CN113331826A - Limb joint function evaluation rehabilitation training system and using method thereof - Google Patents

Limb joint function evaluation rehabilitation training system and using method thereof Download PDF

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CN113331826A
CN113331826A CN202110607281.7A CN202110607281A CN113331826A CN 113331826 A CN113331826 A CN 113331826A CN 202110607281 A CN202110607281 A CN 202110607281A CN 113331826 A CN113331826 A CN 113331826A
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user
affected limb
limb
rehabilitation training
affected
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CN113331826B (en
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汤丽华
汤志华
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
    • A61B5/224—Measuring muscular strength
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

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Abstract

The invention discloses a limb joint function assessment rehabilitation training system and a using method thereof, wherein the system comprises a rack, a rehabilitation training device and a control device, wherein the rehabilitation training device comprises a lifting mechanism, a telescopic mechanism, a rotating mechanism and a supporting mechanism; the method comprises the following steps: firstly, deducing the motion parameters of the affected limb of the user in a normal state; secondly, measuring the motion parameters of the user before the rehabilitation training of the affected limb; thirdly, setting motion parameters in rehabilitation training of the affected limb of the user; fourthly, formulating a rehabilitation training scheme of the affected limb of the user; fifthly, rehabilitation training of the affected limb of the user; sixthly, measuring the motion parameters of the user after the rehabilitation training of the affected limb; and seventhly, evaluating the motion parameters of the user after the affected limb rehabilitation training scheme. The rehabilitation training system takes the guided rehabilitation training as a target, can help the affected limb to recover from dysfunction, is suitable for the rehabilitation of the affected limb dysfunction of early bedridden patients due to cerebrovascular accidents and the like, and can be applied to limb rehabilitation training in each clinical stage.

Description

Limb joint function evaluation rehabilitation training system and using method thereof
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a limb joint function assessment rehabilitation training system and a using method thereof.
Background
The rehabilitation of limb functions is a main subject of rehabilitation medicine, in recent years, with the progress of robots and software, the rehabilitation medicine has new methods and understanding, and although new methods are continuously promoted, the methods mostly adopt a design concept that a single joint is taken as an axis or a plurality of single joints are taken as axes to carry out combined motion, and the main purpose is to recover muscle strength, and the existing limb function rehabilitation equipment has the following defects: 1. the product has a plurality of components, is difficult to well meet the requirement of multi-dimensional movement of multiple joints in a natural physiological state, and is clinically lack of rehabilitation products aiming at bedridden patients to prevent early muscular atrophy and joint stiffness; 2. the rehabilitation of the wrist and the ankle joint mainly adopts stretching movement, and most of the rehabilitation devices are independent devices and lack the rehabilitation device with the function of internal and external rotation of the wrist and the ankle joint; therefore, a guiding-based limb joint function assessment rehabilitation training system and a use method thereof should be provided.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a limb joint function assessment rehabilitation training system and a using method thereof, aiming at the defects in the prior art, the limb joint function assessment rehabilitation training system is simple in structure and reasonable in design, under the supporting action of a supporting mechanism, an elevating mechanism, a telescopic mechanism and a rotating mechanism drive a diseased limb together to realize multi-joint multi-dimensional joint movement, can effectively help the diseased limb to recover from dysfunction, not only can be suitable for the recovery of the diseased limb dysfunction of early bedridden patients due to cerebrovascular accidents and the like, but also can be applied to limb rehabilitation training of clinical stages, reduces and relieves complication sequelae, and promotes the limb function recovery.
In order to solve the technical problems, the invention adopts the technical scheme that: a limb joint function assessment rehabilitation training system is characterized in that: comprises a frame, a rehabilitation training device arranged on the frame and a control device connected with the rehabilitation training device, wherein the rehabilitation training device comprises a lifting mechanism arranged on the frame and used for driving an affected limb to lift, a telescopic mechanism connected with the lifting mechanism and used for driving the affected limb to stretch, a rotating mechanism connected with the telescopic mechanism and used for driving the affected limb to rotate, and a supporting mechanism connected with the rotating mechanism and used for supporting the affected limb, the lifting mechanism comprises a screw rod vertically arranged on the frame, a screw seat sleeved on the screw rod and a first motor used for driving the screw rod to rotate, the telescopic mechanism comprises a connecting piece rotatably arranged on the screw seat, a cylinder body connected with the connecting piece and a moving sleeve sleeved in the cylinder body, and a linear motor used for driving the moving sleeve to move linearly is arranged in the cylinder body, rotary mechanism includes the suit and is in remove the cover and install the cover is used for the drive in removing the cover rotate cover pivoted second motor, controlling means includes microcontroller, microcontroller's input is connected with and is used for detecting the first displacement sensor of suffering from limb lifting height, is used for detecting the flexible length of suffering from limb second displacement sensor and is used for detecting the angle sensor who suffers from limb rotation angle to and be used for the flexible strength sensor of real-time detection suffering from limb and be used for the torque sensor of real-time detection suffering from limb moment of torsion, first motor, linear electric motor and second motor are controlled by microcontroller.
The limb joint function assessment rehabilitation training system is characterized in that: the screw seat is provided with an ear plate, the ear plate is provided with a fixed sleeve, the axis of the fixed sleeve is parallel to the axis of the screw rod, and the connecting piece is rotationally connected with the fixed sleeve through a pin shaft.
The limb joint function assessment rehabilitation training system is characterized in that: the frame includes the bottom plate, installs perpendicularly stand on the bottom plate and two parallel mount be in fixed plate on the stand, the both ends of lead screw are rotated respectively and are installed two on the fixed plate.
The limb joint function assessment rehabilitation training system is characterized in that: and a clamping seat used for being connected with the fixed rod is arranged on the side surface of the upright post.
The limb joint function assessment rehabilitation training system is characterized in that: the supporting mechanism comprises a telescopic rod arranged on the side surface of the upright post, a supporting plate arranged on the movable sleeve, a binding belt hung between the telescopic rod and the supporting plate, and a hand fixing support or a foot fixing support arranged on the end surface of the rotary sleeve in a detachable mode.
The limb joint function assessment rehabilitation training system is characterized in that: the rehabilitation training demonstration video is stored in the microcontroller, and the output end of the microcontroller is connected with a display used for playing the rehabilitation training demonstration video.
The invention also provides a use method of the limb joint function assessment rehabilitation training system, which is characterized in that: the using method comprises the following steps:
step one, deducing the motion parameters of the affected limb of the user under the normal state:
step 101, measuring motion parameters of a healthy limb of a user by using a limb joint function evaluation rehabilitation training system, wherein the motion parameters of the healthy limb of the user comprise a maximum value of the lifting height of the healthy limb of the user, a maximum value of the stretching displacement of the healthy limb of the user, a maximum value of the rotation angle of the healthy limb of the user, a maximum value of the stretching force of the healthy limb of the user and a maximum value of the healthy limb torque of the user;
102, manufacturing a dynamic linear statistical table or graph of the healthy limb of the user according to the motion parameters of the healthy limb of the user;
103, the dynamic linear statistical table or graph of the user affected limb in the normal state is consistent with the dynamic linear statistical table or graph of the user healthy limb, so that the dynamic linear statistical table or graph of the user affected limb in the normal state can be made according to the dynamic linear statistical table or graph of the user healthy limb, and the motion parameter of the user affected limb in the normal state is deduced, wherein the motion parameter of the user affected limb in the normal state comprises the maximum value of the lifting height of the user healthy limb, the maximum value of the stretching displacement of the user healthy limb, the maximum value of the rotation angle of the user healthy limb, the maximum value of the stretching force of the user healthy limb and the maximum value of the torque of the user healthy limb;
step two, measuring the motion parameters of the user before the rehabilitation training of the affected limb:
step 201, measuring a motion parameter of a user before rehabilitation training of an affected limb by using a limb joint function assessment rehabilitation training system, wherein the motion parameter of the user before rehabilitation training of the affected limb comprises a maximum value of lifting height of the user before rehabilitation training of the affected limb, a maximum value of stretching displacement of the user before rehabilitation training of the affected limb, a maximum value of rotation angle of the user before rehabilitation training of the affected limb, a maximum value of stretching force of the user before rehabilitation training of the affected limb and a maximum value of torque of the user before rehabilitation training of the affected limb;
step 202, manufacturing a dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user according to the motion parameters before the rehabilitation training of the affected limb of the user;
step three, setting the motion parameters of the user in the rehabilitation training of the affected limb:
comparing the dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user, which is manufactured in the step 202, with the dynamic linear statistical table or graph in the normal state of the affected limb of the user, which is manufactured in the step 103, and setting the motion parameters in the rehabilitation training of the affected limb of the user, wherein the motion parameters in the rehabilitation training of the affected limb of the user comprise a lifting height threshold of the affected limb of the user, a stretching displacement threshold of the affected limb of the user and a rotation angle threshold of the affected limb of the user;
step four, formulating a rehabilitation training scheme of the affected limb of the user:
formulating a rehabilitation training scheme of the affected limb of the user according to the motion parameters of the affected limb of the user in the normal state deduced in the step 103 and the motion parameters of the affected limb of the user before rehabilitation training measured in the step 201, wherein the rehabilitation training scheme of the affected limb of the user comprises single training parameters, training times and training duration of the affected limb of the user, the single training parameters comprise the lifting height of the affected limb of the user, the stretching length of the affected limb of the user and the rotation angle of the affected limb of the user, and the stretching force value of the affected limb of the user and the torque value of the affected limb of the user;
fifthly, according to the rehabilitation training scheme of the affected limb of the user, utilizing a limb joint function assessment rehabilitation training system to perform rehabilitation training on the affected limb of the user;
step six, measuring the motion parameters of the user after the rehabilitation training of the affected limb:
601, measuring the motion parameters of the user after the rehabilitation training of the affected limb by using the limb joint function assessment rehabilitation training system, wherein the motion parameters of the user after the rehabilitation training of the affected limb comprise the maximum value of the lifting height of the user after the rehabilitation training of the affected limb, the maximum value of the telescopic displacement of the user after the rehabilitation training of the affected limb, the maximum value of the rotation angle of the user after the rehabilitation training of the affected limb, the maximum value of the telescopic strength of the user after the rehabilitation training of the affected limb and the maximum value of the torque of the user after the rehabilitation training of the affected limb;
step 602, manufacturing a dynamic linear statistical table or graph after the rehabilitation training of the affected limb of the user according to the motion parameters after the rehabilitation training of the affected limb of the user;
seventhly, evaluating the motion parameters of the user after the affected limb rehabilitation training scheme:
comparing the dynamic linear statistical table or graph after the rehabilitation training of the affected limb of the user, which is manufactured in the step 602, the dynamic linear statistical table or graph in the normal state of the affected limb of the user, which is manufactured in the step 103, with the dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user, which is manufactured in the step 202, and evaluating the motion parameters after the rehabilitation training scheme of the affected limb of the user.
The application method of the limb joint function assessment rehabilitation training system is characterized in that: step five, according to the rehabilitation training scheme of the affected limb of the user, utilizing the limb joint function assessment rehabilitation training system to perform rehabilitation training on the affected limb of the user, and the specific process is as follows:
step 501, fixing the affected limb of the user on a supporting mechanism;
step 502, the microcontroller controls the first motor, the linear motor and the second motor to rotate in the positive direction, the rotating sleeve drives the affected limb of the user to rotate in the positive direction, the moving sleeve drives the affected limb of the user to extend out, and the screw base drives the affected limb of the user to lift;
in the process of forward rotation, extension and lifting of the affected limb of the user, the angle sensor detects the forward rotation angle of the affected limb of the user in real time and transmits the obtained measured value of the forward rotation angle of the affected limb of the user to the microcontroller; the first displacement sensor detects the lifting height of the affected limb of the user in real time and transmits the obtained measured value of the lifting height of the affected limb of the user to the microcontroller; the second displacement sensor detects the extension length of the affected limb of the user in real time and transmits the obtained actual extension length value of the affected limb of the user to the microcontroller; when the measured value of the positive rotation angle of the affected limb of the user detected by the angle sensor is equal to the threshold value of the rotation angle of the affected limb of the user, the measured value of the lifting height of the affected limb of the user detected by the first displacement sensor is equal to the threshold value of the lifting height of the affected limb of the user, and the measured value of the extending length of the affected limb of the user detected by the second displacement sensor is equal to the threshold value of the stretching displacement of the affected limb of the user, step 503 is executed;
step 503, the microcontroller controls the first motor, the linear motor and the second motor to rotate reversely, the rotating sleeve drives the affected limb of the user to rotate reversely, the moving sleeve drives the affected limb of the user to retract, and the screw base drives the affected limb of the user to descend;
in the process of reversely rotating, retracting and descending the affected limb of the user, the angle sensor detects the reversely rotating angle of the affected limb of the user in real time and transmits the obtained actual value of the reversely rotating angle of the affected limb of the user to the microcontroller; the first displacement sensor detects the descending height of the affected limb of the user in real time and transmits the obtained measured value of the descending height of the affected limb of the user to the microcontroller; the second displacement sensor detects the retraction length of the affected limb of the user in real time and transmits the obtained actual retraction length value of the affected limb of the user to the microcontroller; when the measured value of the reverse rotation angle of the affected limb of the user detected by the angle sensor is equal to the threshold value of the rotation angle of the affected limb of the user, the measured value of the descending height of the affected limb of the user detected by the first displacement sensor is equal to the threshold value of the ascending and descending height of the affected limb of the user, and the measured value of the retracting length of the affected limb of the user detected by the second displacement sensor is equal to the threshold value of the retracting displacement of the affected limb of the user, step 504 is executed;
and step 504, repeating the step 502 and the step 503 until the training times and the training duration in the rehabilitation training scheme are met.
The application method of the limb joint function assessment rehabilitation training system is characterized in that: in the first step, the second step, the fourth step, the fifth step and the sixth step, the force sensor detects the stretching force of the affected limb of the user in real time and transmits the obtained measured value of the stretching force of the affected limb of the user to the microcontroller; the torque sensor detects the torque of the affected limb of the user in real time, and transmits an obtained measured torque value of the affected limb of the user to the microcontroller, so that data acquisition of the stretching force of the affected limb of the user and the torque of the affected limb of the user is realized.
The application method of the limb joint function assessment rehabilitation training system is characterized in that: in the fifth step, three training modes of performing rehabilitation training on the affected limb of the user by using the limb joint function assessment rehabilitation training system are provided, wherein the first training mode is a passive training mode, the passive training mode is a training mode in which all assistance is provided by the limb joint function assessment rehabilitation training system, and the affected limb cannot be actively moved by the user when the affected limb is in a static state; the second training mode is an active and passive training mode, the active and passive training mode refers to a training mode in which the limb joint function assessment and rehabilitation training system assists the position point of the affected limb of the user, the position point of the affected limb of the user can move, and resistance is applied to the position point of the affected limb of the user, the third training mode is an active training mode, and the active training mode refers to a training mode in which the limb joint function assessment and rehabilitation training system applies all resistance to the affected limb of the user;
and when a rehabilitation training scheme of the affected limb of the user is formulated in the fourth step, determining a training mode of the limb joint function assessment rehabilitation training system according to the stretching force value of the affected limb of the user detected by the force sensor in real time and the torque value of the affected limb of the user detected by the torque sensor in real time.
Compared with the prior art, the invention has the following advantages:
1. the rehabilitation training system for limb joint function of the invention is characterized in that a rehabilitation training device is arranged on a rack, the rehabilitation training device comprises a lifting mechanism, a telescopic mechanism, a rotating mechanism and a supporting mechanism, the lifting mechanism comprises a screw rod and a screw seat, the screw rod is vertically arranged on the rack, the screw seat is sleeved on the screw rod, the telescopic mechanism comprises a connecting piece, a cylinder body and a moving sleeve, the cylinder body is connected with the connecting piece, the moving sleeve is sleeved in the cylinder body, the rotating mechanism comprises a rotating sleeve, and the connecting piece is rotatably arranged on the screw seat, so that the linkage relation between the lifting mechanism and the telescopic mechanism can be realized through the connecting piece, the linkage relation between the telescopic mechanism and the rotating mechanism can be realized because the rotating sleeve is sleeved in the moving sleeve, the linkage relation between the telescopic mechanism and the rotating mechanism can be realized, the linkage structure is simple, the linkage relation is accurate, and the supporting mechanism can play a role of stably supporting the affected limb, the lifting mechanism, the telescopic mechanism and the rotating mechanism jointly drive the affected limb to realize multi-joint and multi-dimensional joint movement, and can effectively help the affected limb to recover from dysfunction.
2. The rehabilitation training device of the limb joint function rehabilitation training system has few components and small volume, not only can be suitable for the rehabilitation of the affected limb dysfunction of early bedridden patients due to cerebrovascular accidents and the like, but also can be applied to the limb rehabilitation training of each stage in clinic, reduces and relieves the sequelae of complications and promotes the rehabilitation of the limb function.
3. The microcontroller of the limb joint function rehabilitation training system automatically controls the first motor, the linear motor and the second motor according to the real-time feedback of the first displacement sensor, the second displacement sensor, the angle sensor, the force sensor and the torque sensor, can ensure the precision of joint movement of the lifting mechanism, the telescopic mechanism and the rotating mechanism, and has good use effect.
4. The use method of the invention is a guiding type rehabilitation mode with hands or feet as starting points, the rehabilitation training process is simple and smooth, the limb joint function and muscle strength after the rehabilitation training can be evaluated, and the popularization and the application are convenient.
In conclusion, the multifunctional rehabilitation robot has a simple structure and reasonable design, under the supporting action of the supporting mechanism, the lifting mechanism, the telescopic mechanism and the rotating mechanism jointly drive the affected limb to realize multi-joint and multi-dimensional joint movement, can effectively help the affected limb to recover from dysfunction, can be suitable for recovery of the affected limb dysfunction of early bedridden patients due to cerebrovascular accidents and the like, can be applied to limb rehabilitation training in each clinical stage, reduces and relieves complication sequelae, and promotes limb function recovery.
The invention is described in further detail below with reference to the figures and examples.
Drawings
Fig. 1 is a schematic structural view of a rehabilitation training device when a hand fixing support is installed.
Fig. 2 is a schematic structural view of the rehabilitation training device when the foot fixing bracket is installed.
Fig. 3 is a schematic block circuit diagram of the control device of the present invention.
FIG. 4 is a flow chart of a method of use of the present invention.
Description of reference numerals:
1-a base plate; 1-2-upright column; 1-3-fixing plate;
2, a screw rod; 3-a screw seat; 3-1-ear plate;
3-2-fixing the sleeve; 4-a first motor; 5, connecting pieces;
6, a cylinder body; 7, moving the sleeve; 8-a linear motor;
9, rotating the sleeve; 10-a second motor; 11-1-a telescopic rod;
11-2-a binding band; 11-3-a support plate; 12-1-hand fixing support;
12-2-a foot fixing bracket; 13-a pin shaft; 14-a cassette;
15-fixing the rod; 16-a microcontroller; 17 — a first displacement sensor;
18 — a second displacement sensor; 19-an angle sensor; 20-a force sensor;
21-a torque sensor; 22 — display.
Detailed Description
As shown in fig. 1, 2 and 3, the limb joint function rehabilitation training system of the present invention comprises a frame, a rehabilitation training device mounted on the frame, and a control device connected to the rehabilitation training device, wherein the rehabilitation training device comprises an elevating mechanism mounted on the frame for driving a diseased limb to lift, a telescopic mechanism connected to the elevating mechanism for driving the diseased limb to stretch, a rotating mechanism connected to the telescopic mechanism for driving the diseased limb to rotate, and a supporting mechanism connected to the rotating mechanism for supporting the diseased limb, the elevating mechanism comprises a screw rod 2 vertically mounted on the frame, a screw seat 3 sleeved on the screw rod 2, and a first motor 4 for driving the screw rod 2 to rotate, the telescopic mechanism comprises a connecting piece 5 rotatably mounted on the screw seat 3, a cylinder 6 connected to the connecting piece 5, and a moving sleeve 7 sleeved in the cylinder 6, install in the barrel 6 and be used for the drive remove 7 rectilinear movement's of cover linear electric motor 8, rotary mechanism includes the suit and is in remove the cover 7 in rotate the cover 9 with install be used for the drive in removing the cover 7 rotate cover 9 pivoted second motor 10, controlling means includes microcontroller 16, microcontroller 16's input is connected with and is used for detecting the first displacement sensor 17 of suffering from limb lifting height, is used for detecting the flexible length of suffering from limb second displacement sensor 18 and is used for detecting the angle sensor 19 that suffers from limb rotation angle to and be used for the flexible strength sensor 20 of real-time detection suffering from limb and be used for the torque sensor 21 of real-time detection suffering from limb moment of torsion, first motor 4, linear electric motor 8 and second motor 10 are controlled by microcontroller 16.
In the embodiment, the rehabilitation training device is arranged on the rack and comprises a lifting mechanism, a telescopic mechanism, a rotating mechanism and a supporting mechanism, the lifting mechanism comprises a screw rod 2 and a screw seat 3, the screw rod 2 is vertically arranged on the rack, the screw seat 3 is sleeved on the screw rod 2, the telescopic mechanism comprises a connecting piece 5, a cylinder 6 and a moving sleeve 7, the cylinder 6 is connected with the connecting piece 5, the moving sleeve 7 is sleeved in the cylinder 6, the rotating mechanism comprises a rotating sleeve 9, because the connecting piece 5 is rotatably arranged on the screw seat 3, the linkage relation between the lifting mechanism and the telescopic mechanism can be realized through the connecting piece 5, because the rotating sleeve 9 is sleeved in the moving sleeve 7, the linkage relation between the telescopic mechanism and the rotating mechanism can be realized, the linkage structure is simple, the linkage relation is accurate, the supporting mechanism can play a role of stably supporting the affected limb, therefore, under the supporting action of the supporting mechanism, the lifting mechanism, the telescopic mechanism and the rotating mechanism jointly drive the affected limb to realize multi-joint and multi-dimensional joint movement, and can effectively help the affected limb to recover from functional disorder.
In actual use, the affected limb can be an upper limb or a lower limb;
when the affected limb is the upper limb, the process that the lifting mechanism, the telescopic mechanism and the rotating mechanism drive the upper limb to carry out the joint movement is as follows: the palm is used as a starting point, the wrist joint can rotate inside and outside, the forearm can move in a stretching mode, and at the moment, the flexion and extension of the elbow joint and the flexion, extension and adduction of the shoulder joint can be driven.
When the affected limb is a lower limb, the process that the lifting mechanism, the telescopic mechanism and the rotating mechanism drive the lower limb to carry out joint movement is as follows: the heel is used as a starting point, the ankle joint can rotate inside and outside, the shank can move in a stretching mode, and at the moment, the flexion and extension of the knee joint and the flexion and extension, abduction and adduction of the hip joint can be driven.
In the embodiment, the rehabilitation training device has few components and small volume, not only can be suitable for rehabilitation of the function disorder of the affected limb of the early bedridden patient due to cerebrovascular accident and the like, but also can be applied to limb rehabilitation training in each clinical stage, so that the complication sequelae are reduced and relieved, and the limb function rehabilitation is promoted.
As shown in fig. 1 and 2, in the present embodiment, by providing a control device connected to the rehabilitation training device, the control device includes a microcontroller 16, the input end of the microcontroller 16 is connected to a first displacement sensor 17, a second displacement sensor 18, an angle sensor 19, a force sensor 20 and a torque sensor 21, the first motor 4, the linear motor 8 and the second motor 10 are all controlled by the microcontroller 16, in actual use, the first displacement sensor 17 is installed on the screw base 3, the first displacement sensor 17 can detect the lifting height of the affected limb in real time and transmit the lifting height to the microcontroller 16, the second displacement sensor 18 is installed on the movable sleeve 7, the second displacement sensor 18 can detect the stretching length of the affected limb in real time and transmit the stretching length to the microcontroller 16, the angle sensor 19 is installed on the rotary sleeve 9, the angle sensor 19 can detect the rotation angle of the affected limb in real time and transmit the rotation angle to the microcontroller 16, the force sensor 20 is installed on the movable sleeve 7, the torque sensor 21 is installed on the rotary sleeve 9, the force sensor 20 can detect stretching force of the affected limb in real time and transmit the stretching force to the microcontroller 16, the torque sensor 21 can detect the torque of the affected limb in real time and transmit the torque to the microcontroller 16, and the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 automatically according to real-time feedback of the first displacement sensor 17, the second displacement sensor 18, the angle sensor 19, the force sensor 20 and the torque sensor 21, so that the precision of joint movement of the lifting mechanism, the stretching mechanism and the rotary mechanism can be guaranteed.
In the embodiment, the screw seat 3 is provided with an ear plate 3-1, the ear plate 3-1 is provided with a fixed sleeve 3-2, the axis of the fixed sleeve 3-2 is parallel to the axis of the screw rod 2, and the connecting piece 5 is rotatably connected with the fixed sleeve 3-2 through a pin shaft 13.
In this embodiment, the ear plate 3-1 and the sleeve 3-2 together form a connecting bracket, and the connecting bracket and the pin 13 can be used to connect the connecting member 5 and the screw seat 3.
In this embodiment, the connecting piece 5 is a T-shaped connecting tube, and the vertical tube of the T-shaped connecting tube is coaxially installed with the fixing sleeve 3-2, so that when the axis of the fixing sleeve 3-2 is parallel to the axis of the screw rod 2, the axis of the horizontal tube of the T-shaped connecting tube is perpendicular to the axis of the screw rod 2, and when in actual use, the up-and-down moving direction of the affected limb is perpendicular to the stretching direction of the affected limb, so that the forearm or the lower leg of the affected limb can be in a relatively horizontal state on the supporting mechanism.
In this embodiment, the connecting piece 5 is a T-shaped connecting tube, and the connecting piece 5 is rotatably connected to the fixing sleeve 3-2 through the pin 13, so that the T-shaped connecting tube can rotate around the pin 13, and the directions of the cylinder 6 and the moving sleeve 7 can be changed by adjusting the direction of the horizontal tube of the T-shaped connecting tube, thereby facilitating adjustment of the relative position between the affected limb of the user and the rehabilitation training device.
In this embodiment, the rack includes a bottom plate 1-1, an upright post 1-2 vertically installed on the bottom plate 1-1, and two fixing plates 1-3 installed in parallel on the upright post 1-2, and two ends of the screw rod 2 are respectively rotatably installed on the two fixing plates 1-3.
In this embodiment, a clamping seat 14 for connecting with a fixing rod 15 is installed on a side surface of the upright post 1-2.
In this embodiment, the fixing rod 15 may be a dedicated fixing rod or a sickbed handrail, the entire rehabilitation training device can be fixed by installing the clamping seat 14 on the side surface of the upright post 1-2 and by connecting the clamping seat 14 with the fixing rod 15, when in actual use, when the fixing rod 15 is a dedicated fixing rod, that is, the clamping seat 14 is installed on the fixing rod 15, the setting position of the fixing rod 15 is flexible, so that a user who is not in bed for the first time can perform rehabilitation; when the fixing rod 15 is a sickbed armrest, namely the clamping seat 14 is installed on the sickbed armrest, the sickbed armrest is convenient for a user who is inconvenient to lie in bed to recover.
In this embodiment, the bottom surface of the bottom plate 1-1 is provided with a traveling wheel and a traveling wheel braking mechanism, which is convenient for moving and fixing the whole rehabilitation training device.
In this embodiment, the supporting mechanism comprises a telescopic rod 11-1 mounted on the side of the upright post 1-2, a supporting plate 11-3 mounted on the moving sleeve 7, a binding belt 11-2 suspended between the telescopic rod 11-1 and the supporting plate 11-3, and a hand fixing bracket 12-1 or a foot fixing bracket 12-2 mounted on the end face of the rotating sleeve 9 in a replaceable manner.
In this embodiment, the telescopic rod 11-1 can be used as a suspension of the restraining belt 11-2 to provide a stable and reliable support, the supporting plate 11-3 can play a role of supporting the affected limb, and the supporting plate 11-3 is mounted on the movable sleeve 7, so that the supporting plate 11-3 can move simultaneously with the movement of the movable sleeve 7 and can rotate simultaneously with the rotation of the rotating sleeve 9, and the linkage among the supporting mechanism, the lifting mechanism, the telescopic mechanism and the rotating mechanism can be realized through the linkage between the supporting mechanism and the telescopic mechanism.
In this embodiment, since the hand fixing support 12-1 or the foot fixing support 12-2 is detachably mounted on the end surface of the rotating sleeve 9, when the affected limb is an upper limb, the hand fixing support 12-1 is mounted on the end surface of the rotating sleeve 9, and the user only needs to hold the hand fixing support 12-1 with the palm and place the lower arm of the affected limb on the supporting plate 11-3, and when the affected limb is a lower limb, the hand fixing support 12-1 is removed, the foot fixing support 12-2 is mounted on the end surface of the rotating sleeve 9, and only needs to fix the foot of the user on the foot fixing support 12-2 and place the lower leg of the affected limb on the supporting plate 11-3.
In actual use, the restraining belt 11-2 can also be directly hung on the forearm or the lower leg of the affected limb.
In this embodiment, a rehabilitation training demonstration video is stored in the microcontroller 16, and the output end of the microcontroller 16 is connected with a display 22 for playing the rehabilitation training demonstration video.
As shown in fig. 4, the invention further provides a use method of the limb joint function assessment rehabilitation training system, which comprises the following steps:
step one, deducing the motion parameters of the affected limb of the user under the normal state:
step 101, measuring motion parameters of a healthy limb of a user by using a limb joint function evaluation rehabilitation training system, wherein the motion parameters of the healthy limb of the user comprise a maximum value of the lifting height of the healthy limb of the user, a maximum value of the stretching displacement of the healthy limb of the user, a maximum value of the rotation angle of the healthy limb of the user, a maximum value of the stretching force of the healthy limb of the user and a maximum value of the healthy limb torque of the user;
102, manufacturing a dynamic linear statistical table or graph of the healthy limb of the user according to the motion parameters of the healthy limb of the user;
103, the dynamic linear statistical table or graph under the normal state of the affected limb of the user is consistent with the dynamic linear statistical table or graph under the normal state of the healthy limb of the user, so that the dynamic linear statistical table or graph under the normal state of the affected limb of the user can be manufactured according to the dynamic linear statistical table or graph under the normal state of the affected limb of the user, and the motion parameter under the normal state of the affected limb of the user can be deduced;
in this embodiment, according to the paper published in Xuzhou medical college, Xuzhou journal, it is disclosed that "the exercise function is an important function of the arm, wherein the wrist movement range and the strength are two main aspects of the arm's exercise function, which can be examined by an objective method. The results of the study on 6 wrist movements (dorsal extension, palmar flexion, radial deviation, ulnar deviation, pronation and supination) and 3 arm forces (grip strength, thumb-finger-pinching force, thumb-finger-tip pinching force) show that there is no significant difference in sensory movements of normal bilateral limbs, and therefore, the dynamic linear statistical table or graph of the user's affected limb in a normal state is consistent with the dynamic linear statistical table or graph of the user's healthy limb.
Step two, measuring the motion parameters of the user before the rehabilitation training of the affected limb:
step 201, measuring a motion parameter of a user before rehabilitation training of an affected limb by using a limb joint function assessment rehabilitation training system, wherein the motion parameter of the user before rehabilitation training of the affected limb comprises a maximum value of lifting height of the user before rehabilitation training of the affected limb, a maximum value of stretching displacement of the user before rehabilitation training of the affected limb, a maximum value of rotation angle of the user before rehabilitation training of the affected limb, a maximum value of stretching force of the user before rehabilitation training of the affected limb and a maximum value of torque of the user before rehabilitation training of the affected limb;
step 202, manufacturing a dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user according to the motion parameters before the rehabilitation training of the affected limb of the user;
step three, setting the motion parameters of the user in the rehabilitation training of the affected limb:
comparing the dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user, which is manufactured in the step 202, with the dynamic linear statistical table or graph in the normal state of the affected limb of the user, which is manufactured in the step 103, and setting the motion parameters in the rehabilitation training of the affected limb of the user, wherein the motion parameters in the rehabilitation training of the affected limb of the user comprise a lifting height threshold of the affected limb of the user, a stretching displacement threshold of the affected limb of the user and a rotation angle threshold of the affected limb of the user;
step four, formulating a rehabilitation training scheme of the affected limb of the user:
formulating a rehabilitation training scheme of the affected limb of the user according to the motion parameters of the affected limb of the user in the normal state deduced in the step 103 and the motion parameters of the affected limb of the user before rehabilitation training measured in the step 201, wherein the rehabilitation training scheme of the affected limb of the user comprises single training parameters, training times and training duration of the affected limb of the user, the single training parameters comprise the lifting height of the affected limb of the user, the stretching length of the affected limb of the user and the rotation angle of the affected limb of the user, and the stretching force value of the affected limb of the user and the torque value of the affected limb of the user;
fifthly, according to the rehabilitation training scheme of the affected limb of the user, utilizing a limb joint function assessment rehabilitation training system to perform rehabilitation training on the affected limb of the user;
step six, measuring the motion parameters of the user after the rehabilitation training of the affected limb:
601, measuring the motion parameters of the user after the rehabilitation training of the affected limb by using the limb joint function assessment rehabilitation training system, wherein the motion parameters of the user after the rehabilitation training of the affected limb comprise the maximum value of the lifting height of the user after the rehabilitation training of the affected limb, the maximum value of the telescopic displacement of the user after the rehabilitation training of the affected limb, the maximum value of the rotation angle of the user after the rehabilitation training of the affected limb, the maximum value of the telescopic strength of the user after the rehabilitation training of the affected limb and the maximum value of the torque of the user after the rehabilitation training of the affected limb;
step 602, manufacturing a dynamic linear statistical table or graph after the rehabilitation training of the affected limb of the user according to the motion parameters after the rehabilitation training of the affected limb of the user;
seventhly, evaluating the motion parameters of the user after the affected limb rehabilitation training scheme:
comparing the dynamic linear statistical table or graph after the rehabilitation training of the affected limb of the user, which is manufactured in the step 602, the dynamic linear statistical table or graph in the normal state of the affected limb of the user, which is manufactured in the step 103, with the dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user, which is manufactured in the step 202, and evaluating the motion parameters after the rehabilitation training scheme of the affected limb of the user.
In this embodiment, in the fifth step, according to the rehabilitation training scheme for the affected limb of the user, the rehabilitation training system for evaluating the joint function of the limb is used to perform rehabilitation training for the affected limb of the user, and the specific process is as follows:
step 501, fixing the affected limb of the user on a supporting mechanism;
step 502, the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate in the forward direction, the rotating sleeve 9 drives the affected limb of the user to rotate in the forward direction, the moving sleeve 7 drives the affected limb of the user to extend out, and the screw base 3 drives the affected limb of the user to lift;
in the process of forward rotation, extension and lifting of the affected limb of the user, the angle sensor 19 detects the forward rotation angle of the affected limb of the user in real time and transmits the obtained measured value of the forward rotation angle of the affected limb of the user to the microcontroller 16; the first displacement sensor 17 detects the lifting height of the affected limb of the user in real time, and transmits the obtained measured value of the lifting height of the affected limb of the user to the microcontroller 16; the second displacement sensor 18 detects the extending length of the affected limb of the user in real time and transmits the obtained actual extending length value of the affected limb of the user to the microcontroller 16; when the measured value of the positive rotation angle of the affected limb of the user detected by the angle sensor 19 is equal to the threshold value of the rotation angle of the affected limb of the user, the measured value of the lifting height of the affected limb of the user detected by the first displacement sensor 17 is equal to the threshold value of the lifting height of the affected limb of the user, and the measured value of the extending length of the affected limb of the user detected by the second displacement sensor 18 is equal to the threshold value of the stretching displacement of the affected limb of the user, step 503 is executed;
step 503, the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate in opposite directions, the rotating sleeve 9 drives the affected limb of the user to rotate in opposite directions, the moving sleeve 7 drives the affected limb of the user to retract, and the screw base 3 drives the affected limb of the user to descend;
in the process of the reverse rotation, retraction and descending of the affected limb of the user, the angle sensor 19 detects the reverse rotation angle of the affected limb of the user in real time and transmits the obtained measured value of the reverse rotation angle of the affected limb of the user to the microcontroller 16; the first displacement sensor 17 detects the descending height of the affected limb of the user in real time and transmits the obtained measured value of the descending height of the affected limb of the user to the microcontroller 16; the second displacement sensor 18 detects the retraction length of the affected limb of the user in real time and transmits the obtained actual value of the retraction length of the affected limb of the user to the microcontroller 16; when the measured value of the reverse rotation angle of the affected limb of the user detected by the angle sensor 19 is equal to the threshold value of the rotation angle of the affected limb of the user, the measured value of the descending height of the affected limb of the user detected by the first displacement sensor 17 is equal to the threshold value of the ascending/descending height of the affected limb of the user, and the measured value of the retraction length of the affected limb of the user detected by the second displacement sensor 18 is equal to the threshold value of the telescopic displacement of the affected limb of the user, step 504 is executed;
and step 504, repeating the step 502 and the step 503 until the training times and the training duration in the rehabilitation training scheme are met.
In this embodiment, in steps 502 and 503, under the condition of conforming to the natural physiological characteristics of the limb movement of the human body and adapting to the dysfunction condition of the affected limb of the user, the limb joint function assessment rehabilitation training system can not only realize the combined training of the internal and external rotation of the affected limb of the user, the stretching of the affected limb of the user and the lifting of the affected limb of the user, but also the movement track of the hand or the foot is elliptical.
When the system is in actual use, the system can also be used for performing single wrist and ankle rotation training, single elbow and shoulder linkage extension and single knee and hip joint extension joint training by utilizing the limb joint function evaluation rehabilitation training system.
In this embodiment, in the first step, the second step, the fourth step, the fifth step and the sixth step, the force sensor 20 detects the stretching force of the affected limb of the user in real time, and transmits the obtained measured value of the stretching force of the affected limb of the user to the microcontroller 16; the torque sensor 21 detects the torque of the affected limb of the user in real time, and transmits the obtained measured torque value of the affected limb of the user to the microcontroller 16, so as to realize data acquisition of the stretching force of the affected limb of the user and the torque of the affected limb of the user.
In this embodiment, in the fifth step, there are three training modes for performing rehabilitation training on the affected limb of the user by using the limb joint function assessment rehabilitation training system, the first training mode is a passive training mode, the passive training mode is a training mode in which all assistance is provided by the limb joint function assessment rehabilitation training system, and the affected limb cannot be actively moved by the user when the affected limb is in a static state; the second training mode is an active and passive training mode, the active and passive training mode refers to a training mode in which the limb joint function assessment and rehabilitation training system assists the position point of the affected limb of the user, the position point of the affected limb of the user can move, and resistance is applied to the position point of the affected limb of the user, the third training mode is an active training mode, and the active training mode refers to a training mode in which the limb joint function assessment and rehabilitation training system applies all resistance to the affected limb of the user;
when a rehabilitation training scheme of the affected limb of the user is formulated in the fourth step, a training mode of the limb joint function assessment rehabilitation training system is determined according to the stretching force value of the affected limb of the user detected by the force sensor 20 in real time and the torque value of the affected limb of the user detected by the torque sensor 21 in real time.
In practical use, the training mode of the limb joint function assessment rehabilitation training system can be determined according to Lovett muscle strength grading standard, when the muscle strength of the affected limb of the user is in a state of 0-level to 2-level, the passive training mode is adopted for rehabilitation training, when the muscle strength of the affected limb of the user is in a state of 2-level or 3-level, the active and passive training mode is adopted for rehabilitation training, and when the muscle strength of the affected limb of the user is in a state of 4-level or 5-level, the active training mode is adopted for rehabilitation training.
In this embodiment, when the passive training mode is used for rehabilitation training, after the affected limb of the user is fixed on the supporting mechanism, in the process that the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate forward or reversely, the affected limb of the user does not provide any force, and the affected limb of the user is in a static state, the passive training mode is mainly used for multi-joint linkage rehabilitation training aiming at the user with serious early limb function disorder and aiming at reducing joint stiffness and muscle atrophy;
in this embodiment, when the active and passive training mode is adopted for rehabilitation training, after the affected limb of the user is fixed on the supporting mechanism, in the process that the microcontroller 16 controls the forward rotation or the reverse rotation of the first motor 4, the linear motor 8 and the second motor 10, the affected limb of the user can provide the rotating force opposite to the rotating direction of the rotating sleeve 9, the affected limb of the user can provide the pushing force opposite to the moving direction of the moving sleeve 7, and the affected limb of the user can provide the pressure opposite to the moving direction of the screw base 3.
In this embodiment, after the rehabilitation training is performed in the active training mode, when the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate forward or backward after the affected limb of the user is fixed on the supporting mechanism, the affected limb of the user provides a rotational force in a direction opposite to the rotation direction of the rotating sleeve 9, the magnitude of the rotational force is between the maximum torque value before the rehabilitation training of the affected limb of the user measured in the step two and the maximum torque value of the healthy limb of the user, the affected limb of the user provides an impulse in a direction opposite to the moving direction of the moving sleeve 7, the magnitude of the impulse is between the maximum stretching force value before the rehabilitation training of the affected limb of the user measured in the step two and the maximum stretching force value of the healthy limb of the user, the affected limb of the user provides a pressure in a direction opposite to the moving direction of the screw base 3, and under the combined action of the pressure and the first motor 4, the user suffers from the limb and can realize that the user who sets for suffers from the limb lifting height in the rehabilitation training, it is better that the initiative training mode is applicable to recovered effect, and the user who needs to perfect limb functional state suffers from the limb, and the user suffers from the limb and can independently carry out the single training, resumes muscle strength gradually.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (10)

1. A limb joint function assessment rehabilitation training system is characterized in that: comprises a frame, a rehabilitation training device arranged on the frame and a control device connected with the rehabilitation training device, wherein the rehabilitation training device comprises a lifting mechanism arranged on the frame and used for driving the lifting of the affected limb, a telescopic mechanism connected with the lifting mechanism and used for driving the affected limb to stretch, a rotating mechanism connected with the telescopic mechanism and used for driving the affected limb to rotate, and a supporting mechanism connected with the rotating mechanism and used for supporting the affected limb, the lifting mechanism comprises a screw rod (2) vertically arranged on the frame, a screw seat (3) sleeved on the screw rod (2) and a first motor (4) used for driving the screw rod (2) to rotate, the telescopic mechanism comprises a connecting piece (5) rotatably arranged on the screw seat (3), a cylinder body (6) connected with the connecting piece (5) and a moving sleeve (7) sleeved in the cylinder body (6), a linear motor (8) for driving the moving sleeve (7) to move linearly is arranged in the cylinder body (6), the rotating mechanism comprises a rotating sleeve (9) sleeved in the moving sleeve (7) and a second motor (10) which is arranged in the moving sleeve (7) and used for driving the rotating sleeve (9) to rotate, the control device comprises a microcontroller (16), the input end of the microcontroller (16) is connected with a first displacement sensor (17) for detecting the lifting height of the affected limb, a second displacement sensor (18) for detecting the stretching length of the affected limb and an angle sensor (19) for detecting the rotation angle of the affected limb, a force sensor (20) for detecting the stretching force of the affected limb in real time and a torque sensor (21) for detecting the torque of the affected limb in real time, the first motor (4), the linear motor (8) and the second motor (10) are all controlled by a microcontroller (16).
2. The limb joint function assessment rehabilitation training system according to claim 1, wherein: the screw seat (3) is provided with an ear plate (3-1), the ear plate (3-1) is provided with a fixed sleeve (3-2), the axis of the fixed sleeve (3-2) is parallel to the axis of the screw rod (2), and the connecting piece (5) is rotatably connected with the fixed sleeve (3-2) through a pin shaft (13).
3. The limb joint function assessment rehabilitation training system according to claim 1, wherein: the rack comprises a bottom plate (1-1), an upright post (1-2) vertically installed on the bottom plate (1-1) and two fixing plates (1-3) parallelly installed on the upright post (1-2), and two ends of the screw rod (2) are respectively rotatably installed on the two fixing plates (1-3).
4. The limb joint function assessment rehabilitation training system according to claim 1, wherein: and a clamping seat (14) used for being connected with a fixed rod (15) is arranged on the side surface of the upright post (1-2).
5. The limb joint function assessment rehabilitation training system according to claim 1, wherein: the supporting mechanism comprises a telescopic rod (11-1) arranged on the side surface of the upright post (1-2), a supporting plate (11-3) arranged on the moving sleeve (7), a binding belt (11-2) hung between the telescopic rod (11-1) and the supporting plate (11-3), and a hand fixing support (12-1) or a foot fixing support (12-2) arranged on the end surface of the rotating sleeve (9) in a detachable and replaceable manner.
6. The limb joint function assessment rehabilitation training system according to claim 1, wherein: the rehabilitation training demonstration video is stored in the microcontroller (16), and the output end of the microcontroller (16) is connected with a display (22) used for playing the rehabilitation training demonstration video.
7. A method of using the limb joint function assessment rehabilitation training system according to claim 1, wherein: the using method comprises the following steps:
step one, deducing the motion parameters of the affected limb of the user under the normal state:
step 101, measuring motion parameters of a healthy limb of a user by using a limb joint function evaluation rehabilitation training system, wherein the motion parameters of the healthy limb of the user comprise a maximum value of the lifting height of the healthy limb of the user, a maximum value of the stretching displacement of the healthy limb of the user, a maximum value of the rotation angle of the healthy limb of the user, a maximum value of the stretching force of the healthy limb of the user and a maximum value of the healthy limb torque of the user;
102, manufacturing a dynamic linear statistical table or graph of the healthy limb of the user according to the motion parameters of the healthy limb of the user;
103, the dynamic linear statistical table or graph under the normal state of the affected limb of the user is consistent with the dynamic linear statistical table or graph under the normal state of the healthy limb of the user, so that the dynamic linear statistical table or graph under the normal state of the affected limb of the user can be manufactured according to the dynamic linear statistical table or graph under the normal state of the affected limb of the user, and the motion parameter under the normal state of the affected limb of the user can be deduced;
step two, measuring the motion parameters of the user before the rehabilitation training of the affected limb:
step 201, measuring a motion parameter of a user before rehabilitation training of an affected limb by using a limb joint function assessment rehabilitation training system, wherein the motion parameter of the user before rehabilitation training of the affected limb comprises a maximum value of lifting height of the user before rehabilitation training of the affected limb, a maximum value of stretching displacement of the user before rehabilitation training of the affected limb, a maximum value of rotation angle of the user before rehabilitation training of the affected limb, a maximum value of stretching force of the user before rehabilitation training of the affected limb and a maximum value of torque of the user before rehabilitation training of the affected limb;
step 202, manufacturing a dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user according to the motion parameters before the rehabilitation training of the affected limb of the user;
step three, setting the motion parameters of the user in the rehabilitation training of the affected limb:
comparing the dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user, which is manufactured in the step 202, with the dynamic linear statistical table or graph in the normal state of the affected limb of the user, which is manufactured in the step 103, and setting the motion parameters in the rehabilitation training of the affected limb of the user, wherein the motion parameters in the rehabilitation training of the affected limb of the user comprise a lifting height threshold of the affected limb of the user, a stretching displacement threshold of the affected limb of the user and a rotation angle threshold of the affected limb of the user;
step four, formulating a rehabilitation training scheme of the affected limb of the user:
formulating a rehabilitation training scheme of the affected limb of the user according to the motion parameters of the affected limb of the user in the normal state deduced in the step 103 and the motion parameters of the affected limb of the user before rehabilitation training measured in the step 201, wherein the rehabilitation training scheme of the affected limb of the user comprises single training parameters, training times and training duration of the affected limb of the user, the single training parameters comprise the lifting height of the affected limb of the user, the stretching length of the affected limb of the user and the rotation angle of the affected limb of the user, and the stretching force value of the affected limb of the user and the torque value of the affected limb of the user;
fifthly, according to the rehabilitation training scheme of the affected limb of the user, utilizing a limb joint function assessment rehabilitation training system to perform rehabilitation training on the affected limb of the user;
step six, measuring the motion parameters of the user after the rehabilitation training of the affected limb:
601, measuring the motion parameters of the user after the rehabilitation training of the affected limb by using the limb joint function assessment rehabilitation training system, wherein the motion parameters of the user after the rehabilitation training of the affected limb comprise the maximum value of the lifting height of the user after the rehabilitation training of the affected limb, the maximum value of the telescopic displacement of the user after the rehabilitation training of the affected limb, the maximum value of the rotation angle of the user after the rehabilitation training of the affected limb, the maximum value of the telescopic strength of the user after the rehabilitation training of the affected limb and the maximum value of the torque of the user after the rehabilitation training of the affected limb;
step 602, manufacturing a dynamic linear statistical table or graph after the rehabilitation training of the affected limb of the user according to the motion parameters after the rehabilitation training of the affected limb of the user;
seventhly, evaluating the motion parameters of the user after the affected limb rehabilitation training scheme:
comparing the dynamic linear statistical table or graph after the rehabilitation training of the affected limb of the user, which is manufactured in the step 602, the dynamic linear statistical table or graph in the normal state of the affected limb of the user, which is manufactured in the step 103, with the dynamic linear statistical table or graph before the rehabilitation training of the affected limb of the user, which is manufactured in the step 202, and evaluating the motion parameters after the rehabilitation training scheme of the affected limb of the user.
8. The method of using a limb joint function assessment rehabilitation training system according to claim 7, characterized in that: step five, according to the rehabilitation training scheme of the affected limb of the user, utilizing the limb joint function assessment rehabilitation training system to perform rehabilitation training on the affected limb of the user, and the specific process is as follows:
step 501, fixing the affected limb of the user on a supporting mechanism;
502, controlling a first motor (4), a linear motor (8) and a second motor (10) to rotate in the forward direction by a microcontroller (16), driving the affected limb of the user to rotate in the forward direction by a rotating sleeve (9), driving the affected limb of the user to extend out by a moving sleeve (7), and driving the affected limb of the user to lift by a screw base (3);
in the process of forward rotation, extension and lifting of the affected limb of the user, the angle sensor (19) detects the forward rotation angle of the affected limb of the user in real time and transmits the obtained measured value of the forward rotation angle of the affected limb of the user to the microcontroller (16); the first displacement sensor (17) detects the lifting height of the affected limb of the user in real time and transmits the obtained measured value of the lifting height of the affected limb of the user to the microcontroller (16); the second displacement sensor (18) detects the extending length of the affected limb of the user in real time and transmits the obtained actual extending length value of the affected limb of the user to the microcontroller (16); when the measured value of the positive rotation angle of the affected limb of the user detected by the angle sensor (19) is equal to the threshold value of the rotation angle of the affected limb of the user, the measured value of the lifting height of the affected limb of the user detected by the first displacement sensor (17) is equal to the threshold value of the lifting height of the affected limb of the user, and the measured value of the extending length of the affected limb of the user detected by the second displacement sensor (18) is equal to the threshold value of the stretching displacement of the affected limb of the user, step 503 is executed;
step 503, the microcontroller (16) controls the first motor (4), the linear motor (8) and the second motor (10) to rotate reversely, the rotating sleeve (9) drives the affected limb of the user to rotate reversely, the moving sleeve (7) drives the affected limb of the user to retract, and the screw base (3) drives the affected limb of the user to descend;
in the process of reversely rotating, retracting and descending the affected limb of the user, the angle sensor (19) detects the reversely rotating angle of the affected limb of the user in real time and transmits the obtained actual value of the reversely rotating angle of the affected limb of the user to the microcontroller (16); the first displacement sensor (17) detects the descending height of the affected limb of the user in real time and transmits the obtained measured value of the descending height of the affected limb of the user to the microcontroller (16); the second displacement sensor (18) detects the retraction length of the affected limb of the user in real time and transmits the obtained actual value of the retraction length of the affected limb of the user to the microcontroller (16); when the measured value of the reverse rotation angle of the affected limb of the user detected by the angle sensor (19) is equal to the threshold value of the rotation angle of the affected limb of the user, the measured value of the descending height of the affected limb of the user detected by the first displacement sensor (17) is equal to the threshold value of the ascending and descending height of the affected limb of the user, and the measured value of the retracting length of the affected limb of the user detected by the second displacement sensor (18) is equal to the threshold value of the stretching and retracting displacement of the affected limb of the user, step 504 is executed;
and step 504, repeating the step 502 and the step 503 until the training times and the training duration in the rehabilitation training scheme are met.
9. The method of using a limb joint function assessment rehabilitation training system according to claim 7, characterized in that: in the first step, the second step, the fourth step, the fifth step and the sixth step, the force sensor (20) detects the stretching force of the affected limb of the user in real time, and transmits the obtained measured value of the stretching force of the affected limb of the user to the microcontroller (16); the torque sensor (21) detects the torque of the affected limb of the user in real time, and transmits the obtained measured torque value of the affected limb of the user to the microcontroller (16), so that the data acquisition of the stretching force of the affected limb of the user and the torque of the affected limb of the user is realized.
10. The method of using a limb joint function assessment rehabilitation training system according to claim 8, characterized in that: in the fifth step, three training modes of performing rehabilitation training on the affected limb of the user by using the limb joint function assessment rehabilitation training system are provided, wherein the first training mode is a passive training mode, the passive training mode is a training mode in which all assistance is provided by the limb joint function assessment rehabilitation training system, and the affected limb cannot be actively moved by the user when the affected limb is in a static state; the second training mode is an active and passive training mode, the active and passive training mode refers to a training mode in which the limb joint function assessment and rehabilitation training system assists the position point of the affected limb of the user, the position point of the affected limb of the user can move, and resistance is applied to the position point of the affected limb of the user, the third training mode is an active training mode, and the active training mode refers to a training mode in which the limb joint function assessment and rehabilitation training system applies all resistance to the affected limb of the user;
and when a rehabilitation training scheme of the affected limb of the user is formulated in the fourth step, determining a training mode of the limb joint function assessment rehabilitation training system according to the stretching force value of the affected limb of the user detected by the force sensor (20) in real time and the torque value of the affected limb of the user detected by the torque sensor (21) in real time.
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