are adopted to ensure that the dimensional accuracy and surface quality of the components meet the design requirements. During the manufacturing process, the quality and performance of the materials are strictly controlled, and non-destructive testing and mechanical property testing are carried out on the key components to ensure their reliability and safety. For the purchased components such as sensors, motors, and electronic components, suppliers with good reputations and quality guarantees are selected, and strict incoming inspection and screening are carried out. In the assembly link, a standardized assembly process flow and quality inspection system are established, and a dust-free, constant temperature, and constant humidity assembly environment is adopted to ensure the assembly accuracy and performance stability of the robot. After the assembly is completed, comprehensive performance testing and debugging are carried out on the robot, including joint movement accuracy testing, sensor calibration, corrective force output testing, human-computer interaction function testing, and system stability testing, to ensure that all performance indicators of the robot meet the design requirements and can be safely and stably put into clinical use.

[0069] The robot is also equipped with an adjustable fixing strap and buckle system, which can adapt to patients of different body types, ensure a tight fit to the body during wearing, and will not be too tight or too loose. The fixing strap is made of breathable and soft materials, such as cotton or silicone materials, to reduce friction and pressure on the patient's skin. In addition, auxiliary support structures and adjustment knobs are set at the key parts of the shoulders, waist, and abdomen to further adjust the wearing position and fit of the robot, as well as share part of the corrective force, improve the comfort of the patient's wearing and the effectiveness of treatment, have good ergonomic adaptability, can tightly wrap around the upper body of the patient, ensure a stable relative position relationship with the patient's body during treatment, and at the same time do not interfere with the patient's upper limb activities and normal breathing. The appearance has smooth lines and is made of lightweight and high-strength materials, such as carbon fiber composite materials and aerospace aluminum alloys, to reduce the overall weight as much as possible on the premise of ensuring the structural strength, so as to improve the comfort and tolerance of the patient for long-term wearing.

[0070] By adopting the above technical solutions:

[0071] Combined with an advanced sensor detection system, intelligent control system, and terminal system, the robot can real-time monitor the spinal movement state and muscle strength changes of the patient, and timely adjust the treatment parameters and training modes according to this feedback information. This real-time interactive rehabilitation training method can more accurately target the weak links of the patient for intensive training, improve the strength and coordination of the muscles around the patient's spine, enhance the stability of the spine, further consolidate and improve the rehabilitation training effect, and prevent the recurrence of scoliosis.

[0072] Finally, it should be noted that: Obviously, the above embodiments are merely examples given to clearly illustrate the present invention, rather than limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system, characterized in that, It includes a sensor detection system, an intelligent control system, and a terminal system; The sensor detection system monitors the current state of the patient's spine in real time through built-in high-precision sensors. According to the preset treatment plan and personalized rehabilitation goals, it automatically adjusts the movement of the robot joints, applies precise corrective forces and torques to the spine, and guides the spine to gradually return to the normal physiological curvature and posture; The intelligent control system realizes precise control of each joint of the robot, real-time analysis and processing of sensor data, and wireless communication functions with external devices through an embedded microprocessor and a real-time operating system; The terminal system includes a remote communication module, a cloud server module, and an information feedback module. It can upload the patient's treatment data to the cloud server module in real time through a wireless network for remote doctors and therapists to view and analyze. Doctors and therapists can provide professional rehabilitation guidance and advice for the patient at any time based on this data, and promptly answer the questions encountered by the patient during the treatment process, realizing remote medical monitoring and intervention.

2. The wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system according to claim 1, characterized in that, The sensor detection system includes pressure sensors, angle sensors, and electromyography sensors, which are used to collect the activity of the muscles around the patient's spine, the force on the spinal joints, and the real-time posture information of the spine in real time.

3. The wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system according to claim 2, characterized in that, The data of the pressure sensors, angle sensors, and electromyography sensors will be transmitted to the intelligent control system for analysis and processing, and will be fed back to the patient and the therapist in an intuitive manner through a supporting mobile application or display screen. Based on this feedback information, the therapist can adjust the treatment plan in a timely manner, and the robot can also automatically optimize the correction parameters to ensure the safety and effectiveness of the treatment process. At the same time, it helps the patient better understand their rehabilitation progress and physical condition, and improves the compliance of the treatment.

4. The wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system according to claim 1, wherein The intelligent control system adopts a hierarchical architecture, including a motor drive and sensor signal acquisition layer module at the bottom layer, a motion control and data processing layer module in the middle, and a human-machine interaction and remote communication layer module at the upper layer; Information is collected through the motor drive and sensor signal acquisition layer module; Motion information is controlled through the motion control and data processing layer module; Program settings and signal transmission are carried out through the human-machine interaction and remote communication layer module.

5. The wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system according to claim 1, characterized in that, The remote communication module can receive treatment plan updates and parameter adjustment instructions from the remote end, ensuring that the patient can receive continuous and effective rehabilitation treatment, breaking through the limitations of time and space, improving the utilization efficiency of medical resources, and is especially suitable for patients in remote areas or those who are unable to regularly go to the hospital for rehabilitation treatment due to special circumstances.

6. The control system for the rehabilitation treatment of scoliosis with three degrees of freedom in the plane of a wearable device according to claim 3, characterized in that, The pressure sensors, angle sensors, and electromyography sensors are distributed at each key part of the robot, making direct contact with the patient's body or indirect contact through a flexible cushion, to ensure accurate acquisition of relevant information about the spine.

7. The control system for wearable planar three-degree-of-freedom scoliosis rehabilitation therapy according to claim 6, characterized in that, The pressure sensors are mainly arranged at the supporting parts in contact with the spine, used to monitor the force on the spine and judge whether the distribution of the corrective force is uniform and reasonable; The angle sensors are installed at each joint to measure the angle changes of the joints in real time and feedback the movement posture of the spine; The electromyography sensors are closely attached to the surfaces of the main muscle groups on both sides of the spine, such as the erector spinae muscles, to collect the electrical activity signals of the muscles for evaluating the muscle fatigue level and participation, providing a basis for the formulation and adjustment of the rehabilitation training plan.

8. The a wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system according to claim 7, wherein, The pressure sensors, angle sensors, and electromyography sensors are all connected to the intelligent control system through flexible circuit boards and shielded cables to ensure the stability and reliability of data transmission and avoid interference with the patient's activities caused by the cables.

9. The wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system according to claims 1-8, characterized in that, Based on in-depth research on the human spinal anatomical structure, biomechanical characteristics, and the pathogenesis of scoliosis, the wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system adopts a method combining advanced mechanical design, electronic technology, sensor technology, and artificial intelligence algorithms for the overall design of the robot: Step 1: Use computer-aided design software to construct a three-dimensional model of the robot and optimize its structure design to achieve the goals of lightweight, miniaturization, and high reliability while meeting the requirements of the three-degree-of-freedom motion function. Step 2: According to the ergonomic principle, perform surface fitting and comfort design on the part of the robot in contact with the human body so that it can closely fit the patient's body without significantly restricting the patient's normal activities. Step 3: Use machine learning algorithms to train and learn a large amount of scoliosis patient data to establish a personalized rehabilitation model and formulate an optimized treatment plan and motion trajectory planning for each patient. Step 4: Combine the patient's age, gender, disease severity, physical function, and lifestyle factors, and use big data analysis and artificial intelligence algorithms to customize a personalized rehabilitation training plan for each patient. Step 5: During the patient's daily activities such as walking, sitting, and standing, it can continuously monitor the spinal posture, and when an abnormal situation is detected, it will remind the patient to adjust the posture in time through a slight vibration or voice prompt, cultivating the patient's correct body posture habits, thereby integrating the rehabilitation treatment into every aspect of daily life, accelerating the rehabilitation process, and consolidating the treatment effect.

10. A wearable planar three-degree-of-freedom spinal scoliosis rehabilitation treatment control system according to claim 9, characterized in that, The robot is also equipped with an adjustable fixing strap and buckle system that can adapt to patients of different body types, ensuring a close fit to the body during wearing without being too tight or too loose.

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