Method for controlling orthodontic force based on screen of motor

Abstract

The invention discloses a method for controlling orthodontic force based on a screen of a motor, which comprises the following steps: acquiring pressure value and temperature value data of a contact part of an orthosis and a human body, and generating target orthodontic force data based on an orthodontic force control instruction input by a user; the controller analyzes the target orthodontic force data and controls a closed-loop stepping motor to operate to drive an orthodontic device hub through a force coupling interface, so that the orthodontic force is correspondingly increased or decreased; in the automatic control mode, sensor data are obtained in real time and compared with a target value, and a hysteresis control algorithm is adopted to control the motor to rotate forwards or backwards so as to adjust the orthodontic force. The quality of the orthosis is reduced through the separated design, the flexibility is improved, the real-time collection of the orthodontic force and the cooperative intelligent adjustment are realized through the cloud internet of things technology, the requirements of a patient can be responded in time in different dynamic environments, the treatment effect is improved, and the discomfort of the patient caused by improper and untimely adjustment of the orthodontic force is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of spinal correction force control, and particularly to a method for controlling the magnitude of correction force based on a motor and a screen. Background Art

[0002] The existing scoliosis orthosis designs have evolved from 3D printing for one-piece molding to innovations in structure and materials, and then to orthoses with intelligent perception and regulation functions. However, there are still drawbacks. First, the correction force adjustment function of the current intelligent orthoses is mostly integrated into the body, resulting in an overly heavy overall weight due to the high mass of the drive module. In addition, the wearer's activities are often restricted by the rigid structure and large volume of the orthosis, and the device has poor flexibility. Third, the adjustment of the correction force of the orthosis is complex. For example, an airbag orthosis requires a physician to use an air pump for adjustment, which is cumbersome to operate, has a complex scenario, and does not have clinical applicability. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for controlling the magnitude of correction force based on a motor and a screen to solve the problems existing in the above-mentioned prior art.

[0004] To achieve the above object, the present invention is implemented according to the following technical solutions:

[0005] On the one hand, the present invention includes the following steps:

[0006] Collect pressure value and temperature value data of the contact part between the orthosis and the human body, and generate target correction force data based on the correction force control instruction input by the user;

[0007] The controller analyzes the target correction force data, controls the operation of the closed-loop stepper motor, and drives the orthosis hub through the force coupling interface to increase or decrease the correction force accordingly; in the automatic control mode, the sensor data is obtained in real time and compared with the target value, and the hysteresis control algorithm is used to control the forward or reverse rotation of the motor to adjust the magnitude of the correction force.

[0008] Further, when the correction force control instruction input by the user is negative or exceeds the threshold, the instruction sending is stopped and the original target value is maintained.

[0009] Further, the torque of the closed-loop stepper motor is 1.3 N·m, and the motor torque is converted into a linear correction force through the force coupling interface, and the range of the linear correction force is 0 - 130 N.

[0010] Further, the specific logic of the hysteresis control algorithm is as follows: when the sensor pressure value f2 < SP1, the motor rotates forward to increase the pressure; when f2 > SP1 + 2.5 N, the motor rotates in reverse to reduce the pressure, and the adjustment stops within the range of SP1 ± 2.5 N.

[0011] Furthermore, the controller is provided with dynamic protection, which forces the machine to shut down when the rated current is exceeded for 500ms, terminates the movement when a single adjustment exceeds 5s, and limits the single rotation angle to ≤180°.

[0012] On the other hand, a system for controlling the magnitude of correction force based on a motor screen includes:

[0013] Sensors are installed at the contact point between the orthosis and the human body to collect data such as pressure and temperature, and upload the data to the cloud. Sensor data is synchronized bidirectionally in the cloud via the MQTT protocol.

[0014] The touch screen is used for users to input correction force control instructions, including manual mode and automatic mode, and displays correction force related information, including the current correction force size, target correction force value and adjustment progress

[0015] The controller is used to analyze instructions and control the operation of the motor. In automatic control mode, it obtains sensor data in real time and compares it with the target value. It uses a hysteresis control algorithm to control the forward or reverse rotation of the motor to adjust the correction force.

[0016] The closed-loop stepper motor receives control signals from the controller, rotates according to the set rotation angle and direction, outputs corresponding pulses, and connects to the orthosis hub through a force coupling interface to increase or decrease the correction force;

[0017] The sensor data is updated synchronously with the patient data of the controller through the cloud. The output end of the controller is connected to the input end of the touch screen. The control output end of the controller is connected to the control input end of the closed-loop stepper motor. The closed-loop stepper motor is connected to the orthosis hub through a force coupling interface.

[0018] Furthermore, the manual mode generates instructions by clicking the "increase" and "decrease" buttons, and the target correction force value is input in the automatic mode.

[0019] The beneficial effects of the present invention are:

[0020] The present invention is a method for controlling the magnitude of correction force based on a motor screen. Compared with the prior art, the present invention has the following technical effects:

[0021] This invention utilizes a separate design, separating the heavy motor and control module from the orthosis, integrating a standalone control box. This reduces the weight of the orthosis and improves its flexibility. Cloud-based IoT technology enables real-time collection of corrective force. Intelligent adjustment is achieved through a force-coupling interface that collaborates with the orthosis's force hub. This allows for timely response to patient needs in diverse dynamic environments, improving treatment outcomes and reducing discomfort caused by improper or untimely force adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the adjustment system framework of a method for controlling the magnitude of correction force based on a motor screen according to the present invention;

[0023] Figure 2 This is a screen logic diagram of a method for controlling the magnitude of correction force based on a motor on the screen according to the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described below through specific examples. The illustrative examples and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0025] like Figure 1 As shown, a method for controlling the magnitude of correction force based on a motor screen includes the following steps:

[0026] Collect the pressure and temperature data of the contact part between the orthosis and the human body, and generate the target correction force data based on the correction force control command input by the user;

[0027] The controller analyzes the target correction force data, controls the closed-loop stepper motor to drive the orthosis hub through the force coupling interface, and increases or decreases the correction force accordingly; in the automatic control mode, the sensor data is obtained in real time and compared with the target value, and the hysteresis control algorithm is used to control the motor to rotate forward or reverse to adjust the correction force.

[0028] The present invention provides a method for controlling the correction force based on a motor screen, which realizes precise control of the correction force through touch screen interaction and cloud IoT technology. The method includes three core processes: manual mode, automatic mode and cloud collaboration mechanism. The specific steps are as follows

[0029] Corrective force control command generation (screen interaction layer)

[0030] Manual command generation: When the user taps the "Increase / Decrease" button on the touch screen, the screen generates a formatted command (such as @1101), where the @ character is the first character of the message (the first character of the message can be @, $, or #). The value after the first character indicates the source of the triggering message. 0 indicates an interface switching event, and 100 to 65535 indicate a control event. The string after the space is the message parameter.

[0031] Automatic target value setting: The user enters the target correction force value on the screen, and the instruction is analyzed and stored as the target value (SP1).

[0032] Abnormal input interception: For input that exceeds the preset range (such as negative values ​​or exceeds the threshold), the screen refuses to send instructions and maintains the original target value.

[0033] Motor drive control (execution layer)

[0034] Manual control process: The controller analyzes the instruction and drives the closed-loop stepper motor to rotate a fixed angle (such as 30°).

[0035] The motor outputs 1600 pulses per revolution (step angle 0.225°), and drives the orthosis pivot through the force coupling interface to increase or decrease the corrective force.

[0036] Automatic control process: Real-time acquisition of sensor data (pressure value f1) is compared with the target value (SP1).

[0037] The hysteresis control algorithm is adopted: Set the tolerance interval (target value ±2.5N). When f2 < SP1, the motor rotates forward to increase the pressure. When f2 > SP1 + 2.5N, it rotates in reverse to reduce the pressure.

[0038] Adjust until it stops within the tolerance interval to avoid frequent start and stop.

[0039] Cloud collaboration and security guarantee

[0040] Data two-way synchronization: Sensor data (pressure, temperature) located in the orthosis body is encapsulated as a JSON frame (such as {"temp": 32.0℃, "pressure1": 85.3N}) and uploaded to the cloud. The cloud issues the current corrective parameters to the regulator device through the MQTT protocol.

[0041] The dynamic protection mechanism includes stall protection: Forced shutdown when the over-rated current (>1.5A) lasts for 500ms; timeout protection: Terminate the movement when the single adjustment exceeds 5s; software limit: Limit the single rotation angle ≤180°.

[0042] Separate regulator framework. Separate the motor, control module from the orthosis body to form an independent regulator, which is connected to the orthosis through the force coupling interface. The weight of the orthosis is reduced by >50%, improving the wearing flexibility and comfort, and at the same time supporting dynamic adjustment.

[0043] A system for controlling the corrective force size based on the motor screen, including:

[0044] Sensors, installed at the contact part between the orthosis and the human body, used to collect data such as pressure values and temperature values, and upload the data to the cloud. The sensor data realizes two-way data synchronization in the cloud through the MQTT protocol.

[0045] Touch screen, used for users to input corrective force control instructions, including manual mode and automatic mode, and at the same time display corrective force-related information. The corrective force-related information includes the current corrective force size, the target corrective force value and the adjustment progress

[0046] The controller is used to analyze instructions and control the operation of the motor. In automatic control mode, it obtains sensor data in real time and compares it with the target value. It uses a hysteresis control algorithm to control the forward or reverse rotation of the motor to adjust the correction force.

[0047] The closed-loop stepper motor receives control signals from the controller, rotates according to the set rotation angle and direction, outputs corresponding pulses, and connects to the orthosis hub through a force coupling interface to increase or decrease the correction force;

[0048] The sensor data is updated synchronously with the patient data of the controller through the cloud. The output end of the controller is connected to the input end of the touch screen. The control output end of the controller is connected to the control input end of the closed-loop stepper motor. The closed-loop stepper motor is connected to the orthosis hub through a force coupling interface.

[0049] like Figure 2 As shown, 1. When the system is turned on, the main interface "Scoliosis Orthosis Adjustment Device" appears, with two area button controls "Manual Adjustment" and "Manual Adjustment" below.

[0050] 2. Select "Manual Adjustment" and the system will enter the next interface. There will be three options: "Upper Rib", "Middle Rib", and "Lower Rib" and a "Back" button. Click "Back" to return to the previous interface and select the rib you want to adjust to enter the next interface.

[0051] 3. The next interface will display the current correction force, as well as buttons such as "Increase", "Decrease", and "Return". After mechanically coupling the force coupling interface at the front end of the regulator and the correction force hub, click the corresponding button and the motor will rotate 30° clockwise and counterclockwise. This torque will be transmitted through the mechanical structure and finally adjust the correction force through wire drive.

[0052] 4. Click "Auto Adjust" on the main interface to enter the next interface. After selecting the rib to be adjusted, the interface displays "Set target correction force size". After setting the target correction force, the system displays "Please connect the adjustment device to the upper rib adjustment hub and click the "Confirm" button after completion". Mechanically couple the force coupling interface at the front end of the regulator and the correction force hub, and click "Confirm". The motor automatically adjusts the correction force to the target value based on the correction data sent from the cloud, with a tolerance range of ±2.5N.

[0053] In manual mode, the user directly controls the motor's rotation angle via touchscreen commands. In automatic mode, the user enters the target correction force value, and the system dynamically adjusts the motor (with a tolerance range of ±2.5N) based on a hysteresis control algorithm, combining cloud data to avoid frequent starts and stops. The regulator of this invention is equipped with a stepper motor probe at the front end, which is connected to the correction force hub of the orthosis through magnetic attraction and mechanical structure coupling. The motor torque (1.3N·m) is converted into a linear correction force (0-130N) through the hub, meeting clinical needs (error <3%).

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling the magnitude of correction force based on a motor screen, characterized in that: It includes the following steps: Collect the pressure value and temperature value data of the contact part between the orthosis and the human body, and generate target correction force data based on the correction force control instruction input by the user; The controller analyzes the target correction force data, controls the operation of the closed-loop stepper motor, and drives the orthosis hub through the force coupling interface to increase or decrease the correction force accordingly; in the automatic control mode, the sensor data is obtained in real time and compared with the target value, and the hysteresis control algorithm is used to control the forward or reverse rotation of the motor to adjust the magnitude of the correction force.

2. The method for controlling the correction force based on the motor screen according to claim 1, characterized in that: When the correction force control instruction input by the user is negative or exceeds the threshold, the instruction sending is stopped and the original target value is maintained.

3. The method for controlling the correction force based on the motor screen according to claim 1, characterized in that: The torque of the closed-loop stepper motor is 1.3 N·m, and the motor torque is converted into a linear correction force through the force coupling interface. The range of the linear correction force is 0 - 130 N.

4. The method for controlling the correction force based on the motor screen according to claim 1, characterized in that: The specific logic of the hysteresis control algorithm is: when the sensor pressure value f2 < SP1, the motor rotates forward to increase the pressure; when f2 > SP1 + 2.5 N, the motor rotates backward to reduce the pressure, and the adjustment stops within the range of SP1 ± 2.5 N.

5. The method for controlling the correction force based on the motor screen according to claim 1, characterized in that: The controller is provided with dynamic protection. When the rated current is exceeded continuously for 500 ms, forced shutdown is performed; when the single adjustment exceeds 5 s, the movement is terminated, and the single rotation angle is limited to ≤ 180°.

6. A system for controlling the correction force based on a motor screen, characterized in that: It includes: A sensor, installed at the contact part between the orthosis and the human body, used to collect data such as pressure value and temperature value, and upload the data to the cloud. The sensor data realizes two-way data synchronization in the cloud through the MQTT protocol; A touch screen, used for the user to input the correction force control instruction, including manual mode and automatic mode, and at the same time display the correction force related information, and the correction force related information includes the current magnitude of the correction force, the target correction force value and the adjustment progress A controller, used to analyze the instruction and control the operation of the motor; in the automatic control mode, the sensor data is obtained in real time and compared with the target value, and the hysteresis control algorithm is used to control the forward or reverse rotation of the motor to adjust the magnitude of the correction force; A closed-loop stepper motor, used to receive the control signal of the controller, rotate according to the set rotation angle and direction, output corresponding pulses, and connect with the orthosis hub through the force coupling interface to increase or decrease the correction force; The sensor data is synchronized and updated with the patient data of the controller through the cloud. The output end of the controller is connected to the input end of the touch screen, the control output end of the controller is connected to the control input end of the closed-loop stepper motor, and the closed-loop stepper motor is connected to the orthosis hub through the force coupling interface.

7. The method for controlling the correction force based on the motor screen according to claim 1, characterized in that: The manual mode generates instructions by clicking the "Increase" and "Decrease" buttons, and inputs the target correction force value in the automatic mode.

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