Spinal repair bed and control method

Abstract

The application discloses a kind of spinal repair beds and control method, it is related to medical rehabilitation equipment technical field.The terahertz physiotherapy component is realized longitudinal reciprocating movement by linear guide rail;Traction and swing component transmits the transverse swing generated by swing mechanism and traction effect to lower limb and / or shoulder fixing piece;Loosen the rolling device of ridge and set adjustable rolling component;Vertebra compression physiotherapy device includes telescopic pressure column and detachable pressure block with concave contact surface;Physiotherapy control system implements closed-loop control to traction, swing frequency and amplitude, rolling driving force and displacement and terahertz output power and moving speed based on multi-sensor data, and constructs safety index to realize cross-component safety interlock, when monitoring parameter exceeds threshold value or change rate is over limit, automatically link to reduce multiple outputs or shutdown.The application realizes the integration of multiple physical rehabilitation means, intelligentization and collaborative safety protection, and is suitable for systematic rehabilitation treatment of spinal disease.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, and in particular to a spinal repair bed and its control method. Background Technology

[0002] Rehabilitation treatment for spinal diseases typically requires the comprehensive use of various physical methods, including traction, rocking, rolling, precise pressure, and thermotherapy. Currently available rehabilitation equipment, such as independent traction beds, rocking machines, rolling beds, and thermotherapy devices, has significant shortcomings in clinical practice: patients need to frequently transfer between different devices to complete a systematic treatment course, which is not only cumbersome and inefficient but also carries the risk of secondary injury due to frequent changes in body position. Furthermore, existing rehabilitation equipment lacks data interaction and control coordination between individual devices, failing to establish a unified parameter linkage and safety monitoring system. Its safety protection mechanisms are usually only for their own single function and cannot address the complex risks that may arise from the combined effects of multiple therapies at the system level. In addition, the treatment process largely relies on manual switching based on operator experience, lacking standardized and traceable automated control sequences. Summary of the Invention

[0003] To address the aforementioned issues, this invention proposes a spinal repair bed and control method that enables multi-component closed-loop and cross-component safety interlocking of terahertz therapy, back rolling, spinal compression, traction, and swaying within the same platform. It drives cascading actions through a safety index built from multi-source data and organizes treatment according to a preset task sequence, thereby improving safety, robustness, and process consistency.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] In a first aspect, the present invention provides a spinal repair bed, comprising:

[0006] Bed frame;

[0007] A terahertz therapy component is configured to reciprocate longitudinally along the bed and emit terahertz waves toward its bearing surface.

[0008] A traction and rocking assembly configured to apply traction to the patient’s lower limbs and / or shoulders and to superimpose lateral rocking on the traction.

[0009] A spinal rolling device, which includes a position-adjustable rolling component for rolling the patient's back;

[0010] A spinal compression therapy device, comprising a position-adjustable and pressure-controllable spinal compression block, used to compress the patient's spine;

[0011] The physiotherapy control system is communicatively connected to the terahertz physiotherapy component, traction and rocking component, spinal relaxation rolling device and vertebral compression physiotherapy device, and is used to collect the working parameters of each component and control them.

[0012] The physiotherapy control system is configured to automatically reduce the output of at least two of the traction and rocking components, the spinal rolling device, and the terahertz physiotherapy components or trigger a shutdown when the operating parameters of any component exceed the corresponding threshold or its rate of change exceeds the limit.

[0013] As a further embodiment of the spinal repair bed of the present invention, the terahertz physiotherapy component includes a terahertz slide rail frame installed on the bed body, a linear guide rail disposed on the terahertz slide rail frame, a terahertz physiotherapy box assembled on the linear guide rail via a linear guide rail slider, and a drive mechanism for driving the terahertz physiotherapy box to move; the terahertz physiotherapy box is provided with a terahertz hole facing the upper bearing surface.

[0014] As a further embodiment of the spinal repair bed of the present invention, the terahertz therapy box operates in the frequency band of 0.1-10THz and has an average output power of 0.1-1KW; the terahertz aperture is equipped with a replaceable attenuation element and integrates a temperature sensor; the drive mechanism includes a motor and a ball screw transmission pair, the linear motion of the terahertz therapy box is controlled by encoder position closed loop, and is equipped with a travel limit switch and soft limit protection.

[0015] As a further embodiment of the spinal repair bed of the present invention, the traction and rocking assembly includes a rocking machine disposed below the bed body. The rocking machine includes a rocking mechanism that generates lateral rocking, a rocking machine traction mechanism connected to the output end of the rocking mechanism, a traction execution mechanism connected to the rocking machine traction mechanism, and a traction calf sleeve and / or spinal traction belt connected to the traction execution mechanism. The traction execution mechanism includes a motor and a lead screw or servo cylinder, and is equipped with a tension sensor for closed-loop control of traction force.

[0016] As a further embodiment of the spinal repair bed of the present invention, the spinal loosening rolling device includes a support mechanism disposed on the bed body, a rolling component (3-2) mounted on the support mechanism and arranged laterally along the axis, a rolling drive device for driving the rolling component, and a rolling position adjustment assembly disposed on the support mechanism; the rolling position adjustment assembly is configured to adjust the position of the rolling component relative to the bed body in the vertical and / or lateral direction.

[0017] As a further embodiment of the spinal repair bed of the present invention, the spinal compression therapy device includes a support frame installed above the bed and a spinal compression mechanism installed on the support frame. The support frame is slidably connected to the bed via a guide rail. The spinal compression mechanism includes a telescopic pressure column perpendicular to the bearing surface and a spinal compression block that is detachably connected to the telescopic pressure column via a plug-in structure. The spinal compression block has a spinal groove along the direction of the spine.

[0018] As a further embodiment of the spinal repair bed of the present invention, the physiotherapy control system is configured to: reduce the traction force and decrease the swaying frequency and amplitude when the pressure of the telescopic pressure column reaches a first threshold; and stop the terahertz output and drive the telescopic pressure column to retract to a safe position when the pressure reaches a second threshold.

[0019] As a further embodiment of the spinal repair bed of the present invention, the physiotherapy control system includes a processor and a memory for calculating a safety index based on the working parameters of each component. The safety index is obtained by normalizing and weighting the multi-source parameters. When the safety index reaches a threshold, the traction, rocking, rolling and terahertz outputs are downgraded in sequence according to a preset priority until the machine stops.

[0020] A second aspect of the present invention provides a control method for the above-mentioned spinal repair bed, comprising:

[0021] S1: Collect the working parameters of the terahertz physiotherapy component, traction and rocking component, spinal rolling device (3) and vertebral compression physiotherapy device;

[0022] S2: Calculate the target value and safety boundary of each component's action based on the working parameters, and perform closed-loop adjustment of terahertz output power, linear scanning speed, traction force, swing frequency and amplitude, rolling driving force and displacement respectively;

[0023] S3: Execute cross-component interlocking strategy: When the operating parameter of any component reaches the corresponding threshold or its rate of change exceeds the limit, automatically link to reduce the output of at least two components or trigger shutdown and backoff actions.

[0024] S4: Perform multi-component linkage according to the preset task sequence, and only proceed to the next task after verifying that the safety conditions of the previous task are met when switching sequences.

[0025] As a further aspect of the spinal repair bed control method of the present invention, a safety index is constructed, which includes pressure, tension, temperature, displacement and / or speed, normalized and summed according to weights. When the safety index exceeds a preset threshold, a cascade of actions is executed sequentially, including reducing traction force, reducing swaying frequency and amplitude, limiting rolling pressure and speed, and reducing terahertz output power. Each action is set with a minimum maintenance time and recovery hysteresis. The method also includes executing multi-component linkage according to a preset task sequence, which includes sequentially executing terahertz preheating, rolling, traction and swaying, and vertebral compression steps.

[0026] Compared with existing technologies, this invention has the following beneficial effects: First, by highly integrating terahertz therapy, back rolling, traction rocking, and spinal compression functions into a single bed, it achieves systematic and one-stop rehabilitation treatment of the spine on a unified platform, fundamentally avoiding the inefficiency and risk of secondary injury caused by transferring patients between multiple independent devices. Second, the closed-loop control system based on multi-sensor data achieves precise and stable adjustment of key execution quantities such as traction force, rocking parameters, rolling pressure, and terahertz output, significantly improving the intelligence and consistency of treatment. Furthermore, the cross-component safety interlocking mechanism constructed in this invention, by introducing safety indices and cascading action strategies, achieves substantial technological progress from isolated parameter alarms to overall system safety awareness and collaborative protection, intelligently maintaining the treatment process while ensuring safety. Moreover, the preset task sequences and clear switching conditions standardize and automate the treatment process, ensuring the repeatability and traceability of the treatment, thereby achieving the core objectives of improving efficacy, ensuring safety, and optimizing the experience. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings:

[0028] Figure 1 This is a schematic diagram of the overall assembly structure;

[0029] Figure 2 yes Figure 1 A top-view schematic diagram of a partial structure;

[0030] Figure 3 yes Figure 2 A partial structural diagram of the terahertz therapy box cover;

[0031] Figure 4 yes Figure 1 A partial structural diagram of a spinal compression therapy device;

[0032] Figure 5 yes Figure 4 A partial structural diagram of the compression cone and compression block component;

[0033] Figure 6 yes Figure 1 A schematic diagram of the physiotherapy control system structure;

[0034] Figure 7 yes Figure 6 A schematic diagram of the control module structure of the physiotherapy control system.

[0035] In the diagram: Bed frame 1, headboard 1-1, bed frame longitudinal beam 1-2, terahertz therapy box 2, terahertz slide rail 2-1, linear guide rail 2-2, linear guide rail slider 2-3, terahertz hole 2-4, terahertz therapy box cover 2-5, spinal relaxation rolling device 3, rolling drive device 3-1, rolling component 3-2, back relaxation lifting ring 3-3, spinal compression therapy device 4, spinal compression mechanism 4-1, telescopic pressure column 4-2, spinal compression block 4-3, transverse compression block 4-3-1, compression block insertion rod 4-3-2, spinal groove 4-3-3, pressure sensor line 4-4, pressure handle 4-5, guide rail 4-6, pressure screw 4-7, spinal compression sliding sleeve 4-8 4-9 Support frame, 5 Cervical traction crossbeam, 5-1 Cervical traction main frame, 5-2 Cervical lifting traction frame, 5-3 Traction headgear, 6 Rocking machine, 6-1 Rocking machine traction mechanism, 6-1-1 Rocking mechanism, 6-1-2 Traction actuator, 6-3 Traction calf sleeve, 6-4 Spinal alignment shoulder traction belt, 7 Physiotherapy control system, 7-1 Control center, 7-2 Display module, 7-3 Linear guide rail actuator module, 7-4 Terahertz actuator module, 7-5 Rocking mechanism actuator module, 7-7 Terahertz data module, 7-8 Linear guide rail data module, 7-9 Vertebral compression data module, 7-6 Rocking machine data module, 7-10 Control board. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to embodiments and specific implementation methods:

[0037] It should be noted that the accompanying drawings in this specification only schematically illustrate one or more specific embodiments of the present invention. Components, sensors, control elements, etc., not shown in detail or not shown in the drawings do not imply that the present invention does not include these technical features. Those skilled in the art will understand that equivalent substitutions, functional extensions, or parameter adjustments can be made to the structures shown in the drawings without departing from the technical solution of the present invention.

[0038] First, for ease of understanding, the overall structure and technical concept will now be explained. This embodiment provides a complete and specific implementation of a spinal repair bed. The spinal repair bed in this embodiment includes a bed body 1 as the load-bearing foundation, a headboard 1-1 and a bed frame longitudinal beam 1-2 forming the structural reference, and a terahertz physiotherapy box 2, a spinal relaxation rolling device 3, a spinal compression physiotherapy device 4, a cervical traction crossbeam 5, a rocking machine 6, and a physiotherapy control system 7 integrated on it.

[0039] Specifically, the terahertz therapy box 2 is mounted on a terahertz slide rail frame 2-1 fixed to the bed frame 1. The terahertz slide rail frame 2-1 has a linear guide rail 2-2 arranged longitudinally along the bed frame 1. The terahertz therapy box 2 is slidably connected to the linear guide rail 2-2 via a linear guide rail slider 2-3, thus achieving reciprocating linear movement along the longitudinal direction of the bed frame. To ensure energy orientation and radiation safety, the emission window of the terahertz therapy box 2 is arranged with a terahertz aperture 2-4 facing upwards onto the supporting surface. The diameter of the terahertz aperture 2-4 is preferably 30-100mm, and the minimum safe distance between it and the supporting surface is preferably 50-150mm. The opening, shielding, and safety limiting of the window are achieved through the terahertz therapy box cover plate 2-5. Simultaneously, an electromagnetic shielding and leakage limiting structure is installed between the terahertz therapy box 2 and the bed frame 1 to limit stray radiation and ensure the minimum safe distance between the terahertz aperture 2-4 and the supporting surface.

[0040] Furthermore, in terms of drive and power control, the linear motion of the terahertz therapy box 2 is driven by the linear guide execution module 7-3 of the therapy control system 7. Preferably, a motor combined with a ball screw drive is used to achieve stroke propulsion. The position is measured by the encoder closed-loop measurement of the linear guide data module 7-8, combined with mechanical stroke limit and software soft limit for dual protection. Preferably, the terahertz output frequency band is 0.1-10THz, the average output power is 0.1-1KW, the output power and the temperature at the window are measured by the terahertz data module 7-7 and adjusted by the terahertz execution module 7-4. A replaceable attenuation element and temperature sensor are installed at the window to achieve coordinated control of power and thermal safety and support subsequent closed-loop and interlocking logic.

[0041] Furthermore, regarding the back rolling function, the spinal rolling device 3 is installed on the bed frame 1, including a rolling drive device 3-1, a rolling component 3-2, a back-relaxing ring 3-3, and a position adjustment assembly. The rolling component 3-2 is positioned above the bearing surface, with its axis arranged laterally. Its position adjustment assembly on the support mechanism connected to the bed frame longitudinal beam 1-2 allows for vertical and / or lateral adjustment relative to the bed frame 1, enabling the contact position and pressure of the rolling component 3-2 to be aligned according to the patient's body shape and target area. The rolling drive device 3-1 is connected to the rolling component 3-2 by a linkage or chain drive, converting the power input into rolling rotation and pressing displacement. The rolling drive device 3-1 includes a foot pedal device and / or a motor drive mechanism. When driven by the foot pedal device, the physiotherapy control system monitors and limits the rolling pressing amount and / or linear velocity. The loose back ring 3-3 is used to provide a fixed point for the limiting or suspension auxiliary component to improve posture stability. The position adjustment component can be implemented by a screw lifting mechanism, rack and pinion mechanism or electric push rod, etc.

[0042] In this embodiment, the rolling component 3-2 is in the form of a rolling roller, also known as a spine-loosening roller. The rolling roller is positioned above the bearing surface, with its axis arranged laterally, parallel to the transverse direction of the bed frame. The roller diameter is preferably 50-120 mm, and the length is preferably 200-400 mm. The surface can be covered with rubber, silicone, or other elastic materials, with a Shore A hardness of 30-70 degrees. The rolling roller is adjustable relative to the bed frame 1 in the vertical and / or transverse directions via a position adjustment component on a support mechanism connected to the bed frame longitudinal beam 1-2, allowing the contact position and pressure of the rolling roller to be aligned according to the patient's body shape and the target area.

[0043] The mechanism of action of the roller is as follows: by rolling and pressing along the longitudinal direction of the spine, intermittent compression and relaxation forces are applied between the vertebrae, thereby eliminating intervertebral adhesions caused by long-term poor posture or degenerative changes, promoting the restoration of the range of motion of the intervertebral joints, and achieving vertebral loosening and repositioning. The periodic pressure changes during the rolling process help improve the nutritional supply to the intervertebral discs and relieve nerve root compression symptoms.

[0044] In another embodiment of the invention, the rolling component 3-2 can also be in the form of a spine-relaxing roller. The spine-relaxing roller is a plurality of independent rollers or massage rollers, symmetrically distributed along both sides of the spine, with 2-6 rollers on each side. The diameter of a single spine-relaxing roller is preferably 30-80 mm, and the roller surface may be provided with protrusions or textures to enhance the massage effect. The axis of the spine-relaxing roller is also arranged transversely.

[0045] The mechanism of action of the spinal roller lies in providing point-like or linear deep massage and relaxation to address pathological conditions such as stiffness, blockage, and nodules in the muscles and ligaments on both sides of the spine. Through the rotation and moderate pressure of the roller, it effectively disperses lactic acid buildup and inflammatory mediators in areas of muscle spasm, promotes local blood circulation and lymphatic drainage, and loosens myofascial adhesions and trigger points, thereby relieving myogenic pain and improving the flexibility and support capacity of the soft tissues surrounding the spine.

[0046] In practical use, the operator or physiotherapy control system 7 selects and installs different types of rolling components 3-2 according to the patient's condition:

[0047] For patients whose main symptoms are limited intervertebral joint mobility and intervertebral disc herniation, the roller component 3-2 in the form of a roller is preferred.

[0048] For patients whose main symptoms are paraspinal muscle spasm, fasciitis, and muscle nodules, the preferred choice is the spinal roller type rolling component 3-2.

[0049] Different types of rolling components 3-2 are installed on the support mechanism by quick plug-in or bolt connection, and can be flexibly replaced at different treatment stages to achieve personalized and precise spinal relaxation treatment.

[0050] Those skilled in the art should understand that the rolling component 3-2 is not limited to the two specific structural forms mentioned above, and can also adopt other structures that can realize the rolling pressing function, such as corrugated rollers, toothed rollers, multi-segment rollers, combined massage heads, vibrating massagers, etc., all of which fall within the scope of the rolling component 3-2 of the present invention and are protected within the scope of the present invention.

[0051] For vertical pressure application and pressure detection, the spinal compression therapy device 4 includes a support frame 4-9, a guide rail 4-6, a spinal compression sleeve 4-8, a spinal compression mechanism 4-1, a telescopic pressure column 4-2, and a spinal compression block 4-3. The guide rail 4-6 is set on the bed frame longitudinal beam 1-2. The support frame 4-9 spans across and is slidably connected to the bed frame longitudinal beam 1-2 through the guide rail 4-6 and the spinal compression sleeve 4-8. The spinal compression sleeve 4-8 cooperates with the guide rail 4-6 to ensure straightness and rigidity. The spinal compression mechanism 4-1 is set on the support frame 4-9 and cooperates with the pressure screw 4-7 to achieve precision feeding. The telescopic pressure column 4-2 serves as the end-effector, with its axis substantially perpendicular to the bearing surface and connected to the flange of the pressure cone mechanism 4-1. Its end is detachably connected to the pressure cone block 4-3 via a pressure block insert 4-3-2. The pressure cone block 4-3 has a concave contact surface along the spinal direction, forming a spinal groove 4-3-3 to match the midline of the spine. The width of the spinal groove 4-3-3 is preferably 20-50 mm, the depth is preferably 5-15 mm, and the cross-section is arc-shaped or V-shaped. The pressure cone block 4-3 includes at least one flexible contact layer and a base layer. The flexible contact layer is made of silicone or rubber, with a Shore A hardness of 20-60 degrees and a thickness of 5-20 mm. If necessary, a transverse pressure block 4-3-1 can be assembled to form lateral limiting or force-sharing contact. For easy intervention and safe retraction, the pressure handle 4-5 is used for manual fine-tuning or rapid retraction in emergency situations. The pressure sensor line 4-4 sends the force signal at the end of the pressure cone to the pressure cone data module 7-9 for closed-loop and interlocking control.

[0052] In addition, regarding the adaptation of upper traction to the patient, the cervical traction beam 5 is located on the headboard 1-1 as an upper traction support, and includes the main cervical traction frame 5-1, the cervical lifting traction frame 5-2, and the traction headgear 5-3. The cervical lifting traction frame 5-2 is adjustable in height or angle relative to the main cervical traction frame 5-1, and the traction headgear 5-3 is designed for a reliable fit with the patient's head and neck to accommodate individual differences in height and cervical curvature.

[0053] In conjunction with the aforementioned upper structure, for lower limb and shoulder traction and displacement transmission, the rocking mechanism 6 is installed below or on the side base of the bed frame 1, comprising a rocking traction mechanism 6-1 and a rocking mechanism 6-1-1 that generates lateral oscillation. The rocking mechanism 6-1-1 can be an eccentric wheel mechanism, a crank-connecting rod mechanism, or a motor-driven reciprocating motion mechanism. The lateral oscillation refers to a periodic reciprocating motion parallel to the lateral direction of the bed frame, with a preferred oscillation frequency of 0.5-5Hz and a preferred oscillation amplitude of 10-80mm. Lateral oscillation facilitates lateral loosening of the spine, and, in conjunction with traction, achieves dynamic adjustment of the intervertebral joints.

[0054] The traction actuator 6-1-2 is used to transmit the lateral swing and traction force output by the traction mechanism 6-1 of the rocking machine to the traction calf sleeve 6-3 and the spine shoulder traction belt 6-4. In a preferred embodiment, the traction actuator 6-1-2 includes a traction calf drive bearing seat, a traction drive screw connected to the traction calf drive bearing seat, a traction drive screw nut cooperating with the traction drive screw, a traction chain plate fixedly connected to the traction drive screw nut, a traction calf connecting seat hinged to the traction chain plate, and a traction calf sleeve 6-3 connected to the traction calf connecting seat. When the traction drive screw rotates, the traction drive screw nut moves along the traction drive screw, driving the traction chain plate and the traction calf connecting seat to move, thereby generating traction force. At the same time, the lateral swing generated by the rocking mechanism 6-1-1 is transmitted to the traction calf sleeve 6-3 through the rocking machine traction mechanism 6-1 and the traction actuator 6-1-2, realizing the superposition of lateral swing and traction force. The traction actuator 6-1-2 is equipped with a tension sensor to monitor the magnitude of the traction force in real time and transmit the data to the rocking machine data module 7-6 of the physiotherapy control system 7 to achieve closed-loop control of the traction force.

[0055] Based on the above hardware configuration, at the system integration and signal processing level, the physiotherapy control system 7 consists of a control center 7-1, a display module 7-2, a control board 7-10, a linear guide rail execution module 7-3, a terahertz execution module 7-4, a rocking mechanism execution module 7-5, a rocking machine data module 7-6, a terahertz data module 7-7, a linear guide rail data module 7-8, and a vertebral compression data module 7-9. The control center 7-1 includes a processor and a memory, storing executable instructions for safety index calculation, cascaded actions, and task scheduling. The control center 7-1 sends control commands to the linear guide execution module 7-3, the terahertz execution module 7-4, and the swing mechanism execution module 7-5 via the control board 7-10. These commands respectively control the terahertz output power, the moving speed along the linear guide, the swing frequency and amplitude, and the coordinated control with the roller or cone-related actuators. Simultaneously, the cone-related data module 7-9 receives pressure signals from the pressure sensor line 4-4, the terahertz data module 7-7 collects power and outlet window temperature data from the terahertz therapy box 2, the linear guide data module 7-8 provides position and speed feedback from the terahertz therapy box 2, and the swing machine data module 7-6 collects dynamic parameters such as speed and acceleration. All this data is sent to the control center 7-1 via a bus for fusion and decision-making. The display module 7-2 is used for parameter setting, status display, data recording, and interlock alarm prompts.

[0056] Regarding the closed-loop control strategy, based on the aforementioned sensor data, the control center 7-1 implements closed-loop control of the traction force, swing frequency and amplitude, the pressing amount and linear velocity of the rolling component 3-2, the terahertz output power, and the linear scanning speed. Specifically, this includes multi-sensor fusion adjustment based on traction end tension, pressing cone end pressure, rolling contact displacement or position, terahertz window temperature, and the speed or acceleration of the swing machine. For example, in a typical scenario, when the temperature at the terahertz aperture 2-4 exceeds the first threshold, the system automatically and synchronously reduces the output power of the terahertz execution module 7-4 and decreases the scanning speed of the linear guide execution module 7-3; when it exceeds the second threshold, the terahertz output is paused and a cooling timer is initiated. Similarly, when the pressure detected by the telescopic pressure column 4-2 reaches the first threshold, the system simultaneously reduces the traction force and decreases the swing frequency and amplitude; when the second threshold is reached, the terahertz output is immediately stopped and the telescopic pressure column 4-2 is driven to retract to a safe position.

[0057] Regarding cross-component security interlocking, to achieve unified measurement and rapid response, this embodiment establishes a security index to quantitatively characterize the overall security posture. Specifically, the security index can be constructed as a weighted sum of multi-source quantitative indicators, i.e. ,in This refers to the value of pressure, such as that from a telescopic pressure column or rolling contact force, after normalization to upper and lower limits. This is the normalized value for the terahertz window temperature. This is a normalized value for the traction speed or rolling line speed. This is the normalized value of the swaying acceleration. Normalized value of displacement process indentation; weight - The preferred setting satisfies the condition that the expression is non-negative and the sum is 1. ≥ Other weights should be considered to highlight the primary safety role of pressure and temperature. For ease of implementation, normalization can be adopted. ,in, and The working boundaries set in the safety design.

[0058] Furthermore, to improve the speed of response to sudden risks, a rate of change term can be added to the safety index, such as... This is to reflect the rapid rise in pressure and temperature, thereby triggering mitigation measures at an early stage.

[0059] Based on this, and according to the safety index determination, the system executes tiered linkage, or "cascaded actions," and suppresses and controls jitter through minimum maintenance time and hysteresis conditions. The specific sequence is as follows: First level, reduce the traction target and limit the traction change rate, specifically by multiplying the traction target value by a coefficient. And the upper limit of the rate of change is set to The second stage involves reducing the swing frequency and amplitude, multiplying the frequency by... Amplitude multiplied by The third level limits the rolling infeed and linear speed, setting the upper limit of the infeed to the original upper limit. The upper limit of linear velocity is reduced by approximately 20%; in the fourth stage, the terahertz output power is reduced and the lower limit of linear scanning speed is increased to disperse local heat accumulation, with the power multiplied by... In practical implementation, the minimum maintenance time for each level can be taken as... ≥3s, the hysteresis recovery condition is the bandwidth where the safety index is below the threshold, such as Furthermore, the rate of change of key parameters is lower than their respective limits, and the execution volume is then slowly restored in reverse order.

[0060] It should be understood that if the safety index exceeds a higher threshold... If a critical sensor fails, the encoder and limit signal conflict, or communication timeout occurs, the system will immediately execute an emergency shutdown strategy: stop traction, swinging and rolling, shut down the terahertz output, and drive the telescopic pressure column 4-2 to retract to a safe position. At the same time, the system will record the fault code and timestamp on the display module 7-2 and issue an alarm.

[0061] Regarding the operational sequence, to ensure the determinism and traceability of the process, this embodiment adopts a clear task sequence, which is automatically executed by the control center 7-1 in the order of "terahertz preheating - rolling - traction and swaying - cone pressing". To avoid ambiguity, the switching between tasks must meet measurable entry conditions: in terms of temperature conditions, the temperature at terahertz aperture 2-4 is below the corresponding threshold and the temperature rise rate is... The following conditions must be met: First, the traction force must be below the set limit. Second, the traction force must be stable within the target range and the rate of change must be below the limit. Stability can be determined by the standard deviation within the sliding window being less than the threshold. Third, the rolling pressure must be within the limit in terms of both the rolling pressure amount and the linear velocity, and there must be no impact events in the recent period. Fourth, the pressure measured by the telescopic pressure column 4-2 must not exceed the limit, or the hysteresis recovery condition after exceeding the limit must be met. Control center 7-1 records key parameters, timestamps, and alarm events after each step is completed, and provides operation prompts on display module 7-2, thereby achieving compliance record keeping.

[0062] Finally, as parameters for the implementation example, the following are default configurations that can be directly adopted for easy reproduction and debugging: terahertz scanning speed 5-50 mm / s, dwell time in the target area 0.5-3 s; traction force change rate limit 5% / s of the target value; upper limit of sway acceleration 70% of the rated peak value; upper limit of rolling line speed reduced by 20% compared to the conventional method; safety index weight example. =0.35、 =0.25、 =0.15、 =0.15、 =0.10, trigger threshold =0.75, emergency threshold =0.90, hysteresis =0.10, scaling factor for cascading motion =0.8、 =0.8、 =0.85、 =0.9、 =0.7, minimum sustaining time 3-5s; when the temperature exceeds the first threshold, the power is reduced by 20% and the speed is reduced by 20%; when the temperature exceeds the second threshold, the terahertz is paused and a 60-120s cooling timer is started. The above is completed collaboratively by the terahertz execution module 7-4 and the linear guide execution module 7-3. It should be understood that the above weights, thresholds and time parameters can be engineered according to individual differences without departing from the inventive concept.

Claims

1. A spinal repair bed, characterized by, The bed body (1) comprises: a terahertz therapy assembly configured to be able to reciprocate along the longitudinal direction of the bed body (1) and emit terahertz waves to the carrying surface thereof; a traction and swinging assembly configured to apply a traction force to the lower limbs and / or shoulders of a patient and capable of superimposing a transverse swing on the traction force; a spine-rolling device (3) comprising a position-adjustable rolling component (3-2) for rolling the back of the patient; a spine-pressing device (4) comprising a position-adjustable and pressure-controllable spine-pressing block (4-3) for pressing the spine of the patient; a therapy control system (7) in communication connection with the terahertz therapy assembly, the traction and swinging assembly, the spine-rolling device (3) and the spine-pressing device (4) for collecting the working parameters of each assembly and controlling the same; wherein the therapy control system (7) is configured to automatically link down the output of at least two of the traction and swinging assembly, the spine-rolling device (3), the terahertz therapy assembly or trigger a shutdown when the working parameter of any assembly exceeds the corresponding threshold value or the rate of change thereof exceeds the limit value; the therapy control system (7) comprises a processor and a memory for calculating a safety index based on the working parameters of each assembly, the safety index being obtained by normalized and weighted summation of multiple source parameters; when the safety index reaches a threshold value, the traction, swinging, rolling and terahertz output are sequentially degraded in a predetermined priority until shutdown; the safety index is obtained according to the following formula: The terahertz therapy assembly comprises a terahertz slide rail frame (2-1) mounted on the bed body (1), a linear guide rail (2-2) provided on the terahertz slide rail frame (2-1), a terahertz therapy box (2) assembled on the linear guide rail (2-2) through a linear guide rail slider (2-3), and a driving mechanism for driving the terahertz therapy box (2) to move; the terahertz therapy box (2) is provided with a terahertz hole (2-4) facing upward. ； wherein is the value of the rolling contact force normalized by the upper and lower limits, is the value of the terahertz window temperature normalized, is the value of the draw speed or rolling line speed normalized, is the value of the sway acceleration normalized, is the value of the displacement process press-in amount normalized; Weights - Satisfy non-negative and sum is 1.

2. The spinal repair bed of claim 1, wherein, The working frequency band of the terahertz therapy box (2) is 0.1-10THz, and the average output power is 0.1-1KW; the terahertz hole (2-4) is provided with replaceable attenuation elements and integrated temperature sensors; the driving mechanism comprises a motor and a ball screw transmission pair, the linear motion of the terahertz therapy box (2) adopts encoder position closed-loop control, and is provided with travel limit switches and soft limit protection.

3. The spinal repair bed of claim 2, wherein, The traction and swinging assembly comprises a swinging machine (6) provided below the bed body (1), the swinging machine (6) comprises a swinging mechanism (6-1-1) for generating a transverse swing, a swinging machine traction mechanism (6-1) coupled with the output end of the swinging mechanism (6-1-1), a traction execution mechanism (6-1-2) connected with the swinging machine traction mechanism (6-1), and a traction calf sleeve (6-3) and / or a positive spine shoulder traction belt (6-4) connected with the traction execution mechanism (6-1-2); the traction execution mechanism (6-1-2) comprises a motor and a screw or a servo cylinder, and is provided with a tension sensor for traction force closed-loop control.

4. The spinal repair bed of claim 1, wherein, ​ 5. The spinal repair bed of claim 1, wherein, The ridge loosening and rolling device (3) comprises a supporting mechanism arranged on the bed body (1), a rolling component (3-2) arranged on the supporting mechanism and having an axis transversely arranged, a rolling driving device (3-1) for driving the rolling component (3-2), and a rolling position adjusting assembly arranged on the supporting mechanism; the rolling position adjusting assembly is configured to adjust the position of the rolling component (3-2) relative to the bed body (1) in the vertical and / or transverse direction.

6. The spinal repair bed of claim 1, wherein, The vertebral compression physiotherapy device (4) comprises a support frame (4-9) arranged above the bed body (1), and a vertebral compression mechanism (4-1) arranged on the support frame (4-9); the support frame (4-9) is slidably connected to the bed body (1) through a guide rail (4-6); the vertebral compression mechanism (4-1) comprises an extension and retraction pressure column (4-2) perpendicular to the bearing surface, and a vertebral compression block (4-3) detachably connected to the extension and retraction pressure column (4-2) through a plug-in structure; the vertebral compression block (4-3) has a spine groove (4-3-3) along the spine direction.

7. The spinal repair bed of claim 6, wherein, The physiotherapy control system (7) is configured to: when the pressure of the extension and retraction pressure column (4-2) reaches a first threshold value, automatically reduce the traction force and reduce the swing frequency and amplitude; when the pressure reaches a second threshold value, stop the terahertz output and drive the extension and retraction pressure column (4-2) to retract to a safe position.

8. A method of controlling a spinal repair bed, characterized by, The method for controlling the spinal repair bed according to any one of claims 1-7, executed by the physiotherapy control system (7), comprises: S1: collecting the working parameters of the terahertz physiotherapy assembly, the traction and swing assembly, the ridge loosening and rolling device (3), and the vertebral compression physiotherapy device (4); S2: calculating the target values and safety boundaries of the actions of each assembly based on the working parameters, and performing closed-loop regulation on the terahertz output power and linear scanning speed, the traction force, the swing frequency and amplitude, and the rolling driving force and displacement, respectively; S3: performing a cross-assembly interlocking strategy: when the working parameters of any one assembly reach the corresponding threshold value or the change rate exceeds the limit value, automatically reducing the output of at least two assemblies or triggering the stop and retreat actions; S4: performing multi-component interlocking according to a preset task sequence, and verifying that the safety conditions of the previous task are met before entering the next task.

9. The control method according to claim 8, characterized by, A safety index is constructed including the pressure, tension, temperature, displacement and / or speed normalized and weighted summed; when the safety index exceeds a preset threshold, a cascade action of reducing the traction force, reducing the swing frequency and amplitude, limiting the rolling pressure and speed, and reducing the terahertz output power is sequentially performed, and each level of action is set with a minimum maintenance time and a recovery hysteresis; the method further comprises performing multi-component interlocking according to a preset task sequence, and the task sequence comprises sequentially performing the terahertz preheating, rolling, traction and swing, and vertebral compression steps.

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