文章摘要

文章信息/Info

Author(s):: CHENG Zhixin; WANG Jinghua; CHEN Jianying; LIU Chuanyong; HAN Aimin; JIN Zhenhua; ZHANG Weiping; Shandong Academy of Pharmaceutical Sciences，Jinan 250100，China

Keywords:: Servo control system; Spinal decompression; Following; Intervertebral negative pressure

摘要:: 针对现有颈、腰椎牵引机构牵引精度低、治疗效果有限的问题，我们设计了一款智能人体脊柱精准牵引治疗系统，并建立了相应的伺服控制系统。系统基于“脊柱减压”的概念设计，选用ATmega16单片机作为核心处理器，伺服电机作为动力源，利用传感器测控技术和PID控制算法，将平滑随动的牵引力精准施加于患者病变椎段，用较小的牵引力把受损椎间隙拉大，产生椎间负压，达到治疗颈、腰椎间盘突出等症的目的。实验结果表明，该系统牵引力跟踪精度高、治疗效果突出，具有较好的临床使用价值。

Abstract:: To solve the problem of low precision and limited therapeutic effect for existing cervical vertebra and lumbar vertebrae traction, an intelligent human spine traction treatment system and the corresponding servo control system was designed. The system was designed on the concept of ‘spine decompression’. ATmega16 was chosen as the core processor, and servo motor assumed the role of power supply. Based on the sensor measurement technology and PID control algorithm, smooth following traction was accurately applied to patient’s diseased vertebral segment. Damaged intervertebral space could be widened by a small traction, and generated intervertebral negative pressure, then the system could achieve the purpose of treatment of cervical and lumbar disc disease. The experiment results show that the system has the characteristics of high tracking accuracy and prominent therapeutic effect, and has a useful value on clinical.