CN111632364A

CN111632364A - Rehabilitation robot

Info

Publication number: CN111632364A
Application number: CN202010456751.XA
Authority: CN
Inventors: 赵宇; 胡磊; 张坚; 王丽; 于晓亮
Original assignee: Peking Union Medical College Hospital Chinese Academy of Medical Sciences
Current assignee: Peking Union Medical College Hospital Chinese Academy of Medical Sciences
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2020-09-08

Abstract

The invention discloses a rehabilitation robot, which comprises a bracket; the platform is arranged on the support and can move in six degrees of freedom relative to the support; the hanging device is arranged on the bracket and comprises a protective garment suitable for being worn by a patient; an information acquisition device for capturing a motion gesture of a patient; the display device is used for displaying the motion posture of the patient in real time; the control device is connected with the platform to drive the platform to move, and the control device is connected with the information acquisition device and the display device to receive the motion posture information of the patient and transmit the motion posture information of the patient to the display device. The rehabilitation robot has better body feeling of a patient and is beneficial to the rehabilitation of the patient.

Description

Rehabilitation robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a rehabilitation robot.

Background

The rehabilitation robot is a robot which eliminates and alleviates the dysfunction of a human, makes up and reconstructs the functional deficiency of the human, seeks to improve and enhance various functions of the human, and is the most successful low-cost rehabilitation robot system in the world at present.

In the related art, the application range of the rehabilitation robot to a patient is narrow, and the patient needs to be completely fixed on the robot, so that the body feeling of the patient is poor, and the patient is easy to feel tired. For example, document 1-CN107708641A discloses a sitting walking rehabilitation robot, which has relatively single function, poor interactivity with patients, and is unable to fully train and evaluate the patient's condition; for example, document 2-CN108969296A discloses a lower limb rehabilitation robot having a small degree of freedom in space and a large number of constraints on a patient. Therefore, the rehabilitation robot in the related art has more problems, and the patient experience is poor, which is not beneficial to the rehabilitation of the patient.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the rehabilitation robot provided by the invention has good body feeling of a patient and is beneficial to rehabilitation of the patient.

The rehabilitation robot according to an embodiment of the present invention includes: a support; the platform is arranged on the bracket and can move in multiple degrees of freedom relative to the bracket; the hanging device is arranged on the bracket and comprises a protective garment suitable for being worn by a patient; the information acquisition device is used for acquiring the motion posture information of the patient; the display device is used for displaying the motion posture of the patient in real time; the control device is connected with the platform to drive the platform to move, and the control device is connected with the information acquisition device and the display device to receive the motion posture information of the patient and transmit the motion posture information of the patient to the display device.

According to the rehabilitation robot provided by the embodiment of the invention, multiple motions of a patient can be realized by arranging the platform with multiple degrees of freedom motions to simulate different somatosensory motions, the multi-perceptibility of the patient is enhanced, the real-time motion posture information of the patient is acquired by the information acquisition device and is transmitted to the control device, the control device transmits the information to the display device and displays the information in the display device, the interactivity between the patient and the rehabilitation robot is enhanced, the immersion of the patient is enhanced, and the rehabilitation of the patient is facilitated.

In some embodiments, the support comprises a lower support and an upper support, the platform is mounted on the lower support, the lower support is connected with the upper support, and the hanging device and the information acquisition device are arranged on the upper support.

In some embodiments, the rehabilitation robot further comprises a transmission part, the transmission part is connected between the lower bracket and the platform, and the transmission part is connected with the control device so as to drive the platform to move under the driving of the control device.

In some embodiments, the rehabilitation robot further comprises a guard provided on the upper support to protect the patient.

In some embodiments, the guard device includes a first guard rail and a second guard rail connected to the upper bracket and spaced apart in a front-rear direction, and a first handrail and a second handrail connected to the upper bracket and spaced apart in a left-right direction.

In some embodiments, the guard further comprises a crash stop switch disposed on at least one of the first armrest and the second armrest.

In some embodiments, the hanging device further comprises a fixing seat, a retractor and a webbing, the retractor is connected with the upper bracket through the fixing seat, the webbing is wound on a winding shaft of the retractor, and one end of the webbing extends out of the retractor.

In some embodiments, the display device includes a display screen and an interactive screen, the display screen is arranged on the control device and used for displaying the motion posture of the patient in real time, and the interactive screen is arranged on the upper surface of the platform and is suitable for the patient to stand, and is used for displaying the motion posture of the patient in real time and sensing the position of the feet of the patient.

In some embodiments, the rehabilitation robot further comprises an escalator installed at the rear end of the support frame, and the control device is provided at the front end of the support frame.

In some embodiments, the control device comprises an upper computer and a lower computer, the upper computer is connected with the display device and the information acquisition device, and the lower computer is connected with the platform.

Drawings

Fig. 1 is a schematic structural diagram of a rehabilitation robot according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of the cooperation of an upper bracket and a protective device of a rehabilitation robot according to an embodiment of the invention.

Fig. 3 is a schematic view of a suspension device of a rehabilitation robot according to an embodiment of the present invention.

Fig. 4 is a schematic view of the cooperation of the lower bracket, the platform and the transmission part of the rehabilitation robot according to the embodiment of the invention.

Reference numerals:

the safety protection device comprises a support 1, a lower support 11, an upper support 12, a first U-shaped support rod 121, a second U-shaped support rod 122, a cross rod 123, a hanging device 2, a fixing seat 21, a retractor 22, a mesh belt 23, a protective garment 24, an information acquisition device 3, a display device 4, a display screen 41, an interactive screen 42, a control device 5, a protection device 6, a first guardrail 61, a second guardrail 62, a first armrest 63, a second armrest 64, an emergency stop switch 65, a platform 7, an escalator 8 and a transmission component 9.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. In the description of the present invention, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or fixture in question must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered as limiting.

As shown in fig. 1 to 4, the rehabilitation robot according to the embodiment of the present invention includes a support 1, a platform 7, a suspension device 2, an information collection device 3, a display device 4, and a control device 5.

The platform 7 is arranged on the bracket 1 and can move relative to the bracket 1 with multiple degrees of freedom. The hanger 2 is provided on the support 1 and comprises a protective garment 24 adapted to be worn by the patient. The patient 7 is suitable for standing on the platform 7 and wearing the protective clothing 24, and various motion posture adjustments are realized through the multi-degree-of-freedom motion of the platform 7, such as the simulation of motion sensing motions of ascending, walking, running, bumping and the like.

The information acquisition device 3 is used for acquiring the motion posture information of the patient. In other words, the information collecting apparatus 3 can capture the motion of the patient in real time. The display device 4 is used for displaying the motion posture of the patient in real time. In other words, the display device 4 can display the real-time motion posture of the patient.

The control device 5 is connected with the platform 7 to drive the platform 7 to move. The control device 5 is also connected with the information acquisition device 3 and the display device 4 to receive the motion posture information of the patient and transmit the motion posture information of the patient to the display device 4. In other words, the information collecting device 3 can transmit the motion posture information to the control device 5 after collecting the real-time motion posture information of the patient, and the control device 5 transmits the motion posture information to the display device 4 after analyzing and processing, and displays the real-time motion of the patient on the display device 4.

In some embodiments, the support 1 comprises a lower support 11 and an upper support 12, the platform 7 being mounted on the lower support 11, the lower support 11 being connected to the upper support 12, and the suspension device 2 being provided on the upper support 12.

As shown in fig. 1, 2 and 4, the upper frame 12 is mounted on the lower frame 11, the lower frame 11 is mounted with the platform 7, and the platform 7 can realize multiple degrees of freedom motion, such as six degrees of freedom, relative to the lower frame 11.

As shown in fig. 2, the upper bracket 12 includes a first U-shaped strut 121 and a second U-shaped strut 122 which are arranged in a front-rear direction in an opposing and spaced manner, the first U-shaped strut 121 and the second U-shaped strut 122 are each open downward, and the lower end of the first U-shaped strut 121 and the lower end of the second U-shaped strut 122 are mounted on the lower bracket 11. The patient is adapted to be positioned between the lower end of the first U-shaped strut 121 and the second U-shaped strut 122 when standing on the platform 7.

The upper rack 12 further includes a cross bar 123, one end of the cross bar 123 (the front end of the cross bar 123 in fig. 2) is connected to the upper end of the first U-shaped strut 121, and the other end of the cross bar 123 (the front end of the cross bar 123 in fig. 2) is connected to the lower end of the second U-shaped strut 122. Preferably, the number of the cross bars 123 is at least a plurality, and the plurality of cross bars 123 are arranged at intervals in the left-right direction. The hanging device 2 is hung on the cross bar 123.

In some embodiments, the rehabilitation robot further comprises a transmission component 9, the transmission component 9 is connected between the lower bracket 11 and the platform 7, and the transmission component 9 is connected with the control device 5 to drive the platform 7 to move under the driving of the control device 5. As shown in fig. 1 and 4, the upper end of the transmission member 9 is movably connected to the lower surface of the platform 7, and the lower end of the transmission member 9 is movably connected to the lower bracket 11. The control device 5 drives the transmission part 9 to drive the platform 7 to realize multi-degree-of-freedom motion. Wherein, the transmission component 9 adopts a transmission mechanism which is well known in the field and is generally adopted for driving parts to realize multi-degree-of-freedom movement, and the specific structure and the composition of the transmission component 9 are not specially required.

In some embodiments, the rehabilitation robot further comprises a guard 6, the guard 6 being provided on the upper support 12 to protect the patient. In the embodiments, the protection device is arranged, so that the patient can be protected, and the safety of the patient is enhanced.

In some specific embodiments, the guard 6 includes a first guard rail 61 and a second guard rail 62, and the first guard rail 61 and the second guard rail 62 are connected to the upper bracket 12 and are spaced apart in the front-rear direction. As shown in fig. 2, a first guardrail 61 is connected between the two vertical bars of the first U-shaped strut 121 and a second guardrail 62 is connected between the two vertical bars of the second U-shaped strut 122. When the patient stands on the platform 7, the first guard rail 61 is in front of the patient and the second guard rail 62 is behind the patient for protecting the patient in front of and behind the patient, respectively. Specifically, the overall dimension of the second guard rail 62 in the up-down direction is larger than the dimension of the first guard rail 61 in the up-down direction. As shown in fig. 2, the first guard rail 61 is a rod-shaped, and the second guard rail 61 is a plate-shaped in which a plurality of rods are arranged side by side at intervals.

Further, the guard 6 further includes a first arm rest 63 and a second arm rest 64, and the first arm rest 63 and the second arm rest 64 are connected to the upper bracket 12 and are spaced apart in the left-right direction. As shown in fig. 2, the first handle 63 is connected between the left vertical rod of the first U-shaped strut 121 and the left vertical rod of the second U-shaped strut 122, and the second handle 64 is connected between the right vertical rod of the first U-shaped strut 121 and the right vertical rod of the second U-shaped strut 122. In these embodiments, the armrests are provided, so that a patient can conveniently hold the armrests with two hands when standing on the platform 7, and the safety is improved.

In some specific embodiments, the guard 6 further includes a scram switch 65, the scram switch 65 being provided on at least one of the first and

second armrests

63, 64. As shown in fig. 2, the emergency stop switch 65 is disposed on the second armrest 64, and in an emergency caused by an improper operation or the like, the emergency stop switch 65 can cut off the power supply to stop the movement of the platform 7, thereby further protecting the patient and avoiding damage to the equipment.

In some embodiments, the hanger 2 further comprises a retractor 22 and webbing 23. A retractor 22 is mounted on the upper bracket 12 with webbing 23 wound onto a spool of the retractor 22 and one end of the webbing 23 extending out of the retractor 22. After the patient stands on the platform 7 and wears the protective garment 24, the one end of the webbing 23 can be tied to the patient, thereby functioning like a safety belt on an automobile, having a deadlocking function by the retractor 22 when the safety belt is suddenly pulled, and protecting the patient.

Further, the suspension device 2 further comprises a fixed seat 21, the fixed seat 21 is mounted on the upper bracket 12, and the retractor 22 is mounted at the lower end of the fixed seat 21, that is, the retractor 22 is connected with the upper bracket 12 through the fixed seat 21.

As shown in fig. 1 and 3, the fixing base 21 is mounted on the cross bar 123. Specifically, there are two fixing seats 21, one retractor 22 is provided at the lower end of each fixing seat 21, and a webbing 23 is wound around a spool of each retractor 22.

In some embodiments, the display device 4 comprises a display screen 41 and an interactive screen 42, the display screen 41 being provided on the control device 5 for displaying the movement posture of the patient in real time. An interactive screen 42 is provided on the upper surface of the platform 7 and is adapted for the patient to stand for displaying the patient's motion posture and sensing the position of the patient's feet in real time. In other words, the motion gestures of the patient can be displayed on the display screen 41 and the interactive screen 42 at the same time, the patient's experience is more stereoscopic, and the patient's immersion is further enhanced. And the interactive screen 42 is arranged on the upper surface of the platform 7, and the patient can stand on the interactive screen 42, so that the interactive screen 42 can display the motion posture of the patient in real time and can sense the position of the feet of the patient, the interactivity of the patient and the rehabilitation robot is further enhanced, and the immersion of the patient is enhanced. In particular, the interactable screen 42 may be a tile screen.

In some embodiments, the rehabilitation robot further comprises an escalator 8, the escalator 8 being mounted at one end of the support frame 1. Thus, the patient can stand on the interactive screen 42 via the stairs. Specifically, staircase 8 is installed at the rear end of support 1, and controlling means 5 establishes the front end at support 1, and the patient stands on can interacting screen 42 through staircase 8 from the rear of support 1 from this, and when the patient stands on can interacting screen 42, display screen 41 is located patient the place ahead, and the patient of being convenient for observes oneself motion gesture at any time, improves the interactivity of patient and equipment.

In some embodiments, the control device 5 includes an upper computer connected to the display device 4 and the information acquisition device 3, and a lower computer connected to the platform 7. Specifically, as shown in fig. 1, the control device includes a cabinet body, an upper computer and a lower computer are arranged in the cabinet body, the information acquisition device can transmit the motion posture information of the patient acquired in real time to the upper computer, and the upper computer can send instructions to the lower computer to realize the multi-degree-of-freedom motion of the platform 7. The display device 4 can display the picture displayed by the upper computer in real time.

Further, the control device 5 has an evaluation system and a training system, and can be used for physical ability evaluation training, intelligent evaluation training, and human ability evaluation training, thereby realizing the functions of disease prevention, rehabilitation, exercise, and the like, and being suitable for a wide range of patients.

The working process of the rehabilitation robot according to the embodiment of the present invention is described below.

The device is initialized to power-on operation, and the patient puts the protective garment 24 on the hanger 2 on his body by moving the escalator 8 onto the interactive screen 42.

After the preparation is finished, software corresponding to an upper computer, such as evaluation system software, training system software and the like, is started according to the actual situation of a patient, at the moment, the upper computer sends display data to a display screen and an interactive screen on one hand, and transmits motion signals to a lower computer on the other hand, the lower computer respectively transmits the processed display data to motors corresponding to the platform, so that the platform has different poses, dynamic simulation of a scene is realized, the patient can make corresponding actions according to a perception scene with stereoscopic body feeling and vision, an information acquisition device captures the real-time pose of the patient, such as actions of lifting feet, stretching arms and the like, and transmits the data to the upper computer, and the upper computer repeats the steps, so that the contents of training, rehabilitation and the like of the patient are finished.

When the operation is finished, the platform stops moving, the patient takes off the protective clothes of the hanging device, walks down the platform through the escalator, then the platform returns to zero, the software is turned off, and the external power supply is cut off.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A rehabilitation robot, comprising:

a support;

the platform is arranged on the bracket and can move in multiple degrees of freedom relative to the bracket;

the hanging device is arranged on the bracket and comprises a protective garment suitable for being worn by a patient;

the information acquisition device is used for acquiring the motion posture information of the patient;

the display device is used for displaying the motion posture of the patient in real time;

the control device is connected with the platform to drive the platform to move, and the control device is connected with the information acquisition device and the display device to receive the motion posture information of the patient and transmit the motion posture information of the patient to the display device.

2. The rehabilitation robot of claim 1, wherein the support includes a lower support and an upper support, the platform is mounted on the lower support, the lower support is connected to the upper support, and the suspension device is provided on the upper support.

3. The rehabilitation robot of claim 2, further comprising a transmission member connected between the lower frame and the platform, the transmission member being connected to the control device to move the platform under the driving of the control device.

4. The rehabilitation robot of claim 2, further comprising a guard provided on the upper support to protect the patient.

5. The rehabilitation robot of claim 4, wherein the guard device includes a first guardrail and a second guardrail connected to the upper bracket and spaced apart in a front-to-rear direction, and a first armrest and a second armrest connected to the upper bracket and spaced apart in a left-to-right direction.

6. The rehabilitation robot of claim 5, wherein the guard further comprises a crash stop switch provided on at least one of the first armrest and the second armrest.

7. The rehabilitation robot of claim 2, wherein the hanging device further comprises a fixing seat, a retractor and a webbing, the retractor is connected with the upper bracket through the fixing seat, the webbing is wound on a reel of the retractor, and one end of the webbing extends out of the retractor.

8. The rehabilitation robot of claim 1, wherein the display device includes a display screen and an interactive screen, the display screen is disposed on the control device for displaying the motion posture of the patient in real time, and the interactive screen is disposed on the upper surface of the platform and is adapted for the patient to stand, for displaying the motion posture of the patient in real time and sensing the position of the patient's feet.

9. The rehabilitation robot according to any one of claims 1-8, further comprising an escalator mounted at a rear end of the support frame, the control device being provided at a front end of the support frame.

10. The rehabilitation robot of any one of claims 1-8, wherein the control device includes an upper computer and a lower computer, the upper computer being connected to the display device and the information acquisition device, the lower computer being connected to the platform.