CN115770167A - Non-active module device for limb rehabilitation - Google Patents
Non-active module device for limb rehabilitation Download PDFInfo
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- CN115770167A CN115770167A CN202211489795.8A CN202211489795A CN115770167A CN 115770167 A CN115770167 A CN 115770167A CN 202211489795 A CN202211489795 A CN 202211489795A CN 115770167 A CN115770167 A CN 115770167A
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Abstract
The invention relates to a non-active module device for limb rehabilitation, which comprises an electromagnetic ring used for generating Lorentz force; the electromagnetic ring is internally filled with a conductive liquid medium (3) and is provided with a buoy (4) suspended in the conductive liquid medium (3); one end of the buoy (4) is elastically connected with the inner wall of the electromagnetic ring, and the other end is movably connected with the limb part to be recovered; the buoy (4) divides the fluid in the electromagnetic ring into an inner part and an outer part, and the flow sectional area of the fluid close to the outer part of the electromagnetic ring is smaller than that of the fluid close to the inner part of the electromagnetic ring. The electromagnetic ring comprises a closed-loop hollow shell (1) and a power supply mechanism (6) used for generating an electromagnetic field, wherein the power supply mechanism (6) comprises a power supply (62) and a conducting wire which are connected in a closed loop, and the conducting wire comprises a conducting wire coil (2) wound on the closed-loop hollow shell (1) and an out-of-loop conducting wire (61) located outside the closed-loop hollow shell (1). Compared with the prior art, the invention has the advantages of controllable driving force, capability of integrating the compensation mode and the passive mode and the like.
Description
Technical Field
The invention relates to the technical field of limb rehabilitation instruments, in particular to a non-active module device for limb rehabilitation.
Background
The limb rehabilitation therapeutic apparatus is a medical apparatus used for recovering limb movement function, and is mainly used for the rehabilitation therapy of limb movement dysfunction caused by cerebral thrombosis, cerebral infarction, cerebral hemorrhage, trauma and the like; cerebral palsy of children; muscular atrophy caused by paraplegia and post-traumatic nerve injury, and the like.
The limb movement simulation therapy takes the promotion technology as the core, so that the muscle group is stimulated by low pulse electricity and then simulates normal movement according to a certain sequence, except for direct muscle training, the functional state of the limbs is coordinated and controlled by the passive antagonism of the simulated movement, and the limbs are restored to dynamic balance; meanwhile, the promoting information can be fed back to the brain by repeated movement for many times, so that the function reconstruction is realized to the maximum extent as soon as possible, the spasm mode is broken, and the autonomous movement is recovered.
There are three main types of rehabilitation modules: the device comprises an active module, a compensation module and a passive module. The active module performs self-training in the whole course of the rehabilitation training process, the compensation module mainly performs self-rehabilitation training, and the motor controls the compensation module to perform auxiliary rehabilitation training. Most of the existing rehabilitation training modes are controlled by programs, and the programs cannot realize differentiated diagnosis and treatment means. In addition, the repair difficulty is high under the condition of program problem, the cost is high, and the popularization and the application are difficult.
Disclosure of Invention
The present invention is directed to overcoming at least one of the above-mentioned disadvantages of the prior art and providing a limb rehabilitation non-active module device with controllable driving force and integrating the compensation mode and the passive mode.
The purpose of the invention can be realized by the following technical scheme:
a limb rehabilitation inactive module device comprising an electromagnetic ring for generating lorentz forces;
the electromagnetic ring is internally filled with a conductive liquid medium and is provided with a buoy suspended in the conductive liquid medium;
one end of the buoy is elastically connected with the inner wall of the electromagnetic ring, and the other end of the buoy is movably connected with the limb part to be recovered;
the buoy divides the fluid in the electromagnetic ring into an inner part and an outer part, and the flow sectional area of the fluid close to the outer part of the electromagnetic ring is smaller than that of the fluid close to the inner part of the electromagnetic ring.
Further, the electromagnetic ring comprises a closed-loop hollow shell and a power supply mechanism for generating an electromagnetic field, wherein the power supply mechanism comprises a power supply and a conducting wire which are connected in a closed loop, and the conducting wire comprises a conducting wire coil wound on the closed-loop hollow shell and an out-of-loop conducting wire positioned outside the closed-loop hollow shell.
Furthermore, the power supply mechanism also comprises a pressure sensing switch arranged on the external lead, and an inductor of the pressure sensing switch is arranged on the limb part to be recovered.
When the recovered part exerts force actively, the pressure sensing switch can be disconnected when the sensor is subjected to pressure sensing, and when the recovered part does not exert force, the pressure sensing switch is opened when the sensor is not subjected to pressure.
Furthermore, a conversion control mechanism is arranged between the buoy and the limb part to be recovered, the conversion control mechanism comprises an inner screw rod and an outer screw rod which are matched with each other in a threaded manner, the inner screw rod is rigidly connected with the buoy, a rigid rope is wound on the outer screw rod, and the rigid rope is connected with the limb part to be recovered.
The buoy moves outwards along with the ring, the inner screw rod is pushed to move outwards, the outer screw rod is further driven to rotate, the rigid rope is further pulled, and the limb part to be rehabilitated is driven. The screw transmission can enlarge the moving distance, thereby realizing that the buoy moves in a small distance to control the recovered part to move in a large distance. Specifically, when the float moves a distance of one pitch, the recovered part moves a distance of the circumference of the outer screw, and the recovered part is controlled to move at a certain angle by the short-distance movement of the float.
Furthermore, an openable and closable wire section is arranged on the outer ring wire, and an insulating rod capable of cutting off the wire section penetrates through the inner screw.
When the inner screw rod moves outwards to a certain degree, the insulating rod is driven to extend outwards continuously until the wire section is cut off, and an open circuit is formed; at the moment, the inner screw loses the power of moving outwards, restores the original position under the elastic action, and restores the passage, and the reciprocating is carried out.
Furthermore, a uniform speed conversion mechanism is arranged between the conversion control mechanism and the limb part to be recovered, and comprises a sleeve, and a spring, a hook and a sliding block which are positioned in the sleeve;
the sliding block is connected with the sleeve in a sliding mode, the springs are connected to the two sides of the sliding block through the hooks, the springs close to the conversion control mechanism are connected with the rigid ropes, and the springs far away from the conversion control mechanism are connected with the limb part to be rehabilitated through the ropes.
The area difference of the sections of the two sides of the buoy is increased in the movement process of the buoy, so that the pressure difference is continuously changed, the continuously changed movement speed needs to be converted into constant speed control in the diagnosis and treatment process of the recovered part, the constant speed conversion mechanism is connected with the recovered part through the two isolated springs, the purpose of buffering the rapid change of the speed can be achieved, and the diagnosis and treatment of the recovered part can be effectively carried out.
Furthermore, the buoy is connected with the inside of the closed-loop hollow shell through a high elastic rib. The buoy is positioned at the eccentric position of the circular section of the closed-loop hollow shell and can move linearly.
Furthermore, a load is also arranged on the power supply mechanism. The power supply is a storage battery, and as the Lorentz force is related to the current, a reasonable load R is arranged to enable the storage battery to have proper current.
Further, the conductive liquid medium is mercury.
Furthermore, the buoy is crescent, and one side of the opening of the crescent faces to the center of the closed-loop hollow shell.
Furthermore, the closed-loop hollow shell is provided with a small hole for connecting the conversion control mechanism, and the small hole can prevent the medium from overflowing. The rigid rope is a steel wire, and the rope is a nylon rope.
Compared with the prior art, the invention has the following advantages:
(1) The invention can control loads at different gears, thereby adjusting current and further controlling the driving force of the connecting rod, and has wider applicability;
(2) The control system of the invention can be pushed by mercury after being electrified and also can be pushed by a recovered part;
(3) In the invention, the pressure sensor is arranged at the recovered part, so that the compensation mode and the passive mode are integrated without switching through program control.
Drawings
FIG. 1 is a general view of an apparatus in an embodiment;
FIG. 2 is a schematic view of an electromagnetic ring according to an embodiment;
FIG. 3 is a schematic view of an embodiment of the float;
FIG. 4 is an electromagnetic control schematic diagram of an embodiment;
FIG. 5 is a schematic view of the embodiment connected to a recovered part;
FIG. 6 is a device reference diagram in the example;
the reference numbers in the figures indicate: the device comprises a closed loop hollow shell 1, a wire coil 2, a conductive liquid medium 3, a buoy 4, a high elastic rib 5, a power supply mechanism 6, an outer loop wire 61, a power supply 62, a pressure sensing switch 63, a conversion control mechanism 7, an inner screw 71, an outer screw 72, a rigid rope 73, a wire segment 74, an insulating rod 75, a constant speed conversion mechanism 8, a spring 81, a hook 82, a sliding block 83 and a rope 84.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
Examples
A passive modular device for limb rehabilitation, as shown in fig. 1-5, comprising an electromagnetic ring for generating lorentz forces; the electromagnetic ring is internally filled with a conductive liquid medium 3 and is provided with a buoy 4 suspended in the conductive liquid medium 3; one end of the buoy 4 is elastically connected with the inner wall of the electromagnetic ring, and the other end is movably connected with the limb part to be recovered; the cross-sectional area of the fluid flow near the outside of the solenoid is smaller than the cross-sectional area of the fluid flow near the inside of the solenoid.
The electromagnetic ring comprises a closed-loop hollow shell 1 and a power supply mechanism 6 for generating an electromagnetic field, wherein the power supply mechanism 6 comprises a power supply 62 and a conducting wire which are connected in a closed loop, and the conducting wire comprises a conducting wire coil 2 wound on the closed-loop hollow shell 1 and an outer-ring conducting wire 61 positioned outside the closed-loop hollow shell 1. The power supply mechanism 6 further comprises a pressure sensing switch 63 arranged on the external loop lead 61, and the inductor of the pressure sensing switch 63 is arranged on the limb part to be rehabilitated. When the rehabilitated part exerts force actively, the pressure sensing switch 63 is switched off by the pressure sensing of the sensor, and when the rehabilitated part does not exert force, the pressure sensing switch 63 is switched on by the sensor without pressure.
A conversion control mechanism 7 is also arranged between the buoy 4 and the limb part to be rehabilitated, the conversion control mechanism 7 comprises an inner screw 71 and an outer screw 72 which are matched with each other in a threaded manner, the inner screw 71 is rigidly connected with the buoy 4, a rigid rope 73 is wound on the outer screw 72, and the rigid rope 73 is connected with the limb part to be rehabilitated. As the buoy 4 moves outwards, the inner screw 71 is pushed to move outwards, so that the outer screw 72 is driven to rotate, the rigid rope 73 is pulled, and the limb part to be rehabilitated is driven. The threaded screw transmission can amplify the moving distance, so that the buoy can move at a small distance to control the recovered part to move at a large distance. Specifically, when the float moves a distance of one pitch, the recovered part moves by the distance of the circumference of the outer screw, and the recovered part is controlled to move at a certain angle by the short-distance movement of the float. The outer ring lead 61 is also provided with a lead segment 74 which can be opened and closed, and the inner screw 71 is internally provided with an insulating rod 75 which can cut off the lead segment 74. When the inner screw 71 moves outwards to a certain degree, the insulating rod 75 is driven to extend outwards continuously until the wire section 74 is cut off, and an open circuit is formed; at this time, the inner screw 71 loses the power to move outward, so that the passage is restored, and thus reciprocating is performed.
A constant speed conversion mechanism 8 is arranged between the conversion control mechanism 7 and the limb part to be rehabilitated, and the constant speed conversion mechanism 8 comprises a sleeve, and a spring 81, a hook 82 and a sliding block 83 which are positioned in the sleeve; the sliding block 83 is connected with the sleeve in a sliding way, the spring 81 is connected with the two sides of the sliding block 83 through the hook 82, the spring 81 close to the conversion control mechanism 7 is connected with the rigid rope 73, and the spring 81 far away from the conversion control mechanism 7 is connected with the limb part to be rehabilitated through the rope 84. Since the area difference between the front wall surface and the rear wall surface of the buoy 4 is increased in the movement process, the pressure difference is constantly changed, and the constantly changing movement speed needs to be converted into constant speed control in the diagnosis and treatment process of the recovered part, the constant speed conversion mechanism 8 is connected with the recovered part through the two isolated springs 81, the purpose of buffering the rapid change of the speed can be achieved, and the diagnosis and treatment of the recovered part can be effectively carried out.
The buoy 4 is connected with the inside of the closed-loop hollow shell 1 through a high elastic rib 5. The high elastic rib 5 is a rib with a smaller stiffness coefficient, and the buoy 4 is positioned at the eccentric position of the circular section of the closed-loop hollow shell 1 and can linearly move. The power supply mechanism 6 is also provided with a load. The power supply 62 is a battery and since the lorentz force is related to the current, a reasonable load R is set to have a suitable current under the battery. The conductive liquid medium 3 is mercury. Buoy 4 is crescent, and crescent's opening one side faces the center department of closed loop hollow shell 1. The closed-loop hollow shell 1 is provided with a small hole for connecting the conversion control mechanism 7, and the small hole can prevent the medium from overflowing. The rigid cords 73 are steel wires and the cords 84 are nylon cords.
The working principle is as follows: as shown in fig. 1, after the conducting wire coil 2 is energized, the conducting wire coil 2 will generate a magnetic field induced by electromagnetic induction inside the closed-loop hollow casing 1 and drive the conducting liquid medium 3 to flow in a constant direction. As shown in fig. 3, the conductive liquid medium 3 flows through the buoy 4, and due to the difference in cross-sectional area on the two sides of the buoy 4, a flow velocity difference is generated to generate a pressure difference, and the change of the pressure difference position received by the buoy 4 drives the conversion control mechanism 7, and further drives the uniform speed conversion mechanism 8 to move, so as to drive the recovered part to move.
For a more convenient understanding of this scheme, the present invention provides the following specific examples as references, wherein the data listed in F/kgf are only assumed by the inventors, as follows, for example, in FIG. 6:
the electromagnetic induction intensity B is as follows:
B＝μNI
mu is magnetic conductivity, the magnetic conductivity of mercury is 1, N is the number of turns of the coil, and I is current;
F＝μNI 2 L
as shown in the above figure, the cross-sectional radius is R, and the stable flow rate of mercury driven by this electric field force is (R > > R):
F＝mv 2 /R＝(ρ*πr 2 *2πR)*v 2 /R＝2π 2 r 2 ρv 2
since the electromagnetically induced forces of mercury provide centripetal forces during flow, therefore:
μNI 2 2πr＝2π 2 r 2 ρv 2
v＝I/sqrt(ρπr/μN)
assuming that the flow sectional areas of the fluid inside and outside the crescent satisfy a 4-fold relationship, according to a continuity equation:
vS＝v 1 S 1 ＝v 2 S 2
due to S 1 ＝1/5，S＝1/2，S 2 ＝4/5，v＝I/sqrt(ρπr/μN)
Thus:
v 1 ＝2.5I/sqrt(ρπr/μN)，v 2 ＝0.625I/sqrt(ρπr/μN)
P＝0.5ρ(v 1 2 -v 2 2 )＝(2.5 2 -0.625 2 )μNI 2 /(2πr)
assuming that the ratio of the cross-sectional area of the putter face is α, S P ＝απr 2
The force of the push rod is F = (2.5) 2 -0.625 2 )μNI 2 /(2πr)*απr 2 ＝2.93μNI 2 αr
As described above, μ =1,n =100,f =293i 2 αr
Assuming that the aforementioned R =0.15m, the coil width per turn is not more than 10mm under the condition of 100 turns around, according to the standard of R > > R, R =0.02m, α =1, it is estimated that the weight of mercury is about 16kg at this time, and since R =0.02m, the float can move a distance of 0.02m, and the recovered part needs to realize a moving distance of 0.2m, namely, a rotation of 30 ° around the heel, the screw drive ratio is 1, the results are summarized in the following table 1:
TABLE 1 results of recovery of patients with different symptoms
| Buoy force F/kgf | Current I/A | The recovered part is stressed by F/kgf | |
| Mild case of disease | 36.6 | 2.5 | 3.66 |
| Middle disease | 52.8 | 3.0 | 5.28 |
| Severe illness | 93.8 | 4.0 | 9.38 |
In conclusion, the invention can control loads at different gears, thereby adjusting current and further controlling the driving force of the connecting rod, and has wider applicability; the control system can be pushed by the mercury after being electrified and also can be pushed by the recovered part; the pressure sensor is arranged at the recovered part, so that the compensation mode and the passive mode are integrated without switching through program control.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
Claims (10)
1. A non-active modular device for limb rehabilitation, comprising an electromagnetic ring for generating lorentz forces;
the electromagnetic ring is internally filled with a conductive liquid medium (3) and is provided with a buoy (4) suspended in the conductive liquid medium (3);
one end of the buoy (4) is elastically connected with the inner wall of the electromagnetic ring, and the other end is movably connected with the limb part to be recovered;
the fluid flow cross-sectional area of the buoy (4) close to the outer part of the electromagnetic ring is smaller than the fluid flow cross-sectional area close to the inner part of the electromagnetic ring.
2. The non-active modular device for limb rehabilitation according to claim 1, wherein the electromagnetic ring comprises a closed-loop hollow housing (1) and a power supply mechanism (6) for generating an electromagnetic field, the power supply mechanism (6) comprises a power supply (62) and a lead wire connected in a closed loop, and the lead wire comprises a lead coil (2) wound on the closed-loop hollow housing (1) and an extra-loop lead wire (61) located outside the closed-loop hollow housing (1).
3. The inactive modular device for limb rehabilitation according to claim 2, wherein the power supply mechanism (6) further comprises a pressure-sensitive switch (63) disposed on the external loop lead (61), and the sensor of the pressure-sensitive switch (63) is disposed on the part of the limb to be rehabilitated.
4. The inactive modular device for limb rehabilitation according to claim 2, wherein a switching control mechanism (7) is further provided between the buoy (4) and the part of the limb to be rehabilitated, the switching control mechanism (7) comprises an inner screw (71) and an outer screw (72) which are matched with each other in thread, the inner screw (71) is rigidly connected with the buoy (4), the outer screw (72) is wound with a rigid rope (73), and the rigid rope (73) is connected with the part of the limb to be rehabilitated.
5. The non-active modular device for limb rehabilitation according to claim 4, wherein the outer ring wire (61) is further provided with an openable and closable wire section (74), and the inner screw (71) is internally provided with an insulating rod (75) capable of cutting off the wire section (74).
6. The inactive modular device for limb rehabilitation according to claim 4, wherein a uniform speed conversion mechanism (8) is further provided between the conversion control mechanism (7) and the limb part to be rehabilitated, the uniform speed conversion mechanism (8) comprises a sleeve, and a spring (81), a hook (82) and a slider (83) which are arranged in the sleeve;
the sliding block (83) is connected with the sleeve in a sliding mode, the springs (81) are connected to the two sides of the sliding block (83) through the hooks (82), the springs (81) close to the conversion control mechanism (7) are connected with the rigid ropes (73), and the springs (81) far away from the conversion control mechanism (7) are connected with the limb part to be rehabilitated through the ropes (84).
7. The inactive modular device for limb rehabilitation according to claim 1, characterized in that said float (4) is connected to the inside of the closed-loop hollow casing (1) by means of high elastic ribs (5).
8. The passive module device for limb rehabilitation according to claim 2, wherein the power supply mechanism (6) is further provided with a load.
9. The passive modular device for limb rehabilitation according to claim 1, wherein the conductive liquid medium (3) is mercury.
10. The non-active module device for limb rehabilitation according to claim 1, wherein the buoy (4) is crescent-shaped, and one side of the opening of the crescent-shaped faces the center of the closed-loop hollow housing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211489795.8A CN115770167A (en) | 2022-11-25 | 2022-11-25 | Non-active module device for limb rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211489795.8A CN115770167A (en) | 2022-11-25 | 2022-11-25 | Non-active module device for limb rehabilitation |
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| Publication Number | Publication Date |
|---|---|
| CN115770167A true CN115770167A (en) | 2023-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211489795.8A Pending CN115770167A (en) | 2022-11-25 | 2022-11-25 | Non-active module device for limb rehabilitation |
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| Country | Link |
|---|---|
| CN (1) | CN115770167A (en) |
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- 2022-11-25 CN CN202211489795.8A patent/CN115770167A/en active Pending
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