CN103027773A - 三维正脊机器人 - Google Patents

三维正脊机器人 Download PDF

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CN103027773A
CN103027773A CN2011103001553A CN201110300155A CN103027773A CN 103027773 A CN103027773 A CN 103027773A CN 2011103001553 A CN2011103001553 A CN 2011103001553A CN 201110300155 A CN201110300155 A CN 201110300155A CN 103027773 A CN103027773 A CN 103027773A
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seat
robot
pillar
headgear
spine
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张吉林
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Beijing 3d Zhengji Science & Technology Co Ltd
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Beijing 3d Zhengji Science & Technology Co Ltd
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Priority to CN2011103001553A priority Critical patent/CN103027773A/zh
Priority to EP12839956.5A priority patent/EP2764853B1/en
Priority to US14/350,730 priority patent/US9775762B2/en
Priority to PT128399565T priority patent/PT2764853T/pt
Priority to ES12839956.5T priority patent/ES2592635T3/es
Priority to KR1020147011819A priority patent/KR101521402B1/ko
Priority to CA2850659A priority patent/CA2850659C/en
Priority to AU2012323633A priority patent/AU2012323633B2/en
Priority to DK12839956.5T priority patent/DK2764853T3/en
Priority to EA201490670A priority patent/EA025209B1/ru
Priority to PCT/CN2012/082655 priority patent/WO2013053311A1/zh
Priority to BR112014008517-0A priority patent/BR112014008517B1/pt
Priority to JP2014533760A priority patent/JP6114286B2/ja
Priority to MX2014004266A priority patent/MX348624B/es
Priority to AP2014007981A priority patent/AP4005A/en
Publication of CN103027773A publication Critical patent/CN103027773A/zh
Priority to ZA2014/03304A priority patent/ZA201403304B/en
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Abstract

本发明涉及一种三维正脊机器人，组成部分包括支柱、座位、座位升降装置、支柱套管、套管分段连接装置、固定带、头套、头套旋转装置和脊柱侧向推拉装置，其特征在于支柱套管可移动地套在支柱上，所述支柱套管下端与座位相连，座位由座位升降装置调节其离落点平面的距离并可瞬间释放使之快速落下。本发明具有治疗部位明确，力度、幅度、速度等动作指标可精确量化等特点。

Description

三维正脊机器人
技术领域
本发明涉及一种用于脊柱保健和治疗脊柱椎间病的医疗器械，尤其是一种三维正脊机器人。 
背景技术：
颈椎病、腰椎间盘突出症、胸腰椎后关节紊乱症、脊柱相关性疾病等脊柱椎间软组织损伤类疾病简称椎间病，是一些常见病、多发病，严重地影响着人们的健康。其临床表现虽然不同，但其病因、病理和治疗原则基本相同。本发明人经数十年临床研究认为：引起这一系列病症的主要原因是脊柱超限度运动或超负荷承载等不良力学行为导致椎骨间相对位置的三维方向改变(失衡)合并椎骨间软组织损伤，特别是出入神经根管的神经根和血管的损伤。椎间盘突出只是椎间软组织损伤的一种表现，并不是引起病症的元凶。自然状态是最佳状态，治疗此病的首选方法应是极限微创伤性的矫正疗法，即用不介入人体的力使脊柱椎间结构回归或接近自然状态的方法。在非手术疗法治疗无效时再采用手术疗法。 
医生应用力学的方法，如牵拉、旋转、顶推、按压等手法治疗腰椎间盘突出症等脊柱椎间病具有明显的疗效，这是不争的事实。 
除中国有推拿正骨手法外，美国的Chiropractic、欧洲的正骨术、日本、泰国和韩国的整脊手法等都有广泛的应用和明显的疗效。究其手法的关键动作，不外乎牵拉、旋转、屈伸、按压、顶推等，这些手法归根结蒂应属力学疗法，力的表现形式为拉、压、弯、剪、扭。关键治疗大多采用了“突加载荷”，即在患者无对抗时给予恰到好处的突然暴发力。这些手法的共同特点是方便有效，对轻症和初发患者往往有手到病除之功效。 
但手法治疗和牵引治疗也存在着不少缺点。最主要的就是各种动作参数无法量化，是一种靠医者经验，用力模糊的力学疗法，力度或幅度太小不起作用，过大会造成伤害；再者，椎间的错缝或错位是三维方向的，人力推拿正骨每次只能施加单方向或双方向的力，不能将三维方向的力同时作用于病变处。另一种力学疗法是牵引，牵引设备虽然多种多样，但均为一维直线牵引，只控制牵引力，不控制距离，无突加载荷，牵引力均匀地分布在被牵引的多个椎间，定位不明确。因此，疗效受到了限制且疗程长，对较重病人效果欠佳。 
鉴于此，本发明人曾发明了“三维正脊仪”(ZL97182091.0，PCT/CN97/00038，PCT/CN2008/071133)，经临床应用疗效令人满意。以上技术为卧式。为解决颈椎病的机械治疗，本发明人还发明了“颈椎病快速治疗仪”(ZL2004200031124)。在此基础上，本发明人又有了新的创新。 
发明内容
本发明的目的是在原发明的基础上将颈、胸、腰椎的治疗集中于一个机器，提供一种增加脊柱保健功能及提高其治疗时的舒适度和精准度的三维正脊机器人。 
本发明的目的是通过以下技术方案实现的： 
本发明所述的一种三维正脊机器人，其组成部分包括支柱、座位、座位升降装置、支柱套管、固定带、头套；其特征在于：还包括头套旋转装置和脊柱侧向推拉装置，套管分段连接装置； 
支柱套管可移动地套在支柱上，所述支柱套管下端与座位相连，座位由座位升降装置调节其离落点的距离并可瞬间释放使之快速落下。 
所述套管分段连接装置可将套在支柱上的与固定带相连接的套管分段连接，使患者的病变椎间位于分段处，以保证正脊的作用力主要作用在病变处。固定带之间相互连接有弹性编织物。 
所述头套位于三维正脊机器人的顶端，可将患者的头颅固定，并可在头套旋转装置的作用下使之做定量旋转动作。 
所述脊柱侧向推拉装置可沿支柱上下移动并可固定在某一位置，具有定量伸缩一定距离的功能。 
所述座位升降装置与位移传感器相连，以量化座位下落的距离；座位下还设有使座位旋转一定角度的装置。 
所述座位的周围或下方根据需要加载重物或机械力。 
下面结合附图进一步说明： 
图1为本发明的一种三维正脊机器人结构示意图； 
图中：1、支柱，2、座位，201、座位升降装置，3、支柱套管，301、套管分段连接装置，302、固定带，4、头套，5、头套旋转装置，6、脊柱侧向推拉装置； 
图2、控制电路示意图。 
本发明优选的实施方式 
本发明的一种三维正脊机器人，组成部分包括支柱1、座位2、座位升降装置201、固定带302、头套4；其特征在于：还包括支柱套管3、套管分段连接装置301； 
支柱套管3可移动地套在支柱1上，所述支柱套管3下端与座位2相连，座位2由座位升降装置201调节其离落点的距离并可瞬间释放使之快速落下。 
本发明所述的套管分段连接装置301可将套在支柱1上的与固定带302相连接的套管分段连接，使患者的病变椎间位于分段处，以保证正脊的作用力主要作用在病变处。 
本发明的又一个特征是具有头套旋转装置5和脊柱侧向推拉装置6； 
本发明所述的头套4位于三维正脊机器人顶端，可将患者的头颅固定，并可在头套旋转装置5的作用下使之定量旋转动作，头套旋转装置5可由扭矩电机或伺服电机做动力。 
本发明所述的脊柱侧向推拉装置6可沿支柱1上下移动和摆动，并可固定在某一位置，具有定量伸缩一定距离的功能。脊柱侧向推拉装置6可由电动机或液压机械实现，脊柱侧向推拉装置 6的着力点的变动可使脊柱的受力点做前后、左右移动或旋转。 
本发明所述的座位升降装置201与位移传感器相连，以量化座位1下落的距离；座位下还设有使座位旋转一定角度的装置。 
本发明中座位2的周围或下方根据需要加载重物或机械力。 
本发明的控制电路见图2。不详述。 
本发明的三维正脊机器人与已有技术相比，具有以下优点： 
1、克服了颈椎、胸椎和腰椎分别治疗的弊端，结构科学合理、三维动作齐全精准、可控性强、与电脑程序相结合后容易操作等优点。 
2、由于快速冲击的距离由座位降落的高度控制，提高了安全可靠的保障，同时降低了噪声。 
3、疗程短、疗效高、不伤害正常组织、无医源性损伤、无痛苦、可矫正椎骨间相互位置的异常关系、松解神经根与周围组织的粘连，具有使之回归自然状态或趋向自然状态的作用。 
4、本发明所述的三维正脊机器人既可以用于治疗脊柱椎间病，又可以用于保健和调整脊柱亚健康。 
最后所应说明的是，以上实施方式仅用以说明本发明的技术方案而非限制。尽管参照上述实施方式对本发明进行了较详细说明，但并不是包括了一切。本领域的普通技术人员应当理解，对本发明的技术方案进行修改或者等同替换是可以的，只要不脱离本技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。 

Claims (7)

1.一种三维正脊机器人，组成部分包括支柱(1)、座位(2)、座位升降装置(201)、固定带(302)、头套(4)；其特征在于：还包括支柱套管(3)、头套旋转装置(5)和脊柱侧向推拉装置(6)，套管分段连接装置(301)；
支柱套管(3)可移动地套在支柱(1)上，所述支柱套管(3)下端与座位(2)相连，座位(2)由座位升降装置(201)调节其离落点的距离并可瞬间释放使之快速落下。
2.根据权利要求1所述的三维正脊机器人，其特征在于套管分段连接装置(301)可将套在支柱(1)上的与固定带(302)相连接的套管分段连接，使患者的病变椎间位于分段处，以保证正脊的作用力主要作用在病变处。
3.根据权利要1所述的三维正脊机器人，其特征在于固定带(302)之间相互连接有弹性编织物(303)。
4.根据权利要求1所述的三维正脊机器人，其特征在于头套(4)位于三维正脊仪的顶端，可将患者的头颅固定，并可在头套旋转装置(5)的作用下使之做定量旋转动作。
5.根据权利要求1所述的三维正脊机器人，其特征在于脊柱侧向推拉装置(6)可沿支柱(1)上下移动并可固定在某一位置，具有定量伸缩一定距离的功能。
6.根据权利要求1所述的三维正脊机器人，其特征在于座位升降装置(201)与位移传感器相连，以量化座位(1)下落的距离。
7.根据权利要求1所述的三维正脊机器人，其特征在于座位(2)的周围或下方根据需要加载重物或机械力。
CN2011103001553A 2011-10-09 2011-10-09 三维正脊机器人 Pending CN103027773A (zh)

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AU2012323633A AU2012323633B2 (en) 2011-10-09 2012-10-09 Three-dimensional spine correction robot
PCT/CN2012/082655 WO2013053311A1 (zh) 2011-10-09 2012-10-09 一种三维正脊机器人
PT128399565T PT2764853T (pt) 2011-10-09 2012-10-09 Robot de correcção de coluna vertebral tridimensional
ES12839956.5T ES2592635T3 (es) 2011-10-09 2012-10-09 Robot de corrección de la columna vertebral tridimensional
KR1020147011819A KR101521402B1 (ko) 2011-10-09 2012-10-09 3차원 척추 교정 로봇
CA2850659A CA2850659C (en) 2011-10-09 2012-10-09 Three-dimensional spine correction apparatus
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EA201490670A EA025209B1 (ru) 2011-10-09 2012-10-09 Аппарат для трехмерной коррекции позвоночника
US14/350,730 US9775762B2 (en) 2011-10-09 2012-10-09 Three-dimensional spine correction robot
BR112014008517-0A BR112014008517B1 (pt) 2011-10-09 2012-10-09 robô de correção de coluna tridimensional
JP2014533760A JP6114286B2 (ja) 2011-10-09 2012-10-09 三次元脊椎矯正ロボット
MX2014004266A MX348624B (es) 2011-10-09 2012-10-09 Robot tridimensional para la corrección de la columna vertebral.
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