Scoliosis positioning and balanced reduction bonesetting device

Abstract

The invention discloses a scoliosis positioning and balance resetting bonesetting device, which relates to the technical field of medical instruments and comprises a precise positioning module, a balance resetting module, a supporting and fixing module and an intelligent control module. Through cooperation of multiple components of the precise positioning module, biomechanical data and three-dimensional form data of scoliosis segments can be comprehensively collected, a precise basis is provided for generation of a reduction scheme, and the problems that a traditional positioning mode is single and data is inaccurate are solved; the balance reset module is matched with a magnetic control correction assembly through a flexible pneumatic actuator, flexible and controllable reset force and magnetic control auxiliary force can be applied, discomfort and injury of a rigid structure to a patient are avoided, and meanwhile precise regulation and control of reset force are achieved; a self-adaptive structure of the supporting and fixing module can be adaptive to physiological curvatures of patients with different body types, compensation displacement in the correction process is effectively limited, and the fixing stability and the comfort level of the patients are improved; and the intelligent control module can integrate the positioning data to generate a personalized reset scheme.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a scoliosis positioning and balanced reset orthopedic device. BACKGROUND

[0002] Scoliosis is a common three-dimensional spinal deformity in clinical practice, with a high incidence in the youth population. If not timely intervention, it will gradually increase the degree of spinal curvature, not only affecting the appearance of the patient's body, but also possibly compressing the internal organs of the chest cavity, leading to abnormal respiratory function, and even affecting body development and quality of life in severe cases. At present, the main correction methods for scoliosis include conservative treatment and surgical treatment. Surgical treatment has high risk and long recovery period, and is mainly used for patients with severe scoliosis. In conservative treatment, traditional manual orthopedics relies on the experience of doctors to judge the scoliosis segment and reset force, which is difficult to achieve precise positioning, has poor stability of reset effect, and is easy to cause compensatory displacement due to improper force control. Most of the existing scoliosis correction equipment adopts single positioning method, such as relying only on optical scanning or pressure sensing, which has insufficient accuracy of positioning data and cannot fully reflect the biomechanical state of the spine. At the same time, the reset execution mechanism of most equipment adopts a rigid structure, which has poor fit and is easy to cause discomfort to the patient. The support and fixation module is difficult to adapt to the physiological curvature of patients of different body types, cannot effectively limit compensatory displacement, and lacks an intelligent control mechanism, which cannot dynamically adjust the reset scheme according to real-time positioning data, and the overall treatment efficiency and safety need to be improved. SUMMARY

[0003] In order to solve the above technical problems, the present application provides a scoliosis positioning and balanced reset orthopedic device. The technical scheme adopted is as follows:

[0004] A scoliosis positioning and balanced reset orthopedic device, comprising a precise positioning module, a balanced reset module, a support and fixation module, and an intelligent control module.

[0005] The precise positioning module comprises a spine biomechanics sensor array, a 3D optical scanning camera, and a plurality of electromagnetic positioning markers.

[0006] The balanced reset module comprises a plurality of sub-zone flexible pneumatic actuators and a plurality of magnetic control balanced correction assemblies.

[0007] The support and fixation module comprises an adaptive pelvis fixation frame, a shoulder suspension belt, and a spine fitting support plate.

[0008] The spine biomechanics sensor array and the 3D optical scanning camera are respectively in communication connection with the intelligent control module, and the intelligent control module controls the execution actions of the plurality of sub-zone flexible pneumatic actuators and the plurality of magnetic control balanced correction assemblies.

[0009] The partitioned flexible pneumatic actuator is connected with the spine-fitting support plate through a detachable buckle, the pelvic fixing frame and the shoulder suspension band are connected with the device main body frame through a sliding rail, and the magnetic control balance correction assembly is connected with the inner side of the pneumatic actuator through magnetic attraction.

[0010] The intelligent control module obtains the scoliosis segment data through the precise positioning module to generate a reduction scheme, and controls the balance reduction module to apply a flexible reduction force and a magnetic control auxiliary force based on the reduction scheme, and the support fixing module limits the compensatory displacement, so that the precise positioning and dynamic balance reduction of the spine are realized.

[0011] Optionally, the spine biomechanics sensing array includes at least one distributed sensing unit, the sensing unit is a combination of a medical-grade piezoresistive pressure sensing unit and a strain sensing unit, and the packaging material of the sensing unit is medical epoxy resin; each sensing unit is uniformly arranged along the longitudinal axis of the spine, the distance between adjacent sensing units is 3-5 cm, and each sensing unit is connected with the analog signal acquisition interface of the intelligent control module through shielded wires in communication, the communication transmission rate is not less than 1 Mbps, and the pressure value and deformation data of each segment of the spine are collected in real time.

[0012] Optionally, the number of 3D optical scanning cameras is at least two, a binocular vision positioning architecture is adopted, and the scanning range covers the complete spine area of the human body; the 3D optical scanning camera is connected with the network communication port of the intelligent control module through a network communication interface, a medical protective structure is arranged outside the 3D optical scanning camera, and the 3D optical scanning camera is fixed to the device main body frame, the lens axis of the 3D optical scanning camera is arranged at an adaptive angle with the longitudinal axis of the spine.

[0013] Optionally, the electromagnetic positioning marker sticker includes a flexible biocompatible substrate, an embedded positioning chip and a surface positioning mark, and the size of the electromagnetic positioning marker sticker is adapted to the attachment requirements of the human vertebral body; the electromagnetic positioning marker sticker is several, and is respectively attached to the key vertebral body position of the human body; the electromagnetic positioning marker sticker is connected with the intelligent control module in communication through a wireless communication frequency band, and the data of the 3D optical scanning camera is complementary calibrated.

[0014] Optionally, the partitioned flexible pneumatic actuator includes a medical-grade sealed flexible air bag, an air bag outside reinforcing structure, an air bag pressure monitoring sensor and an airflow controller.

[0015] The partitioned flexible pneumatic actuator is several groups, which are respectively arranged corresponding to different segments of the spine; each partitioned flexible pneumatic actuator is connected to the gas supply component through a gas path pipeline, and the gas path pipeline is provided with an airflow controller; the airflow controller is connected with the output interface of the intelligent control module through a communication bus; the partitioned flexible pneumatic actuator is connected with the spine-fitting support plate of the support fixing module through a detachable connection structure, and the detachable connection structure has the functions of convenient locking and separation.

[0016] Optionally, the magnetic balance correction assembly comprises a permanent magnet, an angle adjusting support and an electromagnetic coil; the permanent magnet has a magnetic field strength meeting the correction requirement, and is connected to the inside of the partitioned flexible pneumatic actuator through the angle adjusting support; the inside of the partitioned flexible pneumatic actuator is provided with a magnetic attraction matching structure, and the permanent magnet and the magnetic attraction matching structure are detachably connected through magnetic attraction; the electromagnetic coil is arranged in cooperation with the permanent magnet, and is connected to a current control interface of an intelligent control module through a wire; the intelligent control module changes the magnetic field strength by adjusting the current of the electromagnetic coil; and the angle adjusting support is provided with an angle adjusting and locking part to realize adjustment of the correction angle.

[0017] Optionally, the adaptive pelvis fixing frame comprises a supporting plate structure matching the physiological curvature of a human pelvis, an adjusting driving element and a sliding connecting element; the supporting plate structure is made of a biocompatible material, and is provided with a comfortable and breathable structure on the surface; the adjusting driving element is connected to the supporting plate structure and used for adjusting the opening and closing width of the supporting plate structure; the sliding connecting element is slidably matched with a slide rail structure of a device main body frame, and is provided with a positioning and locking part; the adjusting driving element is connected to a servo driving interface of an intelligent control module through a communication bus, and the intelligent control module controls the execution action of the adjusting driving element to adjust the opening and closing width of the fixing frame.

[0018] Optionally, the intelligent control module comprises a data acquisition module, a multi-protocol communication module, a storage module and a main control chip; the data acquisition module is communicatively connected to a 3D optical scanning camera and an electromagnetic positioning marker sticker through the multi-protocol communication module; the storage module is communicatively connected to the data acquisition module; the main control chip is communicatively connected to the storage module, and controls the execution action of an air flow controller, an electromagnetic coil and an adjusting driving element through the multi-protocol communication module.

[0019] Optionally, the intelligent control module further comprises a man-machine interaction module, which is communicatively connected to the storage module and the main control chip.

[0020] Optionally, the man-machine interaction module is an industrial touch screen.

[0021] In summary, the present application has at least one of the following beneficial technical effects:

[0022] The present application can provide a scoliosis positioning and balanced reset orthopedic device, through the cooperation of multiple components of the precise positioning module, the biomechanical data and three-dimensional morphological data of the scoliosis segment can be comprehensively collected, the precise basis for the reset scheme generation is provided, and the problems of single positioning mode and inaccurate data of the traditional positioning mode are solved; the balanced reset module cooperates with the flexible pneumatic actuator and the magnetic control correction assembly, can apply flexible and controllable reset force and magnetic control auxiliary force, avoids the discomfort and damage caused by the rigid structure to the patient, and realizes the precise regulation and control of the reset force; the adaptive structure of the support fixing module can adapt to the physiological curvature of patients with different body types, effectively limits the compensatory displacement in the correction process, and improves the fixing stability and patient comfort; the intelligent control module can integrate the positioning data to generate a personalized reset scheme, and dynamically adjusts the action of the execution mechanism according to the real-time feedback, realizes the precise and dynamic correction, and improves the stability of the treatment effect; the man-machine interaction module simplifies the operation process, is convenient for medical staff to monitor and adjust the treatment parameters in real time, and the overall device considers safety, precision and practicability, effectively improves the defects of the existing correction means. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of a scoliosis positioning and balanced reset orthopedic device of the present application;

[0024] Figure 2 is an exploded structural schematic diagram of a magnetic control balanced correction assembly of a scoliosis positioning and balanced reset orthopedic device of the present application;

[0025] Figure 3 is a structural schematic diagram of an electromagnetic positioning mark paste of a scoliosis positioning and balanced reset orthopedic device of the present application;

[0026] Figure 4 is a structural schematic diagram of a partition flexible pneumatic actuator of a scoliosis positioning and balanced reset orthopedic device of the present application;

[0027] Figure 5 is an electrical device connection principle schematic diagram of an intelligent control module of a scoliosis positioning and balanced reset orthopedic device of the present application;

[0028] Explanation of reference signs: 111, distributed sensing unit; 12, 3D optical scanning camera; 13, electromagnetic positioning marker sticker; 131, flexible biocompatible substrate; 132, built-in positioning chip; 133, surface positioning mark; 21, partitioned flexible pneumatic actuator; 211, medical-grade sealed flexible air bag; 212, air bag outer reinforcing structure; 213, air bag pressure monitoring sensor; 214, air flow controller; 22, magnetic control balance correction assembly; 221, permanent magnet; 222, angle adjustment support; 223, electromagnetic coil; 311, tray structure; 32, shoulder sling; 41, data acquisition module; 42, multi-protocol communication module; 43, storage module; 44, main control chip; 45, human-computer interaction module; 100, main body frame; 101, slide rail structure. DETAILED DESCRIPTION

[0029] The present application will be further described in detail below with reference to the accompanying drawings.

[0030] The embodiment of the present application discloses a scoliosis positioning and balance reset orthopedic device.

[0031] Reference Figure 1 - Figure 5 , embodiment 1, a scoliosis positioning and balance reset orthopedic device, comprising a precise positioning module, a balance reset module, a support and fixing module, and an intelligent control module;

[0032] The precise positioning module comprises a spine biomechanics sensor array, a 3D optical scanning camera 12, and a plurality of electromagnetic positioning marker stickers 13;

[0033] The balance reset module comprises a plurality of partitioned flexible pneumatic actuators 21 and a plurality of magnetic control balance correction assemblies 22;

[0034] The support and fixing module comprises an adaptive pelvis fixing frame, a shoulder sling 32, and a spine-fitting tray;

[0035] The spine biomechanics sensor array and the 3D optical scanning camera 12 are respectively in communication connection with the intelligent control module, and the intelligent control module respectively controls the execution actions of the plurality of partitioned flexible pneumatic actuators 21 and the plurality of magnetic control balance correction assemblies 22;

[0036] The partitioned flexible pneumatic actuator 21 is connected with the spine-fitting tray through a detachable buckle, the pelvis fixing frame 31 and the shoulder sling 32 are connected with the device main body frame through a slide rail, and the magnetic control balance correction assembly is connected with the inside of the pneumatic actuator through magnetic attraction type connection;

[0037] The intelligent control module obtains the lateral bending segment data through the precise positioning module to generate a resetting scheme, and controls the balance resetting module to apply a flexible resetting force and a magnetic control auxiliary force based on the resetting scheme, and the support fixing module limits the compensatory displacement, so as to realize the precise positioning and dynamic balance resetting of the scoliosis.

[0038] By adopting the above technical solution, the precise positioning module provides a data basis for correction. The spine biomechanics sensing array of the precise positioning module is arranged longitudinally along the spine, and real-time collection of pressure and deformation data of each segment of the spine is performed to capture the abnormal state of biomechanics of the scoliosis region; the 3D optical scanning camera 12 of the precise positioning module scans the spine from the fixed position of the device main body frame to obtain complete three-dimensional shape data of the cervical vertebra to the sacral vertebra, and the spatial position and bending degree of the scoliosis are determined; a plurality of electromagnetic positioning markers 13 of the precise positioning module are attached to the key vertebrae of the human body, and the precise position information of the vertebrae is transmitted to the intelligent control module through wireless communication, and the data of the 3D optical scanning camera 12 is complementary calibrated to ensure the comprehensiveness and accuracy of the scoliosis segment data, and the data is transmitted to the intelligent control module in real time through communication connection.

[0039] Secondly, the intelligent control module undertakes the functions of data processing and decision-making. After receiving the scoliosis segment data transmitted by the precise positioning module, the intelligent control module integrates and analyzes the biomechanics data collected by the spine biomechanics sensing array, the three-dimensional shape data collected by the 3D optical scanning camera 12, and the vertebra position data transmitted by the electromagnetic positioning marker 13, identifies the specific segment, bending direction and degree of the scoliosis, and then generates a personalized resetting scheme adapted to the individual condition of the patient, which clearly defines the size, direction of the flexible resetting force and the magnetic control auxiliary force parameters that the balance resetting module needs to apply, and determines the position adjustment requirements of the support fixing module. Subsequently, the balance resetting module and the support fixing module execute actions synchronously according to the resetting scheme. In the balance resetting module, a plurality of partitioned flexible pneumatic actuators 21 are connected to the spine conforming support plates of the support fixing module through detachable buckles, the intelligent control module controls the airflow components in the gas circuit to adjust the inflation amount of the partitioned flexible pneumatic actuators 21, so that the partitioned flexible pneumatic actuators 21 apply a flexible resetting force to the scoliosis segment, and the intelligent control module controls the current of the electromagnetic coils of a plurality of magnetic control balance correction assemblies 22 of the balance resetting module to change the magnetic field strength formed by the permanent magnets of the magnetic control balance correction assemblies 22, so as to form a combined correction force with the flexible resetting force applied by the partitioned flexible pneumatic actuators 21, and realize the precise resetting of the scoliosis segment; in the support fixing module, the adaptive pelvic fixing frame and the shoulder suspension belt 32 are connected to the device main body frame through a slide rail, and the intelligent control module drives the adjusting components of the adaptive pelvic fixing frame and the position locking components of the shoulder suspension belt 32, so that the adaptive pelvic fixing frame adapts to the physiological curvature of the patient's pelvis, and the shoulder suspension belt 32 conforms to the shoulder, thereby limiting the compensatory displacement of the spine during the correction process, and providing a stable support environment for the resetting action.

[0040] Finally, the entire correction process is dynamically regulated. The intelligent control module continuously receives real-time data from the spine biomechanics sensor array, the 3D optical scanning camera 12, and the electromagnetic positioning marker sticker 13, monitors the reduction effect and the spine state, and adjusts the force parameters of the partition flexible pneumatic actuator 21 of the balance reduction module, the magnetic field parameters of the magnetic balance correction assembly 22, and the position of the adaptive pelvic fixation frame and shoulder suspension band 32 of the support and fixation module in a timely manner to ensure that the optimal reduction scheme is always executed, and finally achieve precise positioning and dynamic balance reduction of the scoliosis.

[0041] In embodiment 2, the spine biomechanics sensor array includes at least 8 distributed sensing units 111, which are a combination of medical-grade piezoresistive pressure sensing units and strain sensing units, and the packaging material of the sensing units 111 is medical epoxy resin. Each sensing unit is uniformly arranged along the longitudinal axis of the spine, the distance between adjacent sensing units 111 is 3-5 cm, and each sensing unit is communicatively connected to the 16-bit analog signal acquisition interface of the intelligent control module through shielding wires, with a communication transmission rate of not less than 1 Mbps, for real-time acquisition of pressure values and deformation data of each segment of the spine.

[0042] In embodiment 3, the number of 3D optical scanning cameras 12 is at least two, using a binocular vision positioning architecture, and the scanning range covers the complete spine area of the human body. The 3D optical scanning camera 12 is connected to the network communication port of the intelligent control module through the network communication interface, and the 3D optical scanning camera 12 is provided with a medical protection structure outside and is fixed to the device main body frame, with the lens axis being arranged at an adaptive angle with the longitudinal axis of the spine.

[0043] In embodiment 4, the electromagnetic positioning marker sticker 13 includes a flexible biocompatible substrate 131, an embedded positioning chip 132, and a surface positioning mark 133, and the size of the electromagnetic positioning marker sticker 13 is adapted to the attachment requirements of the human vertebral body. The electromagnetic positioning marker sticker 13 is several, respectively attached to the key vertebral body position of the human body. The electromagnetic positioning marker sticker 13 is communicatively connected to the intelligent control module through a wireless communication frequency band, and the data of the 3D optical scanning camera 12 is complementary calibrated.

[0044] By adopting the above technical solutions, in the scoliosis positioning and balance reduction orthopedic device, the precise positioning module cooperates with the spine biomechanics sensor array, the 3D optical scanning camera 12, and the electromagnetic positioning marker sticker 13 to provide comprehensive and accurate scoliosis segment data for the intelligent control module, constituting the core data acquisition link of the device for precise positioning, and the principle is as follows:

[0045] For the spine biomechanics sensing array, it contains several distributed sensing units, and at least 8 distributed sensing units 111 are specifically arranged. The sensing unit 111 is a combination of a medical-grade piezoresistive pressure sensing unit and a strain sensing unit, which uses medical epoxy resin as the packaging material, which not only ensures biocompatibility to meet the human contact requirements, but also stably protects the internal sensing structure. Each sensing unit 111 is uniformly arranged along the longitudinal axis of the spine, and the spacing between adjacent sensing units 111 is controlled to be 3-5 cm. This arrangement can cover the key segments of the spine and ensure that there is no data collection blind area. Each sensing unit 111 is connected to the 16-bit analog signal acquisition interface of the intelligent control module through shielded wires, and the communication transmission rate is not less than 1 Mbps, which can not only reduce external signal interference to ensure data accuracy, but also realize high-speed data transmission, real-time collection of pressure values and deformation data of each segment of the spine, and timely acquisition of the intelligent control module of the spine biomechanics abnormal state, such as the pressure concentration point and deformation degree of the lateral bending area.

[0046] For the 3D optical scanning camera 12, at least two are arranged, which adopts a binocular vision positioning architecture. This architecture can perform stereo calculation through the image data collected by the two cameras to improve the three-dimensional positioning accuracy. The scanning range of the 3D optical scanning camera 12 covers the complete spine area of the human body, which can fully capture the spine shape information from the cervical vertebra to the sacrum, and clearly determine the spatial position and bending degree of the lateral bending. The 3D optical scanning camera 12 is provided with a medical protection structure on the outside, which can avoid dust, body fluids and other factors from causing pollution or damage to the camera during use. At the same time, it is fixed to the device main frame, and the lens axis is arranged at an adaptive angle with the longitudinal axis of the spine. This angle design ensures that the camera can scan the spine at the optimal viewing angle, reducing the scanning dead angle. The 3D optical scanning camera 12 is connected to the network communication port of the intelligent control module through the network communication interface, realizing stable transmission of three-dimensional shape data to the intelligent control module, and providing intuitive data support for the intelligent control module to analyze the spatial shape of the lateral bending.

[0047] For the electromagnetic positioning marker sticker 13, it is composed of a flexible biocompatible substrate 131, an embedded positioning chip 132, and a surface positioning mark 133. The flexible biocompatible substrate 131 adapts to the surface curvature of the human vertebral body, facilitating attachment and fixation and improving patient comfort; the embedded positioning chip 132 can accurately obtain its own position information, and the surface positioning mark 133 assists the 3D optical scanning camera 12 in identifying the position of the marker sticker. The electromagnetic positioning marker sticker 13 is sized to meet the attachment needs of the human vertebral body, and a number of them are set and attached to key vertebral body positions of the human body, such as the C7 vertebral body and the T12 vertebral body. These key vertebral bodies are important reference points for judging the scoliosis segment. The electromagnetic positioning marker sticker 13 is connected in communication with the intelligent control module through a wireless communication frequency band, transmits the accurate position data of the key vertebral body to the intelligent control module, and at the same time, its data and the three-dimensional shape data collected by the 3D optical scanning camera 12 form a complementary calibration: the 3D optical scanning camera 12 provides the overall spinal shape, and the electromagnetic positioning marker sticker 13 provides the accurate coordinates of the key vertebral body. The combination of the two corrects possible scanning errors and further improves the accuracy of the scoliosis segment data, ultimately laying a reliable foundation for the intelligent control module to integrate and analyze data and generate personalized reduction schemes.

[0048] In embodiment 5, the partitioned flexible pneumatic actuator 21 includes a medical-grade sealed flexible air bag 211, an air bag outer strengthening structure 212, an air bag pressure monitoring sensor 213, and an air flow controller 214.

[0049] The partitioned flexible pneumatic actuator 21 is in several groups, corresponding to different segments of the spine; each partitioned flexible pneumatic actuator 21 is connected to the gas supply component through a gas path pipeline, and an air flow controller 214 is provided on the gas path pipeline. The air flow controller 214 is connected to the output interface of the intelligent control module through a communication bus; the partitioned flexible pneumatic actuator 21 is connected to the spine conforming plate of the support and fixation module through a detachable connection structure, and the detachable connection structure has the functions of convenient locking and separation.

[0050] By adopting the above technical scheme, the medical-grade sealed flexible air bag 211 of the partitioned flexible pneumatic actuator 21 is the direct carrier of the reduction force, which is made of medical-grade flexible material and can conform to the physiological curvature of different segments of the spine, avoiding compression or damage to the spine and surrounding tissues caused by rigid contact. At the same time, the sealed structure ensures that the flexible support force and the reduction force can be stably formed after inflation. The air bag outer strengthening structure 212 is provided outside the medical-grade sealed flexible air bag 211, which enhances the overall structural stability of the air bag, prevents excessive deformation or deviation of the air bag during inflation and pressurization, and ensures that the reduction force can accurately act on the target scoliosis segment, avoiding the reduction effect due to the dispersion of force.

[0051] The gas bag pressure monitoring sensor 213 is integrated in the partitioned flexible pneumatic actuator 21, which can monitor the pressure value inside the medical-grade sealed flexible gas bag 211 in real time. The pressure data directly reflects the size of the reduction force. The gas bag pressure monitoring sensor 213 forms data interaction with the intelligent control module, transmits real-time pressure information to the intelligent control module, and provides a basis for the intelligent control module to determine whether the reduction force meets the requirements of the reduction scheme. When the pressure exceeds or is lower than the set range, the intelligent control module can start the regulation mechanism.

[0052] The gas flow controller 214 is arranged on the gas path pipeline connected between the partitioned flexible pneumatic actuator 21 and the gas supply component, and serves as an execution element for regulating the reduction force. The gas flow controller 214 is connected to the output interface of the intelligent control module through the communication bus. After the intelligent control module generates a reduction scheme based on the lateral bending segment data obtained by the precise positioning module, the intelligent control module sends a control instruction to the gas flow controller 214. After receiving the instruction, the gas flow controller 214 adjusts the size and on-off state of the gas flow in the gas path pipeline, thereby controlling the inflation amount of the medical-grade sealed flexible gas bag 211 by the gas supply component, and achieving precise regulation of the reduction force to meet the differentiated needs of different lateral bending degrees and different segments.

[0053] The partitioned flexible pneumatic actuator 21 is arranged in several groups and corresponds to different segments of the spine (such as the cervical vertebra segment, the thoracic vertebra segment, and the lumbar vertebra segment). This partitioned design can achieve targeted reduction of the lateral bending segment of the spine: the intelligent control module can control the partitioned flexible pneumatic actuator 21 of the corresponding partition individually or cooperatively according to the specific segment where the lateral bending occurs, avoiding force interference on non-lateral bending segments caused by overall force application and improving the reduction accuracy. Meanwhile, the partitioned flexible pneumatic actuator 21 is connected to the spine conforming plate of the support and fixation module through a detachable connection structure. The detachable connection structure has the functions of convenient locking and separation, which facilitates the adjustment of the installation position of the partitioned flexible pneumatic actuator 21 according to the length and lateral bending position of the patient's spine, and facilitates the daily maintenance and component replacement of the device, ensuring that the partitioned flexible pneumatic actuator 21 can always stably cooperate with the spine conforming plate. Through the support function of the spine conforming plate, the reduction force is more stably transmitted to the spine, and in combination with the function of the support and fixation module to limit compensatory displacement, the flexible and accurate dynamic reduction of the lateral bending of the spine is ultimately achieved.

[0054] The magnetic control balance correction assembly 22 comprises a permanent magnet 221, an angle adjusting support 222 and an electromagnetic coil 223; the permanent magnet 221 has a magnetic field strength meeting the correction requirement, and is connected to the inner side of the partitioned flexible pneumatic actuator 21 through the angle adjusting support 222; the inner side of the partitioned flexible pneumatic actuator 21 is provided with a magnetic attraction matching structure, and the permanent magnet 221 is detachably connected to the magnetic attraction matching structure through magnetic attraction; the electromagnetic coil 223 is arranged in cooperation with the permanent magnet 221, the electromagnetic coil 223 is connected to a current control interface of an intelligent control module through a wire, and the intelligent control module changes the magnetic field strength by adjusting the current of the electromagnetic coil 223; and the angle adjusting support 222 is provided with an angle adjusting and locking component to realize adjustment of the correction angle.

[0055] By adopting the above technical solution, the permanent magnet 221 of the magnetic control balance correction assembly 22 has a magnetic field strength meeting the correction requirement, which can generate a directional magnetic control auxiliary force on the scoliosis region to provide a supplement for the flexible reduction force and enhance the correction effect. The permanent magnet 221 is connected to the inner side of the partitioned flexible pneumatic actuator 21 through the angle adjusting support 222, and the inner side of the partitioned flexible pneumatic actuator 21 is provided with a magnetic attraction matching structure, and the permanent magnet 221 is detachably connected to the magnetic attraction matching structure through magnetic attraction. The magnetic attraction connection mode not only ensures the stability of the connection between the permanent magnet 221 and the partitioned flexible pneumatic actuator 21, but also enables the permanent magnet 221 to be conveniently disassembled, replaced or adjusted in position according to different scoliosis segments of the patient and changes in the correction requirement, thereby improving the adaptability of the assembly.

[0056] The electromagnetic coil 223 is arranged in cooperation with the permanent magnet 221, and is connected to a current control interface of an intelligent control module through a wire to form a magnetic control strength regulation link. The intelligent control module can adjust the current input to the electromagnetic coil 223 according to the scoliosis segment data obtained by the precise positioning module and the real-time feedback data in the reduction process: when the current changes, the magnetic field generated by the electromagnetic coil 223 will form a superposition or cancellation effect with the inherent magnetic field of the permanent magnet 221, thereby changing the overall magnetic field strength of the magnetic control balance correction assembly 22 and realizing dynamic adjustment of the magnetic control auxiliary force, so that the auxiliary force can accurately match the requirements of different correction stages and different scoliosis degrees, and avoid that the auxiliary force is too large or too small to affect the correction effect.

[0057] The angle adjusting and locking component is arranged on the angle adjusting support 222, and the relative angle between the permanent magnet 221 and the scoliosis segment can be adjusted through the component before correction or during correction. After the permanent magnet 221 is adjusted to an angle at which the optimal magnetic control auxiliary force direction can be generated according to the bending direction of the scoliosis and the physiological curvature of the segment, the angle is fixed through the locking component to ensure that the magnetic control auxiliary force direction is stable during correction, avoid the auxiliary force action deviation caused by the angle deviation, and further ensure the accuracy of the magnetic control auxiliary correction. The flexible resetting force of the partition flexible pneumatic actuator 21 cooperates to form a high-efficiency and accurate composite correction effect.

[0058] In embodiment 7, the adaptive pelvis fixing frame includes a supporting plate structure 311 that matches the physiological curvature of the human pelvis, an adjusting driving element, and a sliding connecting element. The supporting plate structure 311 is made of biocompatible material and has a comfortable and breathable structure on the surface. The adjusting driving element is connected with the supporting plate structure 311 and is used to adjust the opening and closing width of the supporting plate structure 311. The sliding connecting element is slidably connected with the slide rail structure 101 of the device main frame 100 and is provided with a positioning and locking component. The adjusting driving element is connected with the servo driving interface of the intelligent control module through a communication bus, and the intelligent control module controls the execution action of the adjusting driving element to adjust the opening and closing width of the fixing frame.

[0059] By adopting the above technical solutions, the supporting plate structure 311 matches the physiological curvature of the human pelvis, is made of biocompatible material, and has a comfortable and breathable structure on the surface, which not only adapts to the shape of the pelvis to ensure the fit degree but also improves the comfort of the patient during use to avoid discomfort caused by long-term fixation. The adjusting driving element is connected with the supporting plate structure 311 and is connected with the servo driving interface of the intelligent control module through a communication bus. The intelligent control module can control the execution action of the adjusting driving element according to the patient's body size data or resetting requirements, thereby adjusting the opening and closing width of the supporting plate structure 311 to adapt to the fixation of the pelvis of patients with different body sizes. The sliding connecting element is slidably connected with the slide rail structure 101 of the device main frame 100 and can drive the adaptive pelvis fixing frame to adjust the longitudinal or transverse position along the slide rail structure 101. When the position is adjusted to adapt to the patient's pelvis, the positioning and locking component on the sliding connecting element can realize position locking to ensure that the fixing frame remains stable during the resetting process and avoids displacement. Finally, through the fit fixation of the supporting plate structure 311, the width adaptation of the adjusting driving element, and the position adjustment and locking of the sliding connecting element, the reliable fixation of the pelvis is realized to limit the compensatory displacement during the resetting of the spine.

[0060] The embodiment 8, the intelligent control module comprises a data acquisition module 41, a multi-protocol communication module 42, a storage module 43 and a master control chip 44, the data acquisition module 41 is in communication connection with the 3D optical scanning camera 12 and the electromagnetic positioning marker 13 through the multi-protocol communication module 42 respectively, the storage module 43 is in communication connection with the data acquisition module 41, the master control chip 44 is in communication connection with the storage module 43, and the execution action of the air flow controller 214, the electromagnetic coil 223 and the adjusting driving part is controlled through the multi-protocol communication module 42 respectively.

[0061] The embodiment 9, the intelligent control module further comprises a man-machine interaction module 45, the man-machine interaction module 45 is in communication connection with the storage module 43 and the master control chip 44 respectively.

[0062] The embodiment 10, the man-machine interaction module 45 is an industrial touch screen.

[0063] The following uses specific embodiments to illustrate the implementation principle of the present application:

[0064] The specific configuration of each module of the device:

[0065] The configuration of the precise positioning module:

[0066] The spine biomechanics sensing array of the precise positioning module is provided with 8 distributed sensing units 111, the sensing unit 111 is a combination of a medical-grade piezoresistive pressure sensing unit and a strain sensing unit, the packaging material is medical epoxy resin, and the size of a single sensing unit 111 is 15mm*15mm*3mm. Each sensing unit 111 is uniformly arranged along the longitudinal axis of the spine, the spacing between adjacent sensing units 111 is 3cm, and the C7 vertebral body to the S1 vertebral body region of the human body is covered; each sensing unit 111 is in communication connection with the data acquisition module 41 of the intelligent control module through shielding wires, the communication transmission rate is 1Mbps, and the pressure value in the range of 0-50kPa and the deformation data in the range of 0-5% of each segment of the spine can be collected in real time.

[0067] The 3D optical scanning camera 12 of the precise positioning module selects two Basler acA2500-14gm type cameras, adopts a binocular vision positioning architecture, has a resolution of 2592*1944, a frame rate of 14fps, and a scanning range covering the complete spine region from the cervical vertebra C1 to the sacral vertebra S1 of the human body. A medical protective structure made of transparent polycarbonate is arranged outside the 3D optical scanning camera 12, the camera is fixed on both sides of the device main body frame through a metal support, the lens axis is arranged at an angle of 45° with the longitudinal axis of the spine, and the camera is connected with the multi-protocol communication module 42 of the intelligent control module through a gigabit Ethernet interface, and the data transmission delay is ≤80ms.

[0068] The electromagnetic positioning marker 13 of the precise positioning module is provided with 4 markers, each with a diameter of 2.5 cm and a thickness of 4 mm, which is composed of a flexible medical silicone base 131, an embedded TICC2652R type positioning chip 132 and a surface red fluorescent strip mark 133. The four electromagnetic positioning markers 13 are respectively attached to the spinous process of C7 vertebral body, the spinous process of T6 vertebral body, the spinous process of T12 vertebral body and the spinous process of L5 vertebral body, connected with the multi-protocol communication module 42 of the intelligent control module through the 2.4 GHz wireless frequency band, with a positioning accuracy of ±0.3 mm, and complementary calibration with the data of the 3D optical scanning camera 12.

[0069] The balance reset module is configured as follows:

[0070] The partitioned flexible pneumatic actuator 21 of the balance reset module is provided with 6 groups, which correspond to the cervical spine segment (C1-C7), the upper thoracic spine segment (T1-T3), the middle thoracic spine segment (T4-T8), the lower thoracic spine segment (T9-T12), the upper lumbar spine segment (L1-L3) and the lower lumbar spine segment (L4-S1). The medical-grade sealed flexible air bag 211 of each group of partitioned flexible pneumatic actuators 21 is made of medical silicone with a thickness of 2 mm and an unfolded size of 10 cm x 8 cm x 2 cm; the air bag outer strengthening structure 212 is made of nylon mesh cloth and is fixed to the outer side of the air bag by glue; the air bag pressure monitoring sensor 213 is selected from Freescale MPX5010DP type with a range of 0-10 kPa and is integrated on the top of the air bag and connected with the data acquisition module 41 of the intelligent control module through a wire.

[0071] Each partitioned flexible pneumatic actuator 21 is connected to an oil-free silent air pump (supply pressure 0-15 kPa) through a medical PVC air path pipeline, the air flow controller 214 on the air path pipeline is an SMCVQ1000 series electromagnetic valve connected with the multi-protocol communication module 42 of the intelligent control module through an RS485 bus; the partitioned flexible pneumatic actuator 21 is connected with the spine fitting support plate of the support and fixation module through a plastic quick-release buckle (detachable connection structure), the buckle locking force is ≥30 N, and the buckle can be separated by pressing the two side latches.

[0072] The magnetic control balance correction assembly 22 of the balance reset module corresponds to the partition flexible pneumatic actuator 21 one by one (a total of 6 groups). The permanent magnet 221 of each magnetic control balance correction assembly 22 is a neodymium iron boron N52 model with a size of 20 mm x 10 mm x 5 mm and a magnetic field strength of 0.4 T. The angle adjustment bracket 222 is made of aluminum alloy and is connected to the inner side of the partition flexible pneumatic actuator 21 through screws. The spherical universal joint on the bracket can achieve angle adjustment within a range of ± 15°, and after adjustment, it is locked through a knob (angle adjustment and locking component). The electromagnetic coil 223 is made of enameled copper wire with 500 turns and a resistance of 10Ω, and is wound outside the permanent magnet 221 and connected to the multi-protocol communication module 42 of the intelligent control module through a wire. The inner side of the partition flexible pneumatic actuator 21 is embedded with a 304 stainless steel sheet (magnetic attraction structure), and the magnetic attraction force between the permanent magnet 221 and the stainless steel sheet is ≥50N.

[0073] Support and fixation module configuration:

[0074] The support and fixation module is configured with an adaptive pelvis fixing bracket. The bracket is made of ABS engineering plastic with an arc radius of 15 cm and lined with 5 mm thick medical memory foam. The surface is uniformly provided with air holes with a diameter of 2 mm. The adjustment driving part is a Thomson electric push rod with a stroke of 15 cm and a telescopic speed of 5 mm / s. The end of the push rod is fixed to the side of the bracket through a bolt. The sliding connecting part is a 45 steel material slide block that is slidingly connected to the aluminum alloy T-shaped slide rail structure 101 of the device main frame 100. The side of the slide block is provided with a manual locking handle (positioning and locking component). After locking, the displacement of the slide block is ≤0.2 mm. The adjustment driving part is connected to the multi-protocol communication module 42 of the intelligent control module through a CAN bus.

[0075] The shoulder suspension band 32 of the support and fixation module is made of nylon elastic band with a width of 5 cm and a length adjustment range of 80-120 cm. The band body is provided with Velcro at both ends (length adjustment structure). The middle part of the band body is provided with a Honeywell FSG15N1A type tension sensor (range 0-150N) inside. The tension sensor is connected to the data acquisition module 41 of the intelligent control module through a wire. The top of the band body is connected to a nylon material pulley block (2 fixed pulleys + 1 movable pulley) through a metal hanging ring. The pulley block is fixed to a horizontal slide rail connecting part (aluminum alloy material). The connecting part is slidingly connected to the horizontal aluminum alloy slide rail of the device main frame 100. The connecting part is provided with a KEBM3 series electromagnetic brake (locking control component) inside. The electromagnetic brake is connected to the multi-protocol communication module 42 of the intelligent control module through a relay.

[0076] The spine-fitting support plate of the fixing module is made of carbon fiber material, with a size of 60 cm x 30 cm x 3 mm, and 21 flexible protrusions (height 2.5 cm, diameter 1.5 cm) made of medical polyurethane material are arranged on the surface, the protrusions are spaced 2 cm apart (matching the human vertebral gap), and rhombic anti-skid textures are arranged on the surface of the protrusions; the longitudinal clamping groove at the back of the support plate is matched with the quick-release buckle of the partitioned flexible pneumatic actuator 21, the guide strip is slidably matched with the vertical aluminum alloy slide rail of the device main body frame 100, and the support plate can be adjusted within a range of 0-40 cm along the vertical slide rail; three DS18B20 type temperature sensors (measurement range 20-40℃) are arranged in the support plate and connected with the data acquisition module 41 of the intelligent control module through the SPI bus.

[0077] The intelligent control module is configured as follows:

[0078] The data acquisition module 41 of the intelligent control module is selected from a TI ADS1115 type 16-bit high-precision ADC, with a sampling rate of 128 SPS, and the input end is connected with the sensing unit 111 of the spine biomechanics sensing array, the air bag pressure monitoring sensor 213, the tension sensor of the shoulder suspension belt 32, and the temperature sensor of the spine-fitting support plate.

[0079] The multi-protocol communication module 42 integrates a W5500 Ethernet chip (connected with the 3D optical scanning camera 12), a MAX485 RS485 chip (connected with the air flow controller 214), a TJA1050 CAN chip (connected with the adjustment driving part), and an nRF52832 Bluetooth 5.0 module (connected with the electromagnetic positioning marker sticker 13), and each communication interface is connected with the main control chip 44 through the SPI bus.

[0080] The storage module 43 is a 64 GB SD card connected with the main control chip 44 through the SDIO interface; the main control chip 44 is an STM32H743VI type with a main frequency of 480 MHz and an internal 1 MB RAM; the human-computer interaction module 45 is a 10.1-inch Weinview MT8102iE industrial touch screen (configured in embodiment 10), with a resolution of 1024 x 600 and capacitive touch, connected with the main control chip 44 through the RS232 interface, and capable of displaying real-time data, reset scheme and historical records.

[0081] Device working process:

[0082] Patient positioning and preparation:

[0083] The patient takes a prone position, lies on the lying board of the device main body frame, and the medical staff attaches the 8 sensor units 111 of the spine biomechanics sensor array along the median line of the patient's spine (from the C7 spinous process to the S1 spinous process), attaches the 4 electromagnetic positioning markers 13 to the C7, T6, T12, and L5 vertebral spinous process positions respectively, adjusts the shoulder suspension belt 32 above the patient's shoulders, and places the adaptive pelvic fixation frame under the patient's pelvis. Precise data acquisition:

[0084] Start the device power supply, and the main control chip 44 of the intelligent control module sends instructions through the multi-protocol communication module 42: the 3D optical scanning camera 12 starts scanning, collects 14 frames of spine three-dimensional images per second, and transmits the data to the multi-protocol communication module 42 through Ethernet, and then forwards it to the data acquisition module 41; the sensor units 111 of the spine biomechanics sensor array collect segmental pressure and deformation data, which are transmitted to the data acquisition module 41 through shielding wires; the positioning chip 132 of the electromagnetic positioning marker 13 sends real-time vertebral position data, which is transmitted to the multi-protocol communication module 42 through Bluetooth, and then forwarded to the data acquisition module 41; the data acquisition module 41 stores all data to the storage module 43.

[0085] Reset scheme generation and execution

[0086] The main control chip 44 reads the collected data from the storage module 43, analyzes the patient's scoliosis information (such as T8-T10 vertebral right convexity, Cobb angle 25°), and automatically generates a reset scheme: control the lower thoracic segment (T9-T12) partition flexible pneumatic actuator 21 to inflate to 3kPa, the electromagnetic coil 223 of the magnetic control balance correction assembly 22 passes 0.6A current, the adaptive pelvic fixation frame is adjusted to 40cm in width, and the shoulder suspension belt 32 is adjusted to 80N in tension.

[0087] The main control chip 44 sends instructions through the multi-protocol communication module 42: the air flow controller 214 is opened, the air pump inflates the lower thoracic segment air bag 211, when the air bag pressure monitoring sensor 213 detects that the pressure reaches 3kPa, the feedback signal is fed back to the main control chip 44, and the main control chip 44 controls the air flow controller 214 to be closed; the electromagnetic coil 223 passes 0.6A current, and the permanent magnet 221 forms a superimposed magnetic field (magnetic control auxiliary force); adjust the driving part to push the support plate structure 311 to 40cm in width, and lock the manual lock handle of the sliding connection part; adjust the length of the shoulder suspension belt 32, when the tension sensor detects that the tension reaches 80N, the main control chip 44 controls the electromagnetic brake to lock the sliding rail connection part.

[0088] Dynamic regulation and reset end:

[0089] During the reset process (last for 30 minutes), the main control chip 44 reads the real-time data of the data acquisition module 41 every 5 seconds: if the spine biomechanics sensor array detects that the pressure of the T8-T10 segment drops to 2.8 kPa, the main control chip 44 controls the airflow controller 214 to supplement the pressure to 3 kPa; if the 3D optical scanning camera 12 detects that the lateral bending Cobb angle drops to 20°, the main control chip 44 controls the electromagnetic coil 223 current to drop to 0.4 A. After the reset is completed, the main control chip 44 analyzes the data (such as the lateral bending Cobb angle drops to 18°), sends instructions through the multi-protocol communication module 42: all partition flexible pneumatic actuators 21 are deflated, the electromagnetic coil 223 is powered off, the adaptive pelvis fixing frame is adjusted to the maximum opening width (50 cm), and the shoulder suspension belt 32 is unlocked; the storage module 43 saves the treatment data this time, the industrial touch screen 45 displays the lateral bending data comparison report before and after treatment, and the medical staff assists the patient to leave the device.

[0090] The above are preferred embodiments of the present application, not to limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A scoliosis positioning and balancing reset orthopedic device, characterized by: The device comprises a precise positioning module, a balance reset module, a support fixing module and an intelligent control module. The precise positioning module comprises a spine biomechanics sensing array, a 3D optical scanning camera (12) and a plurality of electromagnetic positioning marker stickers (13). The balance reset module comprises a plurality of subzone flexible pneumatic actuators (21) and a plurality of magnetic control balance correction assemblies (22). The support fixing module comprises an adaptive pelvic fixation frame, a shoulder suspension band (32) and a spine fitting support plate. The spine biomechanics sensing array and the 3D optical scanning camera (12) are respectively in communication connection with the intelligent control module, and the intelligent control module controls the execution actions of the plurality of subzone flexible pneumatic actuators (21) and the plurality of magnetic control balance correction assemblies (22). The subzone flexible pneumatic actuators (21) are connected with the spine fitting support plate through detachable buckles, the pelvic fixation frame (31) and the shoulder suspension band (32) are connected with the device main body frame through sliding rails, and the magnetic control balance correction assemblies are connected with the inner side of the pneumatic actuators through magnetic attraction. The intelligent control module obtains side bending segment data through the precise positioning module to generate a reset scheme, and controls the balance reset module to apply flexible reset force and magnetic control auxiliary force based on the reset scheme, and the support fixing module limits compensatory displacement, so as to realize precise positioning and dynamic balance reset of the spine scoliosis.

2. A scoliosis positioning and balancing reset orthopedic device according to claim 1, characterized in that: The spine biomechanics sensing array comprises at least (8) distributed sensing units (111), the sensing unit (111) is a combination of a medical-grade piezoresistive pressure sensing unit and a strain sensing unit, and the packaging material of the sensing unit (111) is medical epoxy resin; each sensing unit is uniformly arranged along the longitudinal axis of the spine, the spacing between adjacent sensing units (111) is 3-5 cm, and each sensing unit is in communication connection with a 16-bit analog signal acquisition interface of the intelligent control module through shielding wires, the communication transmission rate is not less than 1 Mbps, and the pressure value and deformation data of each segment of the spine are collected in real time.

3. A scoliosis positioning and balancing reset orthopedic device according to claim 2, wherein: The number of 3D optical scanning cameras (12) is at least two, a binocular vision positioning architecture is adopted, and the scanning range covers the complete spine region of the human body; the 3D optical scanning camera (12) is connected with the network communication port of the intelligent control module through a network communication interface, a medical protection structure is arranged outside the 3D optical scanning camera (12), and the 3D optical scanning camera (12) is fixed to the device main body frame, the lens axis of the 3D optical scanning camera (12) is arranged at an adaptive angle with the longitudinal axis of the spine.

4. A scoliosis positioning and balancing reset orthopedic device according to claim 3, wherein: The electromagnetic positioning marker sticker (13) comprises a flexible biocompatible substrate (131), an embedded positioning chip (132) and a surface positioning mark (133), the electromagnetic positioning marker sticker (13) is sized to adapt to the attachment requirements of the human vertebral body; the electromagnetic positioning marker sticker (13) is a plurality of, and is respectively attached to the key vertebral body position of the human body; the electromagnetic positioning marker sticker (13) is in communication connection with the intelligent control module through a wireless communication frequency band, and the data of the electromagnetic positioning marker sticker (13) and the 3D optical scanning camera (12) form complementary calibration.

5. A scoliosis positioning and balancing reset orthopedic device according to claim 4, wherein: The subzone flexible pneumatic actuator (21) comprises a medical-grade sealed flexible air bag (211), an air bag outside reinforcing structure (212), an air bag pressure monitoring sensor (213) and an air flow controller (214). The partitioned flexible pneumatic actuator (21) is arranged in several groups corresponding to different segments of the spine; each partitioned flexible pneumatic actuator (21) is connected to the gas supply component through a gas circuit pipeline, and a gas flow controller (214) is arranged on the gas circuit pipeline; the gas flow controller (214) is connected to the output interface of the intelligent control module through a communication bus; the partitioned flexible pneumatic actuator (21) is connected to the spine fitting plate of the support and fixing module through a detachable connection structure, and the detachable connection structure has the functions of convenient locking and separation.

6. A scoliosis positioning and balancing reset orthopedic device according to claim 5, wherein: The magnetic control balance correction assembly (22) comprises a permanent magnet (221), an angle adjusting support (222) and an electromagnetic coil (223); the permanent magnet (221) has a magnetic field strength meeting the correction requirement, and is connected to the inner side of the partitioned flexible pneumatic actuator (21) through the angle adjusting support (222); the inner side of the partitioned flexible pneumatic actuator (21) is provided with a magnetic attraction matching structure, and the permanent magnet (221) and the magnetic attraction matching structure are detachably connected through magnetic attraction; the electromagnetic coil (223) is arranged in cooperation with the permanent magnet (221), the electromagnetic coil (223) is connected to the current control interface of the intelligent control module through a wire, and the intelligent control module changes the magnetic field strength by adjusting the current of the electromagnetic coil (223); the angle adjusting support (222) is provided with an angle adjusting and locking component to adjust the correction angle.

7. A scoliosis positioning and balancing reset orthopedic device according to claim 6, wherein: The self-adaptive pelvic fixing frame comprises a plate structure (311) fitting the physiological curvature of the human pelvic bone, an adjusting driving element and a sliding connecting element; the plate structure (311) is made of biocompatible material and is provided with a comfortable and breathable structure on the surface; the adjusting driving element is connected to the plate structure (311) and used for adjusting the opening and closing width of the plate structure (311); the sliding connecting element is slidingly matched with the slide rail structure (101) of the device main frame (100) and is provided with a positioning and locking component; the adjusting driving element is connected to the servo driving interface of the intelligent control module through a communication bus, and the intelligent control module controls the execution action of the adjusting driving element to adjust the opening and closing width of the fixing frame.

8. A scoliosis positioning and balancing reset orthopedic device according to claim 7, characterized in that: The intelligent control module comprises a data acquisition module (41), a multi-protocol communication module (42), a storage module (43) and a main control chip (44); the data acquisition module (41) is respectively connected to the 3D optical scanning camera (12) and the electromagnetic positioning marker (13) through the multi-protocol communication module (42), the storage module (43) is connected to the data acquisition module (41), and the main control chip (44) is connected to the storage module (43) and controls the execution actions of the gas flow controller (214), the electromagnetic coil (223) and the adjusting driving element through the multi-protocol communication module (42).

9. A scoliosis positioning and balancing reset orthopedic device according to claim 8, wherein: The intelligent control module further comprises a man-machine interaction module (45), which is connected to the storage module (43) and the main control chip (44).

10. A scoliosis positioning and balancing reset orthopedic device according to claim 9, wherein: The man-machine interaction module (45) is an industrial touch screen.

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