An AI-based adaptive cervical curvature traction system

Abstract

The application provides an AI-based adaptive cervical curvature traction system, and belongs to the technical field of medical rehabilitation.The system comprises a neck support module, a forehead holding module, a cervical curvature traction module, a double lifting module, a three-point mechanical structure and an AI control module.The neck support module comprises a neck support belt, which is internally provided with a flexible pressure sensor group;the forehead holding module comprises a mechanical hand forehead holding driving mechanism and a forehead band, and the mechanical hand is provided with a second force sensor to collect the forehead holding force;the double lifting module comprises a first lifting assembly and a second lifting assembly, and can drive the neck support belt to move;and the AI control module is used for adjusting the angle of the forehead band, the height of the neck support belt and correcting the position of the neck support belt.The system realizes dynamic adaptation of the precise and safe traction of the individual cervical vertebra through AI driving combined with the three-point mechanical structure, and completely eliminates the deviation and curvature misalignment risks of the traditional traction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical rehabilitation, in particular to an adaptive cervical arc traction system based on AI. BACKGROUND

[0002] With the rapid penetration of artificial intelligence in the field of medical image analysis, automatic segmentation of cervical spine images based on deep learning, physiological arc quantification and efficacy prognosis evaluation have entered the clinical verification stage. However, these studies still remain in the "offline-static" scenario: after the algorithm completes image analysis in seconds-minutes, it outputs static parameters in the form of a report, and then manually sets the traction prescription, which cannot realize the closed-loop control of "millisecond-level perception-decision-execution". The time lag of "measurement-computation-control" directly breaks the key technology chain of "accurate morphological measurement-dynamic adjustment of traction force-instantaneous force system balance", which becomes the core bottleneck limiting the efficacy of individualized arc traction of the cervical spine.

[0003] In the prior art, although the publication CN105662684B proposes a traction strategy coupled with three parameters of body position angle, neck stress point and forehead stress point, the control logic is still open-loop: the traction force is executed according to the preset arc line, and there is no dynamic correlation with real-time cervical arc and soft tissue stress feedback, which leads to the structural disconnection of "intelligent evaluation-mechanical execution" because the morphological data output by the AI algorithm cannot drive the mechanical execution end for adaptive adjustment. In addition, the traction force in the prior art is executed according to the preset arc line, and there is no dynamic correlation with real-time cervical arc and soft tissue stress feedback, which leads to the structural disconnection of "intelligent evaluation-mechanical execution" because the morphological data output by the AI algorithm cannot drive the mechanical execution end for adaptive adjustment.

[0004] Therefore, there is an urgent need in the art to build a closed-loop three-point mechanical architecture of "cervical brace holding neck (support + angle bidirectional regulation), mechanical hand holding forehead (backward stretching + angle regulation) / back force point (anchor point = reverse fixation) three-point cooperation", to take the double-lifting cervical brace holding the neck as the core support, and the mechanical hand holding the forehead and the back to form independently adjustable force points; through precise positioning, cooperative regulation and dynamic balance mechanism, adapt to the cervical arc chord characteristics and real-time arc changes, realize adaptive adjustment, and at the same time realize real-time optimization of traction parameters combined with AI technology, thereby improving the pertinence and effectiveness of cervical arc traction. SUMMARY

[0005] The present application provides an adaptive cervical arc traction system based on AI to solve the problem of inability to adaptively adjust based on individual spine in the prior art.

[0006] In order to achieve the above-mentioned purpose, the embodiment of the present application provides an adaptive cervical arc traction system based on AI, which comprises: a neck support module, including a standing hug neck driving mechanism, a neck support belt and a flexible pressure sensor group, the flexible pressure sensor group is used to collect head weight data; a forehead holding module, including a mechanical hand, a mechanical hand forehead holding driving mechanism and a forehead belt, the second force sensor is arranged at the bottom joint of the mechanical hand, and the forehead holding force of the forehead belt is collected; a cervical arc traction module, including a case frame, a traction frame and a traction assembly for driving the traction frame, the traction assembly is provided with a first force sensor, and the force of the cervical arc traction in a lying position is collected; a double lifting module, including a first lifting assembly in the support frame on both sides of the neck support belt, and a second lifting assembly for driving the neck support belt to move in the vertical direction; a three-point mechanical structure, used for linkage adjustment of forward bending angle regulation and backward bending angle regulation, and targeted recovery of cervical physiological arc; an AI control module, used for calculating an ideal forehead holding angle through a preset mapping model according to head and neck position data and environmental temperature data, and driving the mechanical hand to adjust the forehead belt; also used for calculating a traction force through a preset model according to the head weight data and the cervical arc chord value, and driving the double lifting module to adjust the lifting force of the neck support belt; also used for calculating a middle line offset through a preset positioning model according to the head and neck position data, calculating a target cervical position, and driving the first lifting assembly to adjust the neck support belt, and performing multidimensional traction according to the three-point mechanical structure.

[0007] Optionally, the adaptive cervical arc traction system further comprises a data acquisition module, the data acquisition module comprises: a neck shape recognition unit, used for acquiring a neck contour and calculating a neck length and a cervical arc chord value; a distance measuring unit, comprising an infrared sensor, used for collecting head and neck position data; a temperature acquisition unit, used for collecting environmental temperature data.

[0008] Optionally, the adjustment of the forehead belt comprises: temperature compensation of the head and neck position data based on the environmental temperature data; calculating an ideal forehead holding angle through a preset mapping model based on the compensated head and neck position data, and comparing the current forehead holding angle to obtain an angle difference; driving the mechanical hand to adjust the angle of the forehead belt according to the angle difference, and adjusting the forehead holding force of the forehead belt in combination with the forehead holding force collected by the second force sensor.

[0009] Optionally, the adjustment of the holding force includes: obtaining head weight data collected by the pressure flexible sensor group and the neck arc chord value calculated by the neck posture recognition unit, and performing filtering processing and steady state detection on the head weight data; according to the neck arc chord value, a radian compensation amount is obtained through a preset calculation rule; based on the processed head weight data and the calculated radian compensation amount, a traction force is obtained through a preset traction force calculation model; the adjustment parameter of the double lifting module is determined according to the obtained traction force; and the first lifting assembly and the second lifting assembly are driven according to the adjustment parameter to adjust the holding force of the neck support belt.

[0010] Optionally, the adjustment of the neck support belt includes: obtaining head and neck position data collected by the distance measuring unit; calculating the midline offset and the distance between the two shoulders according to the head and neck position data; based on the calculated midline offset and the distance between the two shoulders, a target cervical spine position is obtained through a preset positioning model; comparing the target cervical spine position with the current position of the neck support belt to calculate the offset; and driving the first lifting assembly to adjust the angle of the neck support belt according to the calculated offset, and verifying the adjustment effect according to the data collected by the flexible pressure sensor group.

[0011] Optionally, the self-adaptive cervical spine arc traction system further comprises a warning module for calculating the displacement between the neck support belt and the forehead belt using the collected head and neck position data, and executing corresponding response strategies according to a preset three-level warning mechanism.

[0012] Optionally, the three-level warning mechanism includes: when the displacement reaches a first preset value, automatically correcting the positions of the neck support belt and the forehead belt; when the displacement reaches a second preset value, starting the second lifting assembly to adjust the height of the neck support belt to enhance the fixing effect; and when the displacement reaches a third preset value, determining that it is a high-risk slip and automatically restoring the initial parameters of the system and stopping traction.

[0013] Optionally, the three-point mechanical structure is composed of a mechanical hand forehead holding force point, a neck support neck holding middle segment force point and a back force point; the mechanical hand forehead holding force point acts on the eyebrows, the mechanical hand forehead holding force point can provide downward pulling force based on the cervical spine arc chord value and synchronously adjust the extension angle, the cervical spine arc chord value is the vertical distance between the arc height and the chord length of the target cervical spine physiological arc, which is used for extension position angle regulation correlation; the neck support neck holding force point acts on the middle segment of the cervical spine, the double shoulder distance is positioned on the cervical spine axis based on infrared measurement to lock the middle segment of the cervical spine, and the support height and angle are adjusted in combination with the cervical spine arc chord value for extension position and flexion position angle bidirectional regulation correlation; and the back force point acts on the back to use the back friction force as a reverse support force anchor point for flexion position angle regulation correlation.

[0014] Optionally, the forward bending position adjustment method is: adjusting the height of the cervical collar through the double lifting module, changing the difference between the neck holding force point and the back force point, to adjust the forward bending angle.

[0015] Optionally, the backward stretching position adjustment method is: calculating a deviation value according to the current cervical arc chord value and the reference cervical arc chord value; when the deviation value reaches a preset deviation value, increasing the backward stretching angle; when the deviation value is less than the preset deviation value, adjusting the backward stretching angle to a preset value.

[0016] The AI-based adaptive cervical arc traction system provided by the application realizes multi-dimensional, closed-loop and physiological adaptive cervical dynamic traction treatment through AI control: the system uses a flexible pressure sensor group to collect head weight data in real time, uses a second force sensor to monitor the holding force, combines head and neck position and environmental temperature data collected by other modules, and intelligently and dynamically adjusts the three-point mechanical framework dimensions through an AI control module and a preset mapping model, calculation rules and positioning model in the AI control module. The AI control module calculates and drives the mechanical hand holding mechanism to accurately control the holding angle of the forehead band according to the head and neck data after temperature compensation, calculates the individualized traction force according to the filtered head weight data and the cervical arc chord value representing the physiological bending state of the cervical spine, and instructs the double lifting module to accurately adjust the forward and backward angles of the cervical collar. At the same time, the offset calculated based on the head and neck position dynamically drives the first lifting assembly to adjust the horizontal position of the cervical collar, thereby effectively overcoming the problems of traction direction deviation, insufficient physiological curvature adaptation, excessive traction or insufficient traction, high risk of offset and slipping caused by fixed parameters and static adjustment in traditional traction devices, and significantly improving the accuracy, individual adaptation, comfort and safety of treatment. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor. In the drawings:

[0018] Figure 1 is a cross-sectional view of the cervical arc traction module provided by the embodiment of the application;

[0019] Figure 2 is a cross-sectional view of the double lifting module provided by the embodiment of the application;

[0020] Figure 3 is a cross-sectional view of the case frame provided by the embodiment of the application;

[0021] Figure 4 is a top view of the case frame provided by the embodiment of the application;

[0022] Figure 5 is a second lifting assembly structure schematic view provided by the embodiment of the present application;

[0023] Figure 6 is a side view of the cervical arc traction module.

[0024] The figure mark: 1, neck support module; 11, neck support belt; 12, flexible pressure sensor group; 2, forehead holding module; 21, mechanical hand forehead holding driving mechanism; 22, forehead belt; 23, second force sensor; 31, machine case; 32, traction frame; 33, traction assembly; 4, double lifting module; 41, first lifting assembly; 42, second lifting assembly. DETAILED DESCRIPTION

[0025] The specific embodiments of the embodiments of the present application are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of the present application, and are not intended to limit the embodiments of the present application.

[0026] It should be noted that the acquisition, transmission, storage, use, processing and the like of data in the technical solutions of the present application comply with the relevant provisions of national laws and regulations. In the embodiments of the present application, some industry existing solutions such as software, components, models and the like may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0027] As described above, with the increasing demand for precise diagnosis and treatment of cervical spine diseases, traditional cervical spine traction equipment is limited by fixed traction angle, rough force adaptation, lack of physiological curvature compensation, and the like, and is difficult to dynamically respond to head and neck micro-motion and individual physiological differences, which easily leads to problems such as traction position deviation, excessive traction of nerves or insufficient curvature correction, and seriously restricts the treatment effect and safety. Therefore, it is crucial to develop an intelligent and adaptive cervical arc traction system.

[0028] In view of this problem, the present application provides an AI-based adaptive cervical arc traction system, which dynamically constructs a multi-dimensional physiological traction model using an AI control module, accurately calculates the ideal forehead angle and traction force, synchronously drives the mechanical hand forehead holding driving mechanism, double lifting module and electric push assembly to close-loop adjust the forehead belt angle, neck support belt height and horizontal position, forms a real-time adaptive mechanism of "perception-decision-execution-verification", effectively realizes the accurate correction and dynamic stable traction of individual cervical physiological arc, and significantly improves the treatment effect and safety.

[0029] The present application will be described in detail below. Figures 1-6 The present application is specifically described.

[0030] AsFigures 1-6 As shown, the embodiment of the present application provides an AI-based adaptive cervical arc traction system, which comprises:

[0031] A cervical collar module, comprising a standing hug neck driving mechanism and a cervical collar belt, the cervical collar belt comprising a three-layer structure, a plastic elastomer is arranged in the middle layer, and a flexible pressure sensor group is attached to the plastic elastomer for collecting head weight data;

[0032] A forehead-hugging module, comprising a mechanical hand, a mechanical hand forehead-hugging driving mechanism, and a forehead belt, the second force sensor is arranged at the joint of the bottom of the mechanical hand to collect the forehead-hugging force of the forehead belt;

[0033] A cervical arc traction module, comprising a case frame, a traction frame supporting the cervical collar module and the forehead-hugging module, and a traction assembly for driving the traction frame, the traction assembly is provided with a first force sensor for collecting the force of the cervical arc traction in a lying position; a double lifting module, comprising a first lifting assembly in the support frame on both sides of the cervical collar belt, and a second lifting assembly for driving the cervical collar belt to move in the vertical direction; a three-point mechanical structure, comprising a mechanical hand forehead-hugging force point, a cervical collar hug neck middle segment force point, and a back force point, the three-point mechanical structure is used for linkage adjustment of forward bending angle adjustment and backward bending angle adjustment, and targets to restore the physiological arc of the cervical spine; an AI control module, for calculating an ideal forehead-hugging angle through a preset mapping model according to head and neck position data and environmental temperature data, and driving the mechanical hand to adjust the forehead belt; also for calculating a traction force through a preset model according to head weight data and cervical arc chord value, and driving the double lifting module to adjust the lifting force of the cervical collar belt; also for calculating a target cervical position through a preset positioning model according to the head and neck position data and the middle line offset, and driving the first lifting assembly to adjust the cervical collar belt, and according to the three-point mechanical structure, linkage of the case frame and the traction frame in the cervical arc traction module, the mechanical hand forehead-hugging driving mechanism in the forehead-hugging module, and the standing hug neck driving mechanism in the cervical collar module, for multi-dimensional traction.

[0034] Specifically, the neck support belt is a component that directly contacts the patient's neck and provides support. The neck support belt adopts a three-layer composite structure design. The upper layer is a combination of sponge and carbon fiber heating cloth, providing hot compress therapy function. The middle layer is a PTU elastomer embedded with a flexible pressure sensor group. The lower layer is connected to the support frame with a sponge belt, forming a stable support structure. The flexible pressure sensor group is composed of multiple high-sensitivity flexible pressure sensors. These sensors use piezoresistive effect or capacitive effect principle. When the patient's head weight is applied to the neck support belt, the sensors can convert the pressure change into an electrical signal output, and then accurately collect head weight data. Such flexible pressure sensors have good flexibility, can conform to the neck curve, ensure the accuracy of data collection, and evenly distribute pressure on the neck, avoiding excessive local pressure causing discomfort to the patient. The neck support belt forms a U-shaped structure through the PTU elastomer, with both ends fixed to the support frame. The posterior part of the neck is the pivot point. The PTU elastomer has a cushioning feature that effectively attenuates the traction impact force, solving the problem of power loss and shaking during traditional belt traction. At the same time, the neck support belt can rely on the flexible pressure sensor group to monitor the patient's head weight in real time, providing data support for the AI control module to adjust the height of the neck support belt.

[0035] Specifically, the mechanical hand forehead holding driving mechanism is an automatic operating device that integrates a stand and place joint and a telescopic transmission mechanism. It can accurately adjust the height and rotation according to the instructions of the AI control module, and then adjust the force and angle of the forehead holding. The traction assembly can drive the entire traction frame to move horizontally. Since the patient's head is fixed by the neck support belt and the forehead belt, the patient's cervical spine can be tractioned when the traction frame moves. The first lifting assembly in the support frame on both sides of the neck support belt can be an electric push rod. The two first lifting assemblies can operate independently or simultaneously, thereby adjusting the angle or height of the neck support belt.

[0036] The adaptive cervical arc traction system provided by the embodiment of the present application comprises five components, namely, a cervical collar module, a forehead holding module, a cervical arc traction module, a double lifting module and an AI control module, and each module realizes precise traction through the cooperation of hardware sensing and intelligent algorithms. The mechanical hand forehead holding driving mechanism of the forehead holding module cooperates with the forehead band, and the second force sensor is used to obtain the forehead holding force, thereby providing a basis for the forehead band height. The cervical arc traction module is based on a case, and the traction frame carrying the cervical collar and the forehead holding module is driven by the traction assembly to complete the traction action. The first lifting assembly and the second lifting assembly of the double lifting module realize the angle fine adjustment and the height coarse adjustment of the cervical collar band respectively, thereby forming a multi-dimensional adjustment capability. The AI control module is the core, and based on the head and neck position data and the environmental temperature data, the ideal angle is calculated through the mapping model, and the mechanical hand forehead holding driving mechanism is driven to adjust. The head weight data and the cervical arc chord value are obtained through the preset model to adjust the cervical collar height. The target cervical position is calculated according to the head and neck position data, and the electric push assembly is driven to correct the cervical collar position. The technical effects of the system are as follows: 1. Through the algorithm fusion of the AI control module and the hardware such as the flexible pressure sensor group and the second force sensor, the closed-loop control from data acquisition to parameter calculation to execution adjustment is realized, and the poor adaptability problem caused by the dependence of the traditional equipment on the manual preset parameters is solved; 2. The adjustment mechanism of the multi-module cooperation greatly improves the accuracy of traction, and ensures that the traction force matches the individual characteristics such as the physiological curvature of the cervical vertebrae and the head weight; 3. The real-time data sensed by the sensor and the preset model are combined, so that the traction process has dynamic adaptability, which can adjust in time according to the body position change and also can ensure the patient comfort through pressure feedback, thereby providing reliable equipment support for individualized cervical traction treatment.

[0037] Preferably, the adaptive cervical arc traction system further comprises a data acquisition module, and the data acquisition module comprises: a neck shape recognition unit, which is used to obtain the neck contour and calculate the neck length and the cervical arc chord value; a distance measuring unit comprising an infrared sensor, which is used to acquire head and neck position data; and a temperature acquisition unit, which is used to acquire environmental temperature data.

[0038] Specifically, the neck shape recognition unit can accurately calculate the neck length and the cervical arc chord value through the acquisition of the neck contour, and these parameters directly reflect the physiological morphological characteristics of the cervical vertebrae and are important basis for the realization of functions such as traction height adjustment; the distance measuring unit is equipped with an infrared sensor, which can accurately acquire head and neck position data, including the distance from the left shoulder, the right shoulder to the center line and other information, thereby providing original data for calculating key parameters such as the distance between the two shoulders and the center line offset; and the temperature acquisition unit focuses on acquiring environmental temperature data, which is used for temperature compensation of the head and neck position data, thereby eliminating the influence of environmental temperature changes on the measurement accuracy of the sensor.

[0039] The data acquisition module provided by the preferred embodiment of the present application realizes comprehensive acquisition of physiological parameters, position parameters and environmental parameters related to the cervical spine through cooperative acquisition of multiple types of units, provides a complete data basis for accurate calculation of the AI control module, and avoids adjustment deviation caused by data loss or singularity; the units have clear division of labor and data intercommunication, so that the system can more comprehensively master individual characteristics of patients and environmental influences, improve the reliability and accuracy of data, lay a solid data foundation for subsequent personalized traction adjustment, and further enhance the adaptive ability of the system.

[0040] Preferably, the adjusting forehead band includes: temperature compensation of the head and neck position data based on the environmental temperature data; calculating an ideal forehead holding angle based on the compensated head and neck position data through a preset mapping model, and comparing the current forehead holding angle to obtain an angle difference; driving the forehead holding driving mechanism of the mechanical hand to adjust the angle of the forehead band according to the angle difference, and adjusting the height of the forehead band in combination with the forehead holding force collected by the second force sensor.

[0041] Specifically, the mapping model is represented as:

[0042] (1)

[0043] wherein, is the ideal forehead holding angle; are distances from the left and right shoulders to the center line, respectively; is the distance between the two shoulders after temperature compensation, is the reference shoulder width, is a shoulder width influence coefficient, and the clinical calibration value is 8.2; is a shoulder asymmetry correction coefficient, and is taken as 15.0; is a basic angle, and is taken as 5°; is a temperature compensation amount, which is calculated from the environmental temperature data: = 0.02 × (T-25), T is the environmental temperature.

[0044] Specifically, when performing temperature compensation, the AI control module first acquires the real-time ambient temperature from the temperature acquisition unit, compares it with the reference temperature of 25 DEG C to obtain the temperature difference, and then calculates the temperature compensation amount according to the compensation standard of 0.02 degrees of angle per degree Celsius, to correct the head and neck position data, so as to avoid the influence of the ranging deviation caused by temperature change on subsequent calculation. Then, the ideal angle of the patient's body type is calculated through formula (1). After comparing the current forehead-holding angle to obtain the angle difference, the forehead-holding driving mechanism of the mechanical arm will act according to the difference to flexibly adjust the forehead-holding angle, and the second force sensor will collect the forehead-holding force in real time. When the force is not within the preset comfortable range (such as 1.2-2.5 kPa), the system will accordingly fine-tune the forehead-holding height, so as to ensure that the patient's forehead is stressed appropriately while the angle is accurate, and further improve the accuracy and comfort of adjustment.

[0045] In the forehead-holding adjustment scheme provided in the preferred embodiment of the present application, the temperature compensation mechanism is used to calculate the compensation amount according to the temperature difference between the real-time ambient temperature and the reference temperature, correct the head and neck position data, effectively eliminate the interference of temperature change on the ranging accuracy, provide accurate basic data for subsequent angle calculation, and avoid angle adjustment errors caused by data deviation; the coefficients and basic angles calibrated by a large amount of clinical data in the preset mapping model, combined with the parameters such as shoulder width and shoulder asymmetry after temperature compensation, can accurately calculate the ideal forehead-holding angle that fits the patient's body type, and realize the individualization and scientificity of angle adjustment.

[0046] Preferably, the adjustment of the forehead-holding force comprises: acquiring head weight data collected by the pressure flexible sensor group and neck arc chord values calculated by the neck shape recognition unit, and performing filtering processing and steady-state detection on the head weight data; obtaining an arc compensation amount through a preset calculation rule according to the neck arc chord values; obtaining a traction force based on the processed head weight data and the calculated arc compensation amount through a preset traction force calculation model; determining adjustment parameters of the double lifting modules according to the obtained traction force; and driving the first lifting assembly and the second lifting assembly to adjust the height of the neck support band according to the adjustment parameters.

[0047] Specifically, the traction force calculation model is represented as:

[0048] (2)

[0049] wherein, is the traction force (unit: kg); is the head weight data after filtering processing and steady-state detection (unit: kg); is a weight coefficient (clinically recommended range 0.08~0.12, dynamically selected according to the carrying capacity of the cervical vertebra of the patient); b is a basic traction force (conventional range 2.0~3.5kg, guaranteeing the minimum effective traction force); and ΔC is an arc compensation amount (unit: kg), calculated from the cervical arc chord value: if the cervical arc chord value < 12mm, ΔC = 0.15x(12-cervical arc chord value); if the cervical arc chord value > 17mm, ΔC = -0.10x(cervical arc chord value-17); and if 12mm≤cervical arc chord value≤17mm, ΔC = 0. The formula realizes dynamic adaptation of the traction force by fusing the head weight data and the cervical curvature characteristics, that is, it guarantees the basic traction force matching the weight of the head, and adjusts the traction force in a targeted manner through the arc compensation amount, so that the traction force is more in line with the physiological state of the cervical vertebra, and over-traction or insufficient traction caused by abnormal curvature is avoided.

[0050] Specifically, when adjusting the hugging force, the AI control module, in the data acquisition stage, receives the head weight data collected by the flexible pressure sensor group and the cervical arc chord value calculated by the neck shape recognition unit. For the head weight data, filtering processing is first performed, and the sliding average filtering method can be used to select the average value of 10 groups of data in the last 5 seconds to eliminate noise interference such as instantaneous jitter; when calculating the arc compensation amount, the preset calculation rule is based on the normal curvature range of the cervical vertebra (cervical arc chord value 12mm~17mm): when the cervical arc chord value is less than 12mm, it indicates that the curvature of the cervical vertebra is straightened, and ΔC needs to be increased to increase the traction force and promote the recovery of the curvature; when it is greater than 17mm, it indicates that the curvature is too large, and ΔC needs to be reduced to avoid over-traction; and within the normal range, no compensation is needed; when applying the traction force calculation model, the weight coefficient k will be dynamically adjusted according to the carrying capacity of the cervical vertebra of the patient, for example, 0.08 for elderly patients or patients with severe cervical vertebra injury, and 0.12 for young patients with good cervical vertebra condition; the basic traction force b is combined with the body shape of the patient, and 2.0~2.5kg is taken for thin patients, and 3.0~3.5kg is taken for obese patients. When determining the adjustment parameters of the double lifting modules, the calculated traction force F is converted into the extension amount of the first lifting assembly and the lifting height of the second lifting assembly, and finally, according to these adjustment parameters, the two assemblies are driven to act cooperatively to accurately adjust the height of the cervical collar, so that the traction force accurately acts on the cervical vertebra.

[0051] The hugging force adjustment scheme provided by the preferred embodiment of the present application processes the head weight data through sliding average filtering and steady-state detection, ensuring the accuracy of the traction force calculation; the curvature compensation rule based on the cervical arc chord value makes the traction force adapt to the actual curvature of the cervical vertebra, ensuring safe and effective traction; the dynamic adjustment of the weight coefficient and the basic traction force realizes personalized customization of the traction force; and the high-precision cooperative adjustment of the double lifting modules ensures that the traction force accurately acts on the cervical vertebra, improving the adaptability and accuracy of the treatment.

[0052] Preferably, the adjusting cervical collar includes: obtaining the head and neck position data collected by the ranging unit; calculating the midline offset and the distance between the two shoulders according to the head and neck position data; based on the calculated midline offset and the distance between the two shoulders, obtaining the target cervical spine position through the preset positioning model; comparing the target cervical spine position with the current position of the cervical collar, calculating the offset; driving the first lifting assembly to adjust the angle of the cervical collar according to the calculated offset, and verifying the adjustment effect according to the data collected by the flexible pressure sensor group.

[0053] Specifically, the positioning model is represented as:

[0054] (3)

[0055] wherein, is the horizontal offset of the target cervical spine position relative to the midline of the cervical collar; are the distances from the left and right shoulders to the midline after temperature compensation, respectively; is the processed head weight data; is the neck length; is a shoulder offset correction coefficient (calibration value 0.35), used to adjust the offset according to the shoulder asymmetry; is a head weight distribution coefficient (calibration value 1.2), reflecting the influence of head weight on the cervical spine position; is a basic offset (default 0 mm, which can be fine-tuned according to the average cervical spine physiological position of the population). This formula realizes the accurate calculation of the target cervical spine position by fusing parameters such as shoulder position difference, ratio of head weight to neck length, etc., provides a direct basis for the first lifting assembly to adjust the angle of the cervical collar, and ensures the corresponding accuracy of the cervical collar and the cervical spine.

[0056] Specifically, the AI control module collects the distances from the left and right shoulders to the midline through the infrared sensors of the ranging unit, and calculates the midline offset and the distance between the two shoulders. Combined with these data, the preset positioning model (formula (3)) is used to calculate the horizontal offset of the target cervical spine position and then obtain the position of the target cervical spine. Then, the offset of the cervical collar is obtained by comparing the target cervical spine position with the current position of the cervical collar (monitored by the infrared sensor), and the first lifting assembly is driven to adjust the angle of the cervical collar in a proportionally positive manner. After adjustment, the flexible pressure sensor group is used to check whether the pressures at each point are uniform (the pressure difference is controlled within 0.5 kPa), and if not, the adjustment is repeated to ensure that the cervical collar accurately aligns with the target cervical spine position.

[0057] The neck support belt adjustment scheme provided by the preferred embodiment of the present application can capture the position change of the shoulder in time through high-frequency collection of head and neck position data by an infrared sensor, and provide real-time basis for subsequent calculation; the target cervical vertebra position is calculated by using a positioning model verified by clinical practice in combination with the midline offset and the distance between the two shoulders, so as to accurately lock the position where the cervical vertebra should be, and reduce the positioning deviation caused by individual differences; the first lifting assembly is driven according to the offset to adjust the angle of the neck support belt with high precision, and the adjustment effect is verified by the flexible pressure sensor group, so as to ensure that the neck support belt accurately corresponds to the target cervical vertebra position, avoid the influence of position offset on traction effect, and significantly improve the dynamic correction capability of the system for the cervical vertebra position and the accuracy of traction.

[0058] Preferably, the adaptive cervical curvature traction system further comprises a warning module configured to calculate the displacement between the neck support belt and the forehead band by using the collected head and neck position data, and execute corresponding response strategies according to a preset three-level warning mechanism.

[0059] Further preferably, the three-level warning mechanism comprises: when the displacement reaches a first preset value, the position of the neck support belt and the forehead band is automatically corrected; when the displacement reaches a second preset value, the second lifting assembly is started to adjust the height of the neck support belt to enhance the fixing effect; when the displacement reaches a third preset value, it is determined that there is a high-risk spondylolisthesis, and the system is automatically restored to the initial parameters and the traction is stopped.

[0060] Specifically, the three-level warning mechanism executes corresponding strategies according to different preset values of the displacement: when the displacement reaches a first preset value (such as 4 mm), the system automatically starts a fine-tuning program to respectively correct the position of the neck support belt and the angle of the forehead band by the first lifting assembly of the double lifting module and the forehead-holding driving mechanism of the mechanical hand, so as to quickly eliminate slight deviation and ensure stable traction position; when the displacement reaches a second preset value (such as 8 mm), in addition to position fine-tuning, the second lifting assembly is also started to appropriately raise the height of the neck support belt, increase the close-fitting density of the neck support belt and the neck, and enhance the overall fixing effect to prevent further displacement; when the displacement reaches a third preset value (such as 12 mm), the system determines that it is in a high-risk spondylolisthesis state, and a safety protection program is triggered immediately to automatically restore the initial parameters of all components such as the neck support belt and the forehead band, and stop the traction action to maximize the safety of the patient.

[0061] In the preferred embodiment of the present application, the early warning module collects data in real time through the ranging unit and calculates the relative displacement amount of the cervical collar and the forehead band, which can timely capture the subtle changes in the positions of the two, provide accurate basis for the early warning mechanism, and realize real-time monitoring of the position deviation during traction, avoiding poor traction effect or safety risks due to unnoticed displacement. The three-level early warning mechanism adopts corresponding strategies according to different preset values of the displacement amount, forming a multi-level safety protection system; the combination of the two not only realizes dynamic monitoring and accurate adjustment of the traction process, but also takes into account the continuity and safety of treatment through the hierarchical response mechanism, greatly improving the intelligence and reliability of the system, allowing cervical traction therapy to be carried out efficiently under the premise of safety and controllability.

[0062] Preferably, the mechanical hand forehead holding force point acts on the eyebrows, and the mechanical hand forehead holding force point can provide downward pulling force based on the cervical arc chord value and synchronously adjust the hyperextension angle, the cervical arc chord value is the vertical distance between the arc height and chord length of the target cervical physiological arc, which is used for hyperextension angle regulation correlation; the cervical collar holding neck force point acts on the middle segment of the cervical spine, and the double-shoulder distance is positioned on the cervical midline based on infrared measurement to lock the middle segment of the cervical spine, and the support height and angle are adjusted in combination with the cervical arc chord value for bidirectional regulation correlation of hyperextension and flexion angles; the back force point acts on the back, and the back friction force is used as a reverse support force anchor point for flexion angle regulation correlation.

[0063] In the preferred embodiment of the present application, the precise positioning and cooperative control of the three-point mechanical structure of each force point significantly improve the accuracy and adaptability of cervical arc traction. Among them, the mechanical hand forehead holding force point acts on the eyebrows, which can provide downward pulling force based on the cervical arc chord value and synchronously adjust the hyperextension angle. This design not only realizes accurate regulation of the hyperextension angle, but also can make targeted adjustments according to the individual differences of the cervical physiological arc of patients, improving the individualization of treatment; the cervical collar holding neck force point acts on the middle segment of the cervical spine, and the double-shoulder distance is positioned on the cervical midline through infrared measurement, and the support height and angle are adjusted in combination with the cervical arc chord value, which can realize bidirectional regulation of hyperextension and flexion angles, accurately lock the middle segment of the cervical spine, and effectively enhance the targeted treatment effect of the cervical lesion; the back force point acts on the back and uses friction force as a reverse support force anchor point, which is associated with flexion angle regulation, providing a stable and reliable mechanical basis for the entire traction process, ensuring effective transmission and action of traction force. The linkage adjustment mechanism of the three-point mechanical structure can more accurately restore the cervical physiological arc through multi-dimensional and multi-angle cooperation, while taking into account the individual differences of different patients, greatly improving the safety, effectiveness and comfort of traction therapy.

[0064] Preferably, the forward bending position adjustment method is: adjusting the height of the cervical collar through the double lifting module, changing the difference between the neck holding force point and the back force point, to adjust the forward bending angle.

[0065] Further preferably, the backward extension position adjustment method is: calculating a deviation value according to the current cervical lordosis chord value and the reference cervical lordosis chord value; when the deviation value reaches a preset deviation value, increasing the backward extension angle; when the deviation value is less than the preset deviation value, adjusting the backward extension angle to a preset value.

[0066] The preferred embodiments of the present application respectively illustrate the adjustment methods of forward bending position and backward extension position, and through the dynamic feedback of the double lifting module and the cervical lordosis chord value, the precise control of the cervical traction angle is realized. When adjusting the forward bending position, the system changes the difference between the neck holding force point and the back force point by adjusting the height of the cervical collar, for example, when the difference is reduced from the initial 8cm to 5cm, the cervical forward bending angle is increased from 15° to 25°, forming a "forward inclined" traction posture, which effectively improves the problem of insufficient cervical lordosis. The backward extension position adjustment is dynamically adjusted according to the deviation of the cervical lordosis chord value, if the current cervical lordosis chord value of the patient is 12mm (the reference value is 15mm), the system calculates the deviation value as 3mm (reaching the preset deviation value 2mm), then automatically increases the backward extension angle from 20° to 25°, to promote the recovery of physiological curvature by increasing the degree of cervical extension; when the treatment arc chord value is restored to 14mm, the deviation value is less than the preset deviation value, the system will adjust the backward extension angle back to the preset 22° to maintain the treatment effect. This dynamic adjustment mechanism is like a "smart traction program" customized for each patient, through real-time monitoring and feedback control, it significantly improves the precision of cervical curvature correction while ensuring the safety of treatment, especially suitable for personalized treatment of complex conditions such as straightening of cervical curvature and reverse curvature.

[0067] For example, a middle-aged patient with straightened cervical curvature receives adaptive cervical curvature traction treatment: after the treatment starts, the distance measuring unit first collects the patient's shoulder width, left and right shoulder to midline distance, and other head and neck position data. The temperature compensation mechanism calculates an angle compensation of 0.06 degrees according to the temperature difference between the real-time environment temperature 28°C and the reference temperature 25°C, and inputs the corrected data into the AI control module. The mechanical hand forehead holding driving mechanism calculates the ideal forehead holding angle according to the mapping model, and adjusts the forehead band force to 2.0kPa in cooperation with the second force sensor to accurately fit the patient's forehead. The flexible pressure sensor group obtains the patient's head weight data (5.5kg), which is filtered and stably detected, combined with the neck arc chord value (10mm), and calculated by the traction force calculation model to obtain the target traction force (5.5×0.1+ 2.5+0.15×(12-10)=3.3kg). The double lifting module adjusts the cervical collar height according to this parameter, and the positioning model aligns the cervical collar to the target cervical position according to the shoulder data. During the treatment, the patient turns over slightly, causing a relative displacement of 5mm between the cervical collar and the forehead band. The warning module triggers a first-level warning, and the system automatically adjusts the positions of the two; subsequently, the patient twists his head due to discomfort, and the displacement increases to 9mm, triggering a second-level warning, and the cervical collar is raised by 0.5mm to enhance the fit.

[0068] In summary, the AI-based adaptive cervical curvature traction system provided by the present application has significant advantages. Through the cooperation of multiple modules such as the cervical collar module and the forehead holding module, combined with the precise adjustment of the AI control module, personalized treatment is achieved: considering the influence of environmental temperature, calculating the traction force according to the head weight and the neck arc chord value, dynamically correcting the cervical collar position to ensure accurate traction; three-point mechanical structure linkage control of flexion and extension angles, targeted recovery of cervical physiological curvature, and improvement of treatment specificity; by changing the drop or adjusting the angle according to the arc chord value deviation, the system adapts to different treatment needs and enhances the adaptability and effectiveness of the system. At the same time, real-time monitoring and feedback of each sensor ensure treatment safety, greatly improving overall treatment effectiveness and patient comfort.

[0069] The above only describes the preferred embodiments of the technical scheme of the present application, and is not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An AI-based adaptive cervical lordotic angle traction system, characterized in that, The adaptive cervical lordosis traction system comprises: A cervical collar module comprising a standing hug neck driving mechanism, a cervical collar belt, and a flexible pressure sensor group for collecting head weight data; A forehead-holding module comprising a mechanical hand, a mechanical hand forehead-holding driving mechanism, and a forehead belt, wherein the bottom joint of the mechanical hand is provided with a second force sensor for collecting the forehead-holding force of the forehead belt; A cervical lordosis traction module comprising a case frame, a traction frame, and a traction assembly for driving the traction frame, wherein the traction assembly is provided with a first force sensor for collecting the force of the cervical lordosis traction in a lying position; A double lifting module comprising a first lifting assembly in the support frame on both sides of the cervical collar belt, and a second lifting assembly for driving the cervical collar belt to move in the vertical direction; A three-point mechanical structure for linkage adjustment of the angle regulation of forward bending and the angle regulation of backward bending, and for targeted recovery of the physiological lordosis of the cervical spine; An AI control module for calculating an ideal forehead-holding angle through a preset mapping model according to head and neck position data and environmental temperature data, and driving the mechanical hand to adjust the forehead belt; also for calculating a traction force through a preset model according to the head weight data and the cervical arc chord value, and driving the double lifting module to adjust the lifting force of the cervical collar belt; also for calculating a midline offset through a preset positioning model according to the head and neck position data, calculating a target cervical spine position, and driving the first lifting assembly to adjust the cervical collar belt, and performing multidimensional traction according to the three-point mechanical structure; A data collection module comprising a neck shape recognition unit for obtaining the contour of the neck and calculating the neck length and the cervical arc chord value, a distance measurement unit comprising an infrared sensor for collecting head and neck position data, and a temperature collection unit for collecting environmental temperature data; The adjustment of the forehead-holding force comprises: obtaining the head weight data collected by the pressure flexible sensor group and the cervical arc chord value calculated by the neck shape recognition unit, and performing filtering processing and steady-state detection on the head weight data; obtaining an arc compensation amount through a preset calculation rule according to the cervical arc chord value; obtaining a traction force through a preset traction force calculation model based on the processed head weight data and the calculated arc compensation amount; determining the adjustment parameters of the double lifting module according to the obtained traction force; and driving the first lifting assembly and the second lifting assembly to adjust the cervical collar belt according to the adjustment parameters. The adjustment of the cervical collar belt comprises: obtaining the head and neck position data collected by the distance measurement unit; calculating the midline offset and the distance between the two shoulders according to the head and neck position data; obtaining the target cervical spine position through a preset positioning model based on the calculated midline offset and the distance between the two shoulders; comparing the target cervical spine position with the current position of the cervical collar belt to calculate the offset; and driving the first lifting assembly to adjust the angle of the cervical collar belt according to the calculated offset, and verifying the adjustment effect according to the data collected by the flexible pressure sensor group.

2. The adaptive cervical curvature traction system of claim 1, wherein, The adjustment of the forehead belt comprises: Temperature compensation of the head and neck position data based on the environmental temperature data; Based on the compensated head and neck position data, an ideal forehead-holding angle is calculated through a preset mapping model, and compared with a current forehead-holding angle to obtain an angle difference value; According to the angle difference value, the mechanical hand is driven to adjust the angle of the forehead band, and the forehead-holding force of the forehead band is adjusted in combination with the forehead-holding force collected by the second force sensor.

3. The adaptive cervical curvature traction system of claim 1, wherein, The adaptive cervical arc traction system further comprises a warning module for calculating the displacement between the cervical collar and the forehead band using the collected head and neck position data, and executing corresponding response strategies according to a preset three-level warning mechanism.

4. The adaptive cervical curvature traction system of claim 3, wherein, The three-level warning mechanism comprises: When the displacement reaches a first preset value, the positions of the cervical collar and the forehead band are automatically corrected; When the displacement reaches a second preset value, the second lifting assembly is started to adjust the height of the cervical collar to enhance the fixing effect; When the displacement reaches a third preset value, it is determined that there is a high risk of slipping, and the system is automatically restored to the initial parameters and the traction is stopped.

5. The adaptive cervical curvature traction system of claim 1, wherein, The three-point mechanical structure is composed of a mechanical hand forehead-holding force point, a cervical collar neck-holding force point, and a back force point; The mechanical hand forehead-holding force point acts on the eyebrows, and can provide a downward pulling force based on the cervical arc chord value and adjust the extension angle synchronously. The cervical arc chord value is the vertical distance between the arc height and the chord length of the target cervical physiological arc, which is used for extension position angle regulation correlation; The cervical collar neck-holding force point acts on the middle segment of the cervical spine, and the double-shoulder distance is positioned on the cervical midline based on infrared measurement to lock the cervical middle segment, and the support height and angle are adjusted based on the cervical arc chord value for extension and flexion position angle regulation correlation; The back force point acts on the back, and the back friction force is used as a reverse support anchor point for flexion position angle regulation correlation.

6. The adaptive cervical curvature traction system of claim 5, wherein, The flexion position adjustment method is to adjust the height of the cervical collar through the double lifting modules to change the difference between the neck-holding force point and the back force point, so as to adjust the flexion position angle.

7. The adaptive cervical curvature traction system of claim 5, wherein, The extension position adjustment method is: According to the current cervical arc chord value and the reference cervical arc chord value, a deviation value is calculated; When the deviation value reaches a preset difference value, the extension angle is increased; When the deviation value is less than the preset difference value, the extension angle is adjusted to a preset value.

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