CN104363982B - 上肢康复机器人系统 - Google Patents

上肢康复机器人系统 Download PDF

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CN104363982B
CN104363982B CN201480000563.9A CN201480000563A CN104363982B CN 104363982 B CN104363982 B CN 104363982B CN 201480000563 A CN201480000563 A CN 201480000563A CN 104363982 B CN104363982 B CN 104363982B
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rehabilitation
patient
training
computer
robot
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CN104363982A (zh
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侯增广
彭亮
王卫群
程龙
边桂彬
谢晓亮
谭民
胡进
陈翼雄
彭龙
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Beijing Zhongke Hongtai Medical Technology Co Ltd
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Institute of Automation of Chinese Academy of Science
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Abstract

本发明涉及一种上肢康复机器人系统，所述系统包括计算机和康复机器人；所述计算机用于与所述康复机器人进行信息交互，记录训练信息，向所述康复机器人发送控制指令；并显示虚拟训练环境，提供康复训练视觉反馈，以及显示控制界面和康复训练信息；所述康复机器人作为系统执行机构，与所述计算机相连接，用于接收所述计算机控制指令，完成运动控制和末端力量输出，同时向所述计算机发送传感器数据。本发明上肢康复机器人系统，可以提供多种方式的上肢康复主被动训练，能够提高患者的训练积极性，提高康复的效率。

Description

上肢康复机器人系统
技术领域
本发明涉及医疗器械领域，尤其涉及一种上肢康复机器人系统。
背景技术
随着社会老龄化的加剧，越来越多的老人由于中风等原因造成上肢瘫痪，给日常生活带来非常大的不便。瘫痪患者可以通过大量的康复训练激发大脑可塑性，恢复一定的运动能力，实现生活自理，提高生活质量，最大程度的回归社会。机器人辅助康复训练能够节约大量的人力物力，并能够对患者康复水平进行实时量化的评估，根据患者的康复状况循序渐进的进行训练。目前的康复机器人以被动训练设备为主，且无法实现与患者实时的交互，导致康复效果和患者的体验比较差。
发明内容
本发明的目的是针对现有技术的缺陷，提供了一种上肢康复机器人系统，提供多种方式的上肢康复主被动训练，能够提高患者的训练积极性，提高康复的效率。
为实现上述目的，本发明提供了一种上肢康复机器人系统，所述系统包括计算机和康复机器人；
所述计算机用于与所述康复机器人进行信息交互，记录训练信息，向所述康复机器人发送控制指令；并显示虚拟训练环境，提供康复训练视觉反馈，以及显示控制界面和康复训练信息；
所述康复机器人作为系统执行机构，与所述计算机相连接，用于接收所述计算机控制指令，完成运动控制和末端力量输出，同时向所述计算机发送传感器数据。
本发明上肢康复机器人系统，可以提供多种方式的上肢康复主被动训练，能够提高患者的训练积极性，提高康复的效率。
附图说明
图1为本发明上肢康复机器人系统的计算机连接示意图；
图2为本发明上肢康复机器人系统的示意图；
图3为本发明上肢康复机器人系统的机构示意图；
图4为本发明上肢康复机器人系统的运动机构及传动机构示意图；
图5为本发明上肢康复机器人系统的被动训练模式示意图；
图6为本发明上肢康复机器人系统的主动训练模式示意图；
图7为本发明上肢康复机器人系统的主被动训练模式示意图；
图8为本发明上肢康复机器人系统的双康复机器人训练模式示意图；
图9为本发明上肢康复机器人系统的多康复机器人交互训练示意图；
图10为本发明上肢康复机器人系统的多康复机器人系统远程交互训练示意图。
具体实施方式
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
本发明结合康复机器人和虚拟训练环境，能够提供多种方式的上肢康复主被动训练，能够提高患者的训练积极性，提高康复的效率，具有康复训练、量化评价等功能。
图1为本发明上肢康复机器人系统的计算机连接示意图，图2为本发明上肢康复机器人系统的示意图，如图所示，本发明包括计算机8和康复机器人7。
所述计算机8用于与所述康复机器人7进行信息交互，记录训练信息，向所述康复机器人7发送控制指令；并显示虚拟训练环境，提供康复训练视觉反馈，以及显示控制界面和康复训练信息。
所述康复机器人7作为系统执行机构，与所述计算机相连接，用于接收所述计算机控制指令，完成运动控制和末端力量输出，同时向所述计算8机发送传感器数据。
康复机器人7是辅助患者进行训练的执行机构，可以实时控制运动和力量输出。计算机8作为信息子系统，通过与康复机器人7进行交互，实时记录患者训练的相关信息，同时向康复机器人发送运动和力输出指令。
康复机器人7运动机构为五连杆并联机构，能够实现平面工作空间内的运动的任意方向的力输出。采用绳传动的方式，将电机和磁制动器的输出驱动扭矩放大，并传递到运动机构。患者通过手柄与康复机器人进行交互，手柄内装有触摸开关和震动电机。康复机器人内部装有控制器和驱动器，能够控制运动和力输出。康复机器人通过与计算机进行信息交互，并结合虚拟训练环境，可以实现主动训练、被动训练和主被动训练等训练方式。通过多台康复机器人的不同互联方式，可以实现双侧上肢同时训练，多个患者或患者与治疗师同时交互训练，以及网络远程康复训练。
再如图1所示，康复机器人7通过USB接口2与计算机8通信。一台计算机8可以连接两台显示器4，其中一台显示器4用于向患者显示虚拟训练环境，另一台显示器4用于向康复治疗师显示康复机器人的控制界面以及患者的训练信息。
再如图2所示，康复机器人7是整个系统的执行机构，在康复训练过程中与患者6直接接触，进行能量的交互10。计算机8是信息系统，与康复机器人7进行信息交互11，记录患者的康复训练信息，发送康复训练指令等。计算机8向患者显示虚拟训练环境，作为视觉反馈14，指导患者训练，同时激发患者的训练积极性。康复治疗师9通过计算机控制界面设置康复训练模式12，同时计算机8自动记录训练过程中患者的运动、力等信息，对患者的康复水平进行量化的评价13反馈给康复治疗师。
图3为本发明上肢康复机器人系统的机构示意图，如图所示，康复机器人为平面两自由度结构，通过控制末端手柄15与患者进行交互。患者手部握住康复机器人末端手柄15与康复机器人进行交互，康复机器人通过位置传感器26、27记录患者的运动位置，通过多维力/力矩传感器28记录患者与手柄15之间的交互力。
电机16、17和磁制动器18、19作为康复机器人的动力来源，驱动运动机构运动。磁制动器18、19可以选择磁滞制动器、磁粉制动器或涡流制动器，可以增加系统的力输出能力，同时有助于系统的稳定性。
图4为本发明上肢康复机器人系统的运动机构及传动机构示意图，如图所示，康复机器人的运动机构为5连杆并联平面两自由度结构。连杆22、23、24、25以及转动轴29、30构成5连杆并联机构。转动轴29、30通过轴承固定于底座60上，关节33和关节34内装有轴承。
手柄15内装有触摸传感器35，可以检测患者手部与手柄的接触，在患者脱离手柄时中止运动或者力输出，以保护患者安全。手柄内装有震动电机36，可以通过震动向患者进行训练提示等操作。
康复机器人通过绳传动的方式将驱动力传递到运动机构。钢丝绳58缠绕在电机轴套31和传动轮20上，构成传动机构，放大电机16和磁制动器18的输出扭矩，驱动连杆22运动。钢丝绳59缠绕在电机轴套32和传动轮21上，构成传动机构，放大电机17和磁制动器19的输出扭矩，驱动连杆24运动。传动轮20与连杆22通过转动轴29固定，传动轮21与连杆24通过转动轴30固定。绳传动方式相对于齿轮传动，传动效率高，没有回差，可以反向驱动；相对于直驱方式，可以放大电机和磁制动器输出扭矩，对电机16、17和磁制动器18、19扭矩输出能力要求小，可以选择尺寸更小的电机和磁制动器，减小整个设备的尺寸和成本。
图5为本发明上肢康复机器人系统的被动训练模式示意图，如图所示，上肢康复机器人系统可以实现被动训练模式。在被动训练模式下，机器人带动患者进行固定轨迹的重复运动。训练轨迹37可以为系统预设轨迹，也可以由康复治疗师9通过康复机器人7以示教的方式将训练轨迹37记录下来。计算机8根据训练轨迹37向康复机器人7发送运动输出指令38，然后康复机器人7完成运动控制，带动患者6进行重复训练。在训练过程中，康复机器人7向计算机反馈与患者6交互过程10中的位置、力等信息39。
图6为本发明上肢康复机器人系统的主动训练模式示意图，如图所示，上肢康复机器人系统可以完成主动训练。在主动训练模式下，由患者6主动向康复机器人7施加力量40，康复机器人7将位置、力信息41发送给计算机8。计算机8根据虚拟训练环境的阻抗以及康复机器人的位置、力信息41，利用阻抗控制原理，计算出期望的运动或输出力，向康复机器人发送运动或者力输出指令42，康复机器人7控制运动或者向患者施加一定的力43。
图7为本发明上肢康复机器人系统的主被动训练模式示意图，如图所示，主被动训练是被动训练与主动训练的结合。主被动训练模式下，由康复治疗师9指定训练轨迹37，患者6向康复机器人7施加主动力40，康复机器人向计算机8实时反馈位置、交互力信息41。计算机8判断，如果患者运动41滞后于目标训练轨迹37，则计算机8向康复机器人7发送力输出指令45，由康复机器人7施加一定的助力44，带动患者7沿着训练轨迹37运动。当患者运动41超过目标训练轨迹37时，则计算机8向康复机器人7发送力输出指令45，由康复机器人7施加一定的阻力44。若患者不用力，则与被动训练模式一样，患者由康复机器人带动沿着轨迹运动。患者自身的运动控制能力越强，则患者的运动与期望运动越接近，机器人施加的助力或者阻力越小。
图8为本发明上肢康复机器人系统的双康复机器人训练模式示意图，如图所示，一台计算机46可以通过USB接口49、50连接两台康复机器人47、48，一个患者可以用两只手同时与两台康复机器人交互，实现两侧上肢协作康复训练。也可以用于两个患者单独训练，或者两个患者交互训练，或者治疗师与患者进行交互训练。
图9为本发明上肢康复机器人系统的多康复机器人交互训练示意图，如图所示，一台计算机51可以与三台或更多台康复机器人52、53、54进行连接。每个患者借助康复机器人既可以进行单独训练，也可以多个患者或者患者与治疗师进行交互训练。
图10为本发明上肢康复机器人系统的多康复机器人系统远程交互训练示意图，如图所示，三台或者更多台上肢康复机器人系统55、56、57可以通过网络等方式进行连接，实现多系统远程交互训练。
专业人员应该还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器RAM、内存、只读存储器ROM、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (6)

1.一种上肢康复机器人系统，其特征在于，所述系统包括计算机和康复机器人；
所述计算机用于与所述康复机器人进行信息交互，记录训练信息，向所述康复机器人发送控制指令；并显示虚拟训练环境，提供康复训练视觉反馈，以及显示控制界面和康复训练信息；
所述康复机器人作为系统执行机构，与所述计算机相连接，用于接收所述计算机的控制指令，完成运动控制和末端力量输出，同时向所述计算机发送传感器数据；
所述计算机与康复机器人通过USB接口连接，并进行信息交互；所述计算机连接两台显示器，一台显示器用于向患者显示虚拟训练环境，提供康复训练视觉反馈，另一台显示器用于向康复治疗师显示控制界面和患者的康复训练信息；
所述康复机器人具有五连杆并联结构，所述五连杆并联结构末端装有手柄用于与患者进行交互；所述手柄内装具有接触传感器和震动电机，所述手柄下装有多维力/力矩传感器，通过震动向患者进行训练提示操作；
所述五连杆并联结构由四个连杆和两个转动轴组成，所述两个转动轴通过轴承固定在底座上；
所述康复机器人由电机和磁制动器驱动，通过绳传动的方式驱动运动机构，所述电机上安装有位置传感器；
钢丝绳缠绕在电机轴套和传动轮上，构成传动机构，放大电机和磁制动器的输出扭矩，驱动连杆运动；
所述五连杆并联结构由四个连杆和两个转动轴组成，所述两个转动轴通过轴承固定在底座上具体包括：
第一电机和第一磁制动器通过第一轴套连接，第一传动轮和第一连杆通过第一轴连接，第一轴通过轴承固定在底座上，构成第一转动关节，第一轴套与第一传动轮上缠绕钢丝绳，将第一电机和第一磁制动器的输出传递到第一连杆；第二电机和第二磁制动器通过第二轴套连接，第二传动轮通过第二轴与第二连杆连接，第二轴通过轴承固定在底座上，构成第二转动关节，第二轴套与第二传动轮上缠绕钢丝绳，将第二电机和第二磁制动器的输出传递到第二连杆；第三连杆与第一连杆通过第三转动关节连接，第四连杆与第二连杆通过第四转动关节连接，第三连杆和第四连杆通过第五转动关节连接，第五转动关节上装有手柄；第一转动关节和第二转动关节不同轴，第一转动关节和第二转动关节之间的底座，以及第一连杆,第二连杆,第三连杆,第四连杆共同构成五连杆并联机构，患者训练时握住手柄，从手柄向底座看左右两侧各有两根连杆，成对称结构。
2.根据权利要求1所述的系统，其特征在于：所述计算机具体用于实时记录患者的运动和力量康复训练信息，经过统计处理向患者和康复治疗师提供量化的康复评价。
3.根据权利要求1所述的系统，其特征在于：所述康复机器人具有控制器和驱动器，用于接收计算机指令，控制运动机构运动和力输出。
4.根据权利要求1所述的系统，其特征在于：所述计算机连接有两台所述康复机器人，用于一名患者两侧肢体同时训练，或两名患者独立训练及交互训练，或者患者与康复治疗师之间的交互训练。
5.根据权利要求1所述的系统，其特征在于：所述计算机连接两台以上所述康复机器人，用于多名患者独立训练，或者多名患者交互训练，或者多名患者与康复治疗师之间的交互训练。
6.一种由两个或两个以上权利要求1所述的上肢康复机器人系统接在一起而构成的系统，用于远程的多名患者交互训练，或者患者与康复治疗师之间的交互训练。
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