Bilateral cervical traction device, method, equipment and medium

Abstract

The invention discloses a bilateral cervical traction device, method and equipment and a medium, and relates to the technical field of medical rehabilitation training equipment.The bilateral cervical traction device comprises a head fixing assembly used for fixing the neck of a user, and connecting points are arranged on the left side and the right side of the head fixing assembly respectively; the motor driving assembly is used for driving the traction rope connected with the connecting point in the single traction unit based on the control instruction; the tension sensor and the angle sensor are used for monitoring a single-side traction force value and a single-side offset of the traction rope; the infrared thermal imager is used for monitoring and acquiring a facial thermodynamic diagram of the user; the preset controller is used for generating a first control instruction based on the single-side traction force values and the single-side offset corresponding to the two traction units and sending the first control instruction to the corresponding motor driving assembly; the preset controller is used for determining the total temperature difference and the left and right face temperature difference based on the face thermodynamic diagram, generating a second control instruction and sending the second control instruction to the motor driving assembly. The bilateral tension value of a user can be monitored in real time and the traction force can be adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical rehabilitation training equipment, and particularly relates to a bilateral cervical vertebra traction device, method, equipment and medium. BACKGROUND

[0002] The existing cervical vertebra traction device generally performs overall traction, and a vertical upward traction force is applied to the neck of a patient through a rope or a headgear. This mode is not intelligent for the patient. The cervical vertebra and the surrounding muscle tissue of a human being are not completely symmetrical. Many patients have the condition of unilateral muscle tension, joint disorder or more significant pain.

[0003] The existing overall traction applies a uniform force, and cannot perform differential treatment according to the pathological differences of the left and right sides. For a patient who needs large force relaxation on one side and small force protection on the other side, this traction mode not only may cause insufficient treatment of the affected side, but also may cause excessive traction of the healthy side, thereby affecting the rehabilitation effect and even bringing new discomfort. The traditional device starts to work after a fixed traction force and time are set, and cannot be dynamically adjusted according to the real-time physiological response of the patient. During the traction process, the patient may unconsciously dodge and twist due to pain, so that the neck deviates from the neutral position. At this time, the continuous vertical traction may cause improper shear force on the cervical vertebra facet joint. The traditional device cannot sense and correct this deviation. When the traction force is too large or the time is too long to cause excessive muscle work and local blood circulation change, the traditional device does not have a corresponding monitoring mechanism to warn and automatically reduce the load, and there is a risk of excessive traction. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a bilateral cervical vertebra traction device, method, equipment and medium, which can monitor the bilateral traction force value of a user in real time and adjust the traction force at any time. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a bilateral cervical vertebra traction device, comprising: a head fixing assembly, two groups of traction units, an infrared thermal imager and a preset controller, each group of traction units comprising a traction rope, a motor driving assembly, a tension sensor and an angle sensor, wherein

[0006] The head fixing assembly is used for fixing the neck of a user, and left and right sides of the head fixing assembly are respectively provided with a connection point;

[0007] The motor driving assembly is used for driving the traction rope connected with the connection point in the single group of traction units based on a control instruction;

[0008] The tension sensor and the angle sensor located on the traction rope are used for monitoring the unilateral traction force value of the traction rope and the unilateral deviation amount of the traction rope;

[0009] An infrared thermal imager located in front of the head fixing assembly is configured to monitor and acquire a face thermal map of the user;

[0010] The preset controller is configured to generate a first control instruction based on the unilateral traction force value and the unilateral offset amount of each of the two groups of traction units, and send the first control instruction to the motor driving assembly corresponding to the first control instruction.

[0011] The preset controller is configured to generate a second control instruction based on the total temperature difference and the left-right face temperature difference determined by the face thermal map, and send the second control instruction to the motor driving assembly.

[0012] Optionally, the motor driving assembly comprises:

[0013] a winding mechanism and a motor;

[0014] The winding mechanism is configured to wind the traction rope.

[0015] The motor is configured to drive the winding mechanism.

[0016] Optionally, the preset controller comprises:

[0017] a release unit configured to generate a release control instruction representing the release of the corresponding traction rope when the unilateral traction force value is greater than a preset traction force threshold or when the unilateral offset amount is greater than a preset offset amount threshold.

[0018] Optionally, the preset controller comprises:

[0019] a traction force difference calculation unit configured to calculate the traction force difference between the two groups of unilateral traction force values.

[0020] a unilateral selection module configured to determine a target traction rope and a corresponding target angle sensor corresponding to a target unilateral traction force value of a smaller target unilateral traction force value between the two groups of unilateral traction force values.

[0021] a first instruction generation unit configured to calculate a force value increment based on the target unilateral offset amount measured by the target angle sensor, and generate a first control instruction representing traction of the target traction rope according to the force value increment and the traction force difference.

[0022] Optionally, the preset controller comprises:

[0023] a first temperature difference calculation unit configured to calculate a total temperature difference between the face of the user and the basic body temperature of the user based on the face thermal map.

[0024] a second temperature difference calculation unit configured to calculate a left-right face temperature difference between left and right faces of the user based on the face thermal map;

[0025] a second instruction generation unit configured to generate a second control instruction representing releasing the two groups of traction ropes when the total temperature difference is greater than a preset total temperature difference threshold value;

[0026] a third instruction generation unit configured to generate a second control instruction representing releasing the traction rope on the left side when the left-right face temperature difference is greater than a preset positive threshold value;

[0027] a fourth instruction generation unit configured to generate a second control instruction representing releasing the traction rope on the right side when the left-right face temperature difference is less than a preset negative threshold value.

[0028] Optionally, the angle sensor is an inertial measurement unit.

[0029] Optionally, the bilateral cervical vertebra traction device further comprises:

[0030] a display module configured to display the unilateral traction force value and the unilateral offset amount.

[0031] In a second aspect, the present application discloses a bilateral cervical vertebra traction method, comprising:

[0032] after fixing the neck of the user, driving the traction rope in the single group of traction units based on the control instruction;

[0033] monitoring the unilateral traction force value of the traction rope and the unilateral offset amount of the traction rope;

[0034] monitoring and obtaining a face thermal map of the user;

[0035] generating a first control instruction based on the unilateral traction force value and the unilateral offset amount corresponding to each of the two groups of traction units;

[0036] generating a second control instruction based on a total temperature difference and a left-right face temperature difference obtained by analyzing the face thermal map;

[0037] wherein the first control instruction and the second control instruction are both instructions for driving the traction rope.

[0038] In a third aspect, the present application discloses an electronic device, comprising:

[0039] a memory configured to save a computer program;

[0040] a processor configured to execute the computer program to implement the steps of the bilateral cervical vertebra traction method disclosed above.

[0041] In a fourth aspect, the present application discloses a computer readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the aforementioned bilateral cervical traction method.

[0042] It can be seen that the present application discloses a bilateral cervical traction device, which comprises a head fixing assembly, two groups of traction units, an infrared thermal imager, and a preset controller. Each group of traction units comprises a traction rope, a motor driving assembly, a tension sensor, and an angle sensor. The head fixing assembly is used to fix the neck of a user, and the left and right sides of the head fixing assembly are respectively provided with a connection point. The motor driving assembly is used to drive the traction rope connected with the connection point in a single group of traction units based on a control instruction. The tension sensor and the angle sensor located on the traction rope are used to monitor the unilateral traction force value of the traction rope and the unilateral offset amount of the traction rope. The infrared thermal imager located in front of the head fixing assembly is used to monitor and obtain a face thermal map of the user. The preset controller is used to generate a first control instruction based on the unilateral traction force value and the unilateral offset amount corresponding to each group of traction units, so as to send the first control instruction to the motor driving assembly corresponding to each group of traction units. The preset controller is used to generate a second control instruction based on the total temperature difference and the left-right face temperature difference determined based on the face thermal map, so as to send the second control instruction to the motor driving assembly. It can be seen that by arranging two groups of traction units, each group of units comprises independent traction ropes, motor driving assemblies, tension sensors, and angle sensors, and the controller generates a first control instruction based on the unilateral traction force value and the unilateral offset amount corresponding to each group of traction units. A closed-loop control system for independent monitoring and driving of both sides is formed. Through two independent sensors, the traction force and the head posture offset amount of the left and right cervical vertebrae can be sensed and distinguished in real time. The controller generates instructions to control the motor driving assemblies on both sides respectively and independently. This enables the device to apply different traction forces according to the physiological differences such as the tension of the cervical muscles and the joint mobility on both sides, so as to realize differentiated and precise traction force adjustment. At the same time, by analyzing the total temperature difference, the controller can determine whether the overall traction load is too large. By analyzing the left-right face temperature difference, it can be determined which side of the muscle is more tense and fatigued. Based on this, the controller generates control instructions to enable the size of the traction force and the balance on both sides to be dynamically and adaptively adjusted according to the real-time physiological feedback of the patient. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0044] Figure 1 A structure schematic diagram of a bilateral cervical traction device disclosed in the present application;

[0045] Figure 2 A structure schematic diagram of a specific bilateral cervical traction device disclosed in the present application;

[0046] Figure 3 A flow chart of a bilateral cervical traction method disclosed in the present application;

[0047] Figure 4 A flow chart of a bilateral cervical traction method based on a face thermal map disclosed in the present application;

[0048] Figure 5 A structure diagram of an electronic device disclosed in the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0050] The existing cervical traction device is generally a whole body traction, which applies a vertical upward traction force to the neck of the patient through a rope or a headgear. This way is not very smart for the patient. The human cervical spine and its surrounding muscle tissue are not completely symmetrical. Many patients have unilateral muscle tension, joint disorder or more significant pain.

[0051] The existing whole body traction applies uniform force and cannot differentiate the pathological differences between the left and right sides for differential treatment. For patients who need strong relaxation on one side and need small force protection on the other side, this traction method not only may not treat the affected side enough, but also may cause excessive traction of the healthy side, thereby affecting the rehabilitation effect and even causing new discomfort. The traditional device is set to a fixed traction force and time and then starts to work, and cannot dynamically adjust according to the real-time physiological response of the patient. During the traction process, the patient may subconsciously dodge and twist due to pain, causing the neck to deviate from the neutral position. At this time, the continuous vertical traction may cause improper shear force on the cervical facet joints, and the traditional device cannot sense and correct this deviation. When the traction force is too large or the time is too long, causing the muscle to work too much and the local blood circulation to change, the traditional device has no corresponding monitoring mechanism to warn and automatically reduce the load, and there is a risk of excessive traction.

[0052] To this end, the application provides a bilateral cervical traction scheme, which can monitor the bilateral pulling force value of a user in real time and adjust the traction force at any time.

[0053] Referring to Figure 1 As shown in the drawings, the application discloses a bilateral cervical traction device, comprising a head fixing assembly 11, two groups of traction units (a first traction unit 121 and a second traction unit 122), an infrared thermal imager 13, a preset controller 14, each group of traction units comprising a traction rope, a motor driving assembly, a pulling force sensor and an angle sensor, wherein,

[0054] The head fixing assembly 11 is used for fixing the neck of a user, and the left and right sides of the head fixing assembly 11 are respectively provided with a connecting point;

[0055] The motor driving assembly is used for driving the traction rope connected with the connecting point in a single group of traction units based on a control instruction;

[0056] The pulling force sensor and the angle sensor located on the traction rope are used for monitoring the unilateral traction force value of the traction rope and the unilateral offset amount of the traction rope;

[0057] The infrared thermal imager 13 located in front of the head fixing assembly 11 is used for monitoring and obtaining the face thermal map of a user;

[0058] The preset controller 14 is used for generating a first control instruction based on the unilateral traction force value and the unilateral offset amount corresponding to each of the two groups of traction units, so as to send the first control instruction to the motor driving assembly corresponding to the motor driving assembly;

[0059] The preset controller 14 is used for generating a second control instruction based on the total temperature difference and the left and right face temperature difference determined based on the face thermal map, so as to send the second control instruction to the motor driving assembly.

[0060] The angle sensor is an inertial measurement unit.

[0061] In this embodiment, the head fixing assembly 11 fixes the neck of the patient, supports the head of the patient, and the left and right sides of the head fixing assembly 11 are respectively provided with connection points for being respectively connected with traction ropes. A tension sensor is arranged on each traction rope for real-time monitoring of the stress on the cervical vertebrae. An IMU angle sensor is arranged in the middle of the traction rope for real-time monitoring of the offset of the two traction ropes. A motor driving assembly is arranged on the left and right sides and is used for driving the traction ropes to rise and fall, so as to realize dynamic adjustment of the traction force. The infrared thermal imager 13 is placed in front of the face of the patient, so as to realize real-time monitoring of the face temperature of the patient. The preset controller 14 is used for receiving the single-side traction force value and the offset value sent by the sensor to generate a first control instruction, and sending the first control instruction to the motor driving assembly to wind or release the traction rope. Meanwhile, the preset controller 14 also receives the face thermal map sent by the infrared thermal imager 13, so as to further generate a second control instruction according to the physiological index information (total face temperature difference, left and right face temperature difference) of the user, and send the second control instruction to the motor driving assembly to wind or release the traction rope.

[0062] The motor driving assembly comprises a winding mechanism and a motor. The winding mechanism is used for winding the traction rope. The motor is used for driving the winding mechanism. It can be understood that the motor driving assembly mainly comprises two parts of a driving motor and a winding mechanism. The driving motor serves as a power source and can be a servo motor or a stepping motor with a high-precision encoder. The high-precision encoder feeds back the rotation angle and rotation speed of the motor in real time, so as to form a closed-loop control system with a preset controller and realize control of the length and speed of the traction rope during winding and unwinding. The winding mechanism has a winding drum directly or indirectly driven by the motor driving shaft. One end of the traction rope is wound and fixed on the winding drum. In order to ensure the stability of the traction rope during winding and unwinding and prevent the traction rope from being tangled, a guide thread or groove is further designed on the winding drum, so that the traction rope is orderly wound layer by layer. The output shaft of the motor is directly connected to the rotating shaft of the winding mechanism (winding drum) through a shaft coupling, forming a compact driving unit. It should be noted that, in order to improve the torque and realize more precise control, a speed reducer (planetary gear reducer) can be added between the motor and the winding drum. The speed reducer can reduce the output rotation speed, increase the output torque, adjust with smaller force increment, and have stronger load holding capacity. When the preset controller issues a traction instruction, the driving motor rotates forward accurately according to the instruction requirement, drives the winding mechanism to wind up the traction rope, and thus exerts the required traction force on the neck of the user. When the controller issues a release instruction (an instruction based on a safety mechanism or infrared thermal imaging feedback), the driving motor reverses at a controllable speed to slowly release the traction rope and reduce or eliminate the traction force. Slow release is realized by controlled reverse rotation of the motor, avoiding secondary injury caused by sudden stop or instantaneous release of traditional mechanical devices. When the target traction force is reached, the motor with the encoder can maintain the current position under the instruction of the controller, providing a stable static traction force, overcoming the disadvantage that the traditional traction by a heavy object is easily disturbed by slight movement of the patient.

[0063] In this way, by arranging two groups of motor driving assemblies, the motor driving assemblies on the left and right sides work completely independently, realizing differentiated and personalized traction on both sides. The use of high-precision motors and encoders enables the adjustment of the traction force to be performed at the level of Newton (N) and millimeter (mm), realizing precise treatment. The motor has fast start-stop and reversing capability and can respond to the instructions of the controller in real time (adjustment with a time step of 50 ms), realizing dynamic and adaptive adjustment of the traction force. The controllability of the motor enables slow release, greatly improving the safety of the traction process.

[0064] The preset controller 14 comprises a release unit for generating a release control instruction representing release of the corresponding traction rope when the unilateral traction force value is greater than a preset traction force threshold value or when the unilateral offset amount is greater than a preset offset amount threshold value. It can be understood that the release unit continuously receives real-time data collected by the tension sensors and the angle sensors on the left and right traction ropes, i.e., the unilateral traction force value and the unilateral offset amount. The release unit internally stores two safety threshold values, one of which is the preset traction force threshold value, which is set according to the safe load of the human cervical spine, for preventing excessive traction, and the other of which is the preset offset amount threshold value, which is set according to the physiological activity range of the cervical spine, for preventing the neck from being excessively flexed forward, extended backward or laterally bent due to traction, thereby causing joint or soft tissue damage. The release unit cyclically compares the real-time data with the above-mentioned preset threshold values. Once the logical judgment meets any one condition, i.e., the real-time traction force value of any one side exceeds the preset traction force threshold value thereof or the real-time offset amount of any one side exceeds the preset offset amount threshold value thereof, the release unit will immediately trigger a safety response. The release unit will generate an explicit release control instruction, which is sent to the motor drive assembly corresponding to the side where the abnormal data comes from. After receiving the instruction, the motor will execute a preset safety release program, specifically, drive the winding mechanism to reversely rotate controllably, release the traction rope at a constant and slow speed (for example, a force decay rate of 2N / s), so that the traction force on the side is gently reduced rather than suddenly disappeared. It can effectively avoid muscle spasm or secondary impact on the joint caused by instantaneous removal of the traction force.

[0065] In this way, the release unit sets static safety threshold values and realizes directional slow release, thereby constituting an automatic and rapid response safety line, which significantly improves the safety and reliability of traction therapy.

[0066] The preset controller 14 comprises: a traction force difference calculation unit for calculating the traction force difference between the two groups of unilateral traction force values; a unilateral selection module for determining the target traction rope and the corresponding target angle sensor corresponding to the target unilateral traction force value between the two groups of unilateral traction force values; and a first instruction generation unit for calculating the force value increment based on the target unilateral offset measured by the target angle sensor, and generating a first control instruction for pulling the target traction rope according to the force value increment and the traction force difference. It can be understood that the traction force difference calculation unit, the unilateral selection module and the first instruction generation unit included in the preset controller 14 jointly constitute an intelligent control loop for realizing dynamic balance adjustment of bilateral traction force. The specific working process of the control loop is as follows: first, the traction force difference calculation unit obtains the signals from the left and right traction sensors in real time, and calculates the traction force difference (ΔF) between the two sides, which directly reflects the degree of imbalance of the bilateral force on the patient's neck. Then, the unilateral selection module quickly identifies and locks the side with smaller traction force value among the two sides based on this data, and determines it as the target side that needs to be intervened and adjusted, and associates the corresponding target traction rope and target angle sensor of the side. Subsequently, the first instruction generation unit starts core operation, reads the target unilateral offset (θ) measured by the target angle sensor, which reflects the angle between the rope and the ideal vertical direction. The unit calculates a fine force value increment (ΔF_step) based on the angle, and the core algorithm is ΔF_step=1N×cos(θ). The purpose of introducing the cosine function is to ensure that the increased force is effectively applied to the vertical traction direction when the angle offset occurs, avoiding unstable or ineffective traction caused by component force. Finally, the unit generates a precise first control instruction by synthesizing the calculated force value increment and the initial traction force difference. The instruction is sent to the motor drive assembly of the target side, which commands it to increase the winding force in small steps (for example, 50ms period), so as to accurately increase the traction force of the side.

[0067] In this way, the transition from static traction to dynamic balance traction is realized. Through real-time monitoring and feedback, the imbalance of bilateral force can be automatically and continuously corrected, ensuring that the traction force is always accurately applied to the central axis of the cervical spine, effectively avoiding poor rehabilitation effect and potential damage caused by unilateral excessive traction or insufficient traction, and improving the accuracy and safety of treatment.

[0068] The preset controller 14 comprises: a first temperature difference calculation unit configured to calculate a total temperature difference between the face of the user and the basal body temperature of the user based on the face thermal map; a second temperature difference calculation unit configured to calculate a left-right face temperature difference between the left and right faces of the user based on the face thermal map; a second instruction generation unit configured to generate a second control instruction representing releasing the two groups of traction ropes when the total temperature difference is greater than a preset total temperature difference threshold; a third instruction generation unit configured to generate a second control instruction representing releasing the traction rope on the left side when the left-right face temperature difference is greater than a preset positive threshold; and a fourth instruction generation unit configured to generate a second control instruction representing releasing the traction rope on the right side when the left-right face temperature difference is less than a preset negative threshold. It can be understood that the control unit based on the infrared thermal imaging data integrated in the preset controller 14 is a core unit for realizing physiological feedback intelligent traction. The unit analyzes the total temperature difference (ΔT) and the left-right face temperature difference (ΔT_LR) from the face thermal map through the first temperature difference calculation unit and the second temperature difference calculation unit. The total temperature difference reflects the overall metabolic load of the neck muscle group, and the left-right face temperature difference accurately indicates the difference in bilateral muscle tension and fatigue. Based on this physiological information, the following intelligent control process is performed: when the second instruction generation unit determines that the total temperature difference (ΔT) exceeds the preset total temperature difference threshold (for example, +1.5°C), it indicates that the current traction load has caused the bilateral muscles of the user to be generally overworked, and the instruction is generated to control the bilateral motor drive assembly to release the traction ropes synchronously and slowly to reduce the total load. At the same time, the third instruction generation unit and the fourth instruction generation unit are responsible for processing the imbalance of the bilateral muscles. When the left-right face temperature difference (ΔT_LR) is greater than the preset positive threshold (for example, +0.5°C), it indicates that the left muscle is more tense, and the third unit generates an instruction to release the left traction rope alone; on the contrary, when the temperature difference is less than the preset negative threshold (for example, -0.5°C), it indicates that the right load is too large, and the fourth unit generates an instruction to release the right traction rope alone.

[0069] In this way, the traction control is extended from a pure mechanical dimension to a new dimension of deep interaction with the physiological state of the user. The muscle response of the user is perceived in real time, and when signs of overheating, unilateral fatigue, etc. appear, the traction strategy is actively and accurately adjusted, thereby effectively preventing over-traction and muscle strain, and realizing truly personalized and intelligent rehabilitation treatment.

[0070] The bilateral cervical traction device further comprises a display module configured to display the unilateral traction force value and the unilateral offset amount. Figure 2As shown, the present application provides a specific structure diagram of a bilateral cervical traction device, specifically, the bilateral cervical intelligent traction device adopts a layered and modular system architecture, real-time multi-modal data is sensed through the sensor layer, intelligent processing and decision-making are performed through the control layer, precise actions are realized through the execution layer, and information interaction is performed with the user through the human-computer interaction layer. The architecture ensures the reliability, intelligence and safety of the system operation.

[0071] 1. Sensor layer: This layer is the component of the system that senses the physical world and the physiological state of the user, specifically including: two sets of mechanical sensors: namely, tension sensors and IMU sensors installed on the two traction ropes. The core of the mechanical calibration loop is used to collect real-time and independent single-side traction force values and single-side offset (angle), providing direct data support for the control layer to achieve dynamic balance of bilateral traction.

[0072] 2. Human-computer interaction layer: This layer is the information window between the system and the user. It mainly includes: an infrared thermal imager, which is directed at the user's face, used to non-contact collect facial thermal images, quantify the blood circulation and metabolic state of the neck muscles (manifested as changes in facial temperature), and provide physiological basis for intelligent adjustment of the control layer. A display module is used to display key traction parameters (such as bilateral tension, angle), thermal imaging and system status in real time.

[0073] 3. Control layer: Usually implemented by a microprocessor (such as MCU or PLC), i.e. a pre-set controller, which receives all data from the sensor layer and human-computer interaction layer, and has multiple functional units built-in. In this architecture, the control layer precisely drives the execution layer through two sets of motor drivers, which receive the weak electrical instructions (such as PWM signals) from the controller and convert them into strong electrical and control signals required to drive the servo motor, achieving precise and efficient execution of control instructions.

[0074] 4. Execution layer: responsible for the final action output, composed of two independent DC servo motors and winding mechanisms. Each execution unit is controlled by the corresponding motor driver, which applies or releases traction force by winding or unwinding the traction rope. The DC servo motor, with its high control precision and fast response characteristics, can perfectly execute complex instructions such as 50ms step fine adjustment or 2N / s slow release issued by the control layer, and is the physical basis for achieving bilateral independent and intelligent traction.

[0075] Through the coordinated work of the four-layer architecture, multi-dimensional information sensing, fusion and intelligent decision-making from mechanics, angle to physiological thermal imaging are realized, and finally through the independent driving of the execution mechanism, one-time, precise and safe cervical rehabilitation traction is completed, forming a complete intelligent medical equipment closed-loop control system.

[0076] It can be seen that the application discloses a bilateral cervical vertebra traction device, which comprises a head fixing assembly, two groups of traction units, an infrared thermal imager and a preset controller. Each group of traction units comprises a traction rope, a motor driving assembly, a tension sensor and an angle sensor. The head fixing assembly is used for fixing the neck of a user, and the left and right sides of the head fixing assembly are respectively provided with a connecting point. The motor driving assembly is used for driving the traction rope connected with the connecting point in a single group of traction units based on a control instruction. The tension sensor and the angle sensor located on the traction rope are used for monitoring the unilateral traction force value of the traction rope and the unilateral offset amount of the traction rope. The infrared thermal imager located in front of the head fixing assembly is used for monitoring and acquiring the face thermal map of the user. The preset controller is used for generating a first control instruction based on the unilateral traction force value and the unilateral offset amount corresponding to each group of traction units, and sending the first control instruction to the motor driving assembly. The preset controller is used for generating a second control instruction based on the total temperature difference and the left-right face temperature difference determined based on the face thermal map, and sending the second control instruction to the motor driving assembly. It can be seen that two groups of traction units are arranged, each group of units comprises independent traction ropes, motor driving assemblies, tension sensors and angle sensors, and the controller generates a first control instruction based on the unilateral traction force value and the unilateral offset amount corresponding to each group of traction units. A closed-loop control system for independent monitoring and driving of both sides is formed. Through two independent sensors, the traction force and the head posture offset amount of the left and right cervical vertebrae can be sensed and distinguished in real time. The control instruction generated by the controller can be used for controlling the motor driving assemblies on both sides respectively and independently. This enables the device to apply different traction forces according to physiological differences such as the tension of the cervical muscles and the joint mobility, and realize differential precise traction force adjustment. At the same time, by analyzing the total temperature difference, the controller can determine whether the overall traction load is too large. By analyzing the left-right face temperature difference, it can be determined which side of the muscle is more tense and fatigued. Based on this, the control instruction is generated, so that the size of the traction force and the balance of both sides can be dynamically and adaptively adjusted according to the real-time physiological feedback of the patient.

[0077] Reference Figure 3 The application also discloses a bilateral cervical vertebra traction method, which comprises the following steps.

[0078] Step S11: After fixing the neck of the user, the traction rope in a single group of traction units is driven based on a control instruction.

[0079] In this embodiment, the user's neck is fixed by the head fixing belt, and then based on the control instruction, the traction ropes in the single traction unit on both sides are driven for bilateral cervical traction, wherein the traction ropes on both sides are fixed on the left and right measuring connection points of the head fixing belt, and the other ends of the traction ropes on both sides are connected with the winding mechanism in each group of traction units, and the winding mechanism is driven by the motor to wind the traction rope through the control instruction.

[0080] Step S12: Monitor the unilateral traction force value of the traction rope and the unilateral offset of the traction rope.

[0081] In this embodiment, when the patient's head is placed on the head fixing belt, the device collects and displays the left and right cervical traction force data in real time through the tension sensors arranged on the traction ropes on both sides, evaluates the difference between the traction forces on both sides according to the initial detection results, and displays the initial offset of the current two angle sensors in real time.

[0082] Step S13: Monitor and obtain the facial thermal map of the user;

[0083] In this embodiment, an infrared imager is placed in front of the user, and the facial temperature reflects the blood circulation of the neck muscles. Continuous traction will cause the muscles to work and generate heat. The thermal map of the user's face is divided into left and right two parts.

[0084] Step S14: Based on the unilateral traction force value and the unilateral offset corresponding to each of the two groups of traction units, a first control instruction is generated.

[0085] In this embodiment, based on the difference, the driving motor on the side with smaller tension is finely controlled to generate a first control instruction, which is used to drive the motor to increase the force value increment according to the angle difference value on this side with a time step of 50ms. The specific force value increment calculation method is to increase 1N in the vertical angle, when the angle on one side is offset, the angle offset in 50ms is recalculated, and the real-time tension value is adjusted, and the real-time tension value adjustment is ΔF_step =1N×cos(θ).

[0086] When the detected traction force changes suddenly, it indicates that the user has an accident at this time, and the control system immediately starts the safety protection mechanism to realize traction release in the form of slowly reducing the traction force, so as to prevent tissue damage or accidental risk caused by excessive traction.

[0087] Step S15: Based on the total temperature difference and the left and right facial temperature difference analyzed from the facial thermal map, a second control instruction is generated; wherein the first control instruction and the second control instruction are instructions for driving the traction rope.

[0088] As Figure 4As shown, first, the left facial temperature, the right facial temperature and the total facial temperature are obtained based on the facial thermal map, wherein the left facial temperature is T_left, the right facial temperature is T_right, and thus the total facial temperature is (T_left + T_right) / 2, and the total temperature difference is ΔT = (T_left + T_right) / 2 - T_set; wherein T_set is the user's basal body temperature, if ΔT is always too high, i.e., ΔT > ΔT_threshold (+1.5°C), it indicates that the total traction is too large, and then both the left and right traction units reduce the bilateral traction according to the strategy of 0.5N / s each time until the temperature returns to the normal range. If the total temperature difference is in the normal range, it is further determined whether there is an imbalance in the left and right facial temperature difference, i.e., the left and right facial temperature difference ΔT_LR = T_left - T_right is calculated, and if ΔT_LR > LR_treshold (+0.5°C), i.e., the left face is significantly hotter than the right face, it indicates that the left neck muscle is more tense and fatigued. The left traction should be reduced by 0.5N / s step reduction to reduce the load on this side. Similarly, if ΔT_LR < -LR_treshold, i.e., the right face is significantly hotter than the left face, it indicates that the right neck muscle is more tense and fatigued. The system should reduce the right traction by 0.5N / s step reduction.

[0089] In addition, the IMU angle sensor is used as a safety diagnosis index, and |ΔA / Δt| > 5° / s indicates that the user has an accident or the device has an accident, triggering the safety mechanism, stopping the device, and switching the system from increasing the traction on one side to the safety release mode, setting the motor to slowly lower the rope at 2N / s. Until both sides of the traction are reduced to <2N, at which time the release is completed. If |ΔF / Δt| > 15 N / s, the absolute value of the change rate of the traction on any side exceeds this threshold, indicating that an abnormality has occurred. At this time, slow release is immediately triggered, and the system switches from increasing the traction on one side to the safety release mode, setting the motor to slowly lower the rope at 2N / s. Until both sides of the traction are reduced to <2N, at which time the release is completed.

[0090] Further, the electronic device according to the embodiment of the present application further discloses an electronic device, Figure 5 The electronic device 20 structure diagram according to an exemplary embodiment is shown, and the content in the figure cannot be considered as any limitation on the use range of the present application.

[0091] Figure 5A structural schematic diagram of an electronic device 20 is provided in the embodiments of the present application. The electronic device 20 can specifically include at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25 and a communication bus 26. The memory 22 is configured to store a computer program, and the processor 21 is configured to load and execute the computer program to implement the related steps in the double-sided cervical traction method disclosed in any of the foregoing embodiments. In addition, the electronic device 20 in the embodiments of the present application can be specifically an electronic computer.

[0092] In the embodiments of the present application, the power supply 23 is configured to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 is capable of creating a data transmission channel between the electronic device 20 and external devices, and the communication protocol followed by the communication interface 24 can be any communication protocol applicable to the technical solutions of the present application, which is not specifically limited herein; the input / output interface 25 is configured to obtain external input data or output data to the outside world, and the specific interface type can be selected according to the specific application needs, which is not specifically limited herein.

[0093] The processor 21 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array) and a PLA (Programmable Logic Array). The processor 21 can also include a main processor and a coprocessor. The main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 can be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 can also include an AI (Artificial Intelligence) processor for processing machine learning-related computing operations.

[0094] In addition, the memory 22 as a carrier for resource storage can be a read-only memory, a random access memory, a magnetic disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage mode can be temporary storage or permanent storage.

[0095] The operating system 221 is used to manage and control each hardware device on the electronic device 20 and the computer program 222, so as to realize the operation and processing of the processor 21 on the mass data 223 in the memory 22, which can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program capable of completing the bilateral cervical traction method disclosed in any of the foregoing embodiments and executed by the electronic device 20, the computer program 222 can further include a computer program capable of completing other specific work. In addition to the data received by the electronic device and transmitted by the external device, the data 223 can also include the data collected by the self input and output interface 25, etc.

[0096] Further, the application also discloses a computer readable storage medium for storing a computer program; wherein the computer program is executed by a processor to realize the foregoing disclosed bilateral cervical traction method. For the specific steps of the method, refer to the corresponding content disclosed in the foregoing embodiments, which will not be repeated here.

[0097] In the specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. For the same or similar parts between each embodiment, refer to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant part is described in the method part.

[0098] Those skilled in the art will further appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or any combination thereof. To clearly illustrate the interchangeability of hardware and software, various components have been described above generally in terms of their functionality, without limitation. The handwiring and software implementations of the examples described herein could be accomplished using any number of microprocessors, microcontrollers, programmable consumption logic devices, application-specific integrated circuits, or general-purpose computers with interconnecting circuits that either run software programs or use opencircuit or other hardware components that are designed to perform the functions described herein. The embodiments described herein can be implemented along with software modules, and the software modules can be stored on any of a variety of non-transitory machine-readable media. A non-transitory machine-readable medium includes any medium that participates in providing instructions to a processor for execution. Such a medium can take many forms, including but not limited to, non-volatile media, volatile media, and transmission media. Non-volatile media includes, for example, optical or magnetic disks and other persistent memory. Volatile media includes dynamic memories, and physical registers. Transmission media includes coaxial cables, copper wires and fiber optic cables, including wires that comprise bus conductors. Transmission media also can also take the form of acoustic or light waves, such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, solid-state drive, magnetic tape, or any other magnetic data storage medium, a Compact Disc - Read Only Memory (CD-ROM), any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a programmable ROM (PROM), an erasable PROM (EPROM), a FLASH-EPROM, any other memory chip or cartridge, a carrier wave, a

[0099] Finally, it should also be noted that, in the present text, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0100] The above has carried on the detailed introduction to the scheme provided by the present application, the principle and implementation mode of the present application are described by applying the specific examples in the present text, the above example explanation is only applicable to help understanding the method and core idea of the present application; simultaneously, for the general technical personnel in the field, according to the idea of the present application, there will be the change in the specific implementation mode and application range, the above-mentioned content should not be understood as the limitation of the present application.

Claims

1. A bilateral cervical traction device, characterized in that, include: The system includes a head fixation component, two traction units, an infrared thermal imager, and a preset controller. Each traction unit comprises a traction rope, a motor drive assembly, a tension sensor, and an angle sensor. The head fixation component is used to fix the user's neck, and connection points are provided on the left and right sides of the head fixation component respectively; The motor drive assembly is used to drive the traction rope connected to the connection point in a single traction unit based on control commands. The tension sensor and angle sensor located on the traction rope are used to monitor the unilateral traction force value and the unilateral offset of the traction rope. An infrared thermal imager located in front of the head fixation assembly is used to monitor and acquire the user's facial thermal image; The preset controller is used to generate a first control command based on the single-sided traction force value and the single-sided offset corresponding to each of the two sets of traction units, and to send the first control command to the corresponding motor drive component. The preset controller is used to generate a second control command based on the total temperature difference and the temperature difference between the left and right sides of the face determined by the facial thermogram, and to send the second control command to the motor drive assembly.

2. The bilateral cervical traction device according to claim 1, characterized in that, The motor drive assembly includes: Winding mechanism and motor; The winding mechanism is used to wind the traction rope. The motor is used to drive the winding mechanism.

3. The bilateral cervical traction device according to claim 1, characterized in that, The preset controller includes: The release unit is used to generate a release control command that represents the release of the corresponding traction rope when the unilateral traction force value is greater than a preset traction force threshold or when the unilateral offset is greater than a preset offset threshold.

4. The bilateral cervical traction device according to claim 1, characterized in that, The preset controller includes: The traction force difference calculation unit is used to calculate the traction force difference between the two sets of unilateral traction force values; A single-sided selection module is used to determine the target traction rope and the corresponding target angle sensor corresponding to the smaller target single-sided traction force value between the two sets of target traction force values; The first instruction generation unit is used to calculate the force increment based on the target unilateral offset measured by the target angle sensor, and generate a first control instruction representing the traction rope for pulling the target based on the force increment and the traction force difference.

5. The bilateral cervical traction device according to claim 1, characterized in that, The preset controller includes: The first temperature difference calculation unit is used to calculate the total temperature difference between the user's face and the user's basal body temperature based on the facial thermogram. The second temperature difference calculation unit is used to calculate the temperature difference between the left and right sides of the user's face based on the facial thermal map. The second instruction generation unit is used to generate a second control instruction representing the release of the two sets of traction ropes when the total temperature difference is greater than a preset total temperature difference threshold. The third instruction generation unit is used to generate a second control instruction representing the release of the traction rope on the left side when the temperature difference between the left and right faces is greater than a preset positive threshold. The fourth instruction generation unit is used to generate a second control instruction representing the release of the traction rope on the right side when the temperature difference between the left and right sides of the face is less than a preset negative threshold.

6. The bilateral cervical traction device according to claim 1, characterized in that, The angle sensor is an inertial measurement unit.

7. The bilateral cervical traction device according to claim 1, characterized in that, Also includes: The display module is used to display the traction force value and offset on one side.

8. A bilateral cervical traction method, characterized in that, include: After securing the user's neck, the traction rope in a single traction unit is driven based on control commands; Monitor the unilateral traction force value and unilateral offset of the traction rope; Monitor and acquire the user's facial heatmap; Based on the single-sided traction force value and single-sided offset corresponding to each of the two sets of traction units, a first control command is generated. Based on the total temperature difference and the temperature difference between the left and right sides of the face analyzed from the facial thermal map, a second control command is generated. Both the first control command and the second control command are commands for driving the traction rope.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the bilateral cervical traction method as described in claim 8.

10. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the bilateral cervical traction method as described in claim 8.

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