CN104666047B - The bilateral mirror image rehabilitation system perceived based on biological information - Google Patents

The bilateral mirror image rehabilitation system perceived based on biological information Download PDF

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CN104666047B
CN104666047B CN201310634899.8A CN201310634899A CN104666047B CN 104666047 B CN104666047 B CN 104666047B CN 201310634899 A CN201310634899 A CN 201310634899A CN 104666047 B CN104666047 B CN 104666047B
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rehabilitation
computer
signal
motor
mirror image
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CN201310634899.8A
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Chinese (zh)
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CN104666047A (en
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韩建达
赵新刚
林光模
孙维
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中国科学院沈阳自动化研究所
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Abstract

The present invention is a kind of bilateral mirror image rehabilitation system perceived based on biological information, and somatosensory device one end connects healthy side limbs, gathers the motor message of healthy side limbs;The other end is connected by usb bus with computer, and the motor message of the healthy side limbs collected is sent to computer;Motor driver is connected to computer by CAN bus, for receiving the motion control instruction of computer transmission;The other end is connected with motor, and the motion control instruction received is converted into corresponding current signal, is sent to motor, and driving motor rotates;The motor is arranged at the movable joint of mechanical arm, drives robot linkage to be moved when motor rotates;Affected limb is placed in the mechanical arm, drives affected limb to carry out rehabilitation exercise by robot linkage.The present invention can realize the active movement functional rehabilitation of hemiplegic patient, and the function of transferring hemiplegic patient's health side limbs assists Ipsilateral to carry out rehabilitation training.

Description

The bilateral mirror image rehabilitation system perceived based on biological information
Technical field
A kind of medical rehabilitation field the present invention relates to novel pin to hemiplegic patient, it is specifically a kind of based on biology letter Cease the bilateral mirror image rehabilitation system perceived.
Background technology
Headstroke(Also known as cerebral apoplexy)It is that one kind causes internal artery narrow by risk factor, occlusion or rupture, and cause Acute brain blood circulation disorder, clinical signs are the sings and symptoms of transient or permanent brain disorder.Headstroke is Common clinical, frequently-occurring disease, its case fatality rate and disability rate are very high, and the three big of majority state is formed with heart disease, malignant tumour Fatal disease, seriously endangers human body health and lives safety, great body and mind pain is brought to patient, to family and society Bring heavy burden.In developed country, headstroke has become the principal element of people's acquired disability.It is annual to occur in China The patient of headstroke reaches 2,000,000.With the continuous improvement of medical condition and treatment technology, the death rate of Patients with Stroke is It is obvious to reduce, but in 7,000,000 now survival stroke patient, have 4,500,000 patients it is different degrees of lose basic work Ability and the self-care ability of life, its disability rate are up to more than 75% in survivor.Dyskinesia be Patients with Stroke most Common performance, the Patients with Stroke that there are about 2/3 have the dysfunction of side upper limb.Upper extremity exercise function is in the daily life of people Played a crucial role in living and work, the simple upper limks movements such as it can not only complete to push away, draw, grabs, lifting, Er Qieke To realize some complicated fine operation by human hand, so if upper limb runs into dysfunction and will seriously affect the self-care energy of patient Power, reduces the independence of its life.
By the development of more than ten years, for the upper extremity motor function disorder of stroke hemiplegia, multi-rehabilitation techniques have been emerged in large numbers. But many studies have shown that traditional rehabilitation technique is not fairly obvious to the restitution of post-stroke motor function.Now I Recognize that all rehabilitation maneuvers are provided to recapture the control to movement, the function of motor cortex, which changes, depends on limbs institute Experience it is movable number and itself experience to movement, rehabilitation effect be subject to autokinetic movement to stimulate with neuromuscular system Degree it is related, the dynamics of post-stroke rehabilitation is bigger, more contributes to the recovery of motor function.
Traditional stimulator for hemiplegia rehabilitation mode be mainly hemiplegic patient with the help of several treating physicians, with Ipsilateral limb Body carrys out complete repeatedly single training action.Since each rehabilitation training needs the doctor at two to three could really under coordinating The safety progress of training is protected, is unlikely to make patient cause injury again in rehabilitation training, so rehabilitation expense is costly, this Huge economic pressures are brought to patient home, therefore many patients also abandon treatment, miss the best opportunity of postoperative rehabilitation, Leave huge regret.Secondly, repeating single training method easily makes patient feel dull barren, produces sense tired out Feel, so as to reduce the effect for the treatment of, fail to reach expected rehabilitation goal.
Robot technology development and its and clinical rehabilitation medicine combination, for solve physiatrician's deficiency present situation provide One good solution.Robot rehabilitation has the advantages that the following aspects so that it is highly suitable for patient with limb injury Rehabilitation training:a)Robot, which is adapted to move back and forth for a long time, to be used, and meets rehabilitation training needs;b)Robot is for being applied to disease Strength on the person can be controlled flexibly;C) robot can accurately repeat training strength needed for generation.Above feature to cure Healing robot is treated to be developed rapidly in recent years.
But current medical rehabilitation robot the following aspects there is an urgent need for improve:
Patient's degree of being actively engaged in is low:Most rehabilitation systems simply drive patient's Ipsilateral to carry out rehabilitation, are transported according to both fixed tracks Dynamic, patient belongs to passive movement mode;
New Concepts of Rehabilitation:Bilateral action is the pattern that both sides limbs perform common time and space.Bilateral mirror image Training has positive influences for bilateral hemisphere, is very beneficial for Rehabilitation.However, existing rehabilitation system is usually to drive patient The unilateral movement of Ipsilateral;
Safety issue:The characteristics of people's limbs compliance, is not merged in the motion control of rehabilitation equipment, instructs the rehabilitation of patient Drilling, it is stiff to make, and permanent damage is easily caused to limbs of patient;
Comply with sex chromosome mosaicism:Rehabilitation course does not consider the feeling of pain of patient by patient compliance is poor;
Rehabilitation objective evaluation problem:Rehabilitation system lacks the objective evaluation standard to rehabilitation efficacy.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of bilateral mirror image rehabilitation system perceived based on biological information, Realize the active movement functional rehabilitation of hemiplegic patient, the function of transferring hemiplegic patient's health side limbs assists Ipsilateral to carry out rehabilitation instruction Practice.
The used to achieve the above object technical solution of the present invention is:
A kind of bilateral mirror image rehabilitation system perceived based on biological information, the healthy side limbs of somatosensory device one end connection, is adopted The motor message of the healthy side limbs of collection, the other end is connected by usb bus with computer, by the fortune of the healthy side limbs collected Dynamic signal is sent to computer;
Motor driver is connected to computer by CAN bus, for receiving the motion control instruction of computer transmission;Separately One end is connected with motor, and the motion control instruction received is converted into corresponding current signal, is sent to motor, drives motor Rotate;
The motor is arranged at the movable joint of mechanical arm, drives robot linkage to be moved when motor rotates;
Affected limb is placed in the mechanical arm, drives affected limb to carry out rehabilitation exercise by robot linkage.
Torque sensor is equipped with the movable joint of the mechanical arm, measures the moment information of joint shaft;
One end of data collecting card is connected with the torque sensor, for gathering moment information;
The other end of data collecting card is connected to computer, and the moment information collected is sent to computer.
The torque sensor is strain-type torgue measurement element.
One end of the affected limb connection myoelectric signal collection apparatus, for gathering affected limb electromyography signal;
The other end connection computer of the myoelectric signal collection apparatus, for the signal collected to be sent to calculating Machine.
The myoelectric signal collection apparatus includes sequentially connected electromyographic electrode, signal amplifier and data acquisition box;Its Described in electromyographic electrode be connected to affected limb, be sent to for receiving the signal of affected limb, and by the signal of affected limb Signal after processing is sent to data acquisition box, the signal that data acquisition box will collect by signal amplifier, signal amplifier It is sent to computer.
Further include the mistake held by rehabilitation therapist and know braking control button.
Braking control button is known in the mistake, is connected with embedded real time system, by rehabilitation during for accident or emergency Therapist controls safety stop rehabilitation training.
The somatosensory device is the equipment that the collection of 3D depth information of scene is realized using infrared measurement technique.
The virtual reality scenario display device is worn on patients head, and is connected with computer, by computer generation Virtual reality scenario is illustrated in the visual feedback that patient forms Rehabilitation training at the moment.
The invention has the advantages that and advantage:
1. improving participation during Rehabilitation training, the rehabilitation training of patient is no longer only based on fixed training Action, moreover it is possible to rehabilitation is often carried out with behavior based on daily life, improves rehabilitation efficiency;
2. it is theoretical based on mirror movements rehabilitation, further effectively improve the efficiency of Rehabilitation;
3. Rehabilitation is driven to liberate the manual labor of rehabilitation therapist using mechanical arm so that rehabilitation therapist can be with Concentrate one's energy and the arrangement and the design of rehabilitation training task to the rehabilitation course for the treatment of, more optimize the rehabilitation efficacy of patient;
4. being mounted with multiple sensors on rehabilitation equipment, can measure each in Rehabilitation training process reliable quantification Item parameter, the convenient rehabilitation efficacy to patient make effectively evaluating, different patients can be proposed based on this evaluation different Rehabilitation training requirement, achievees the purpose that because people treats.
Brief description of the drawings
Fig. 1 is bilateral mirror image rehabilitation system functional block diagram of the present invention;
Fig. 2 is the functional block diagram of myoelectric signal collection apparatus of the present invention;
Fig. 3 is the control system block diagram of the present invention based on power and Position Hybrid Control;
Fig. 4 is ectoskeleton upper limb healing machinery arm schematic diagram of the present invention, and 1 receives certainly for shoulder abduction is interior wherein in figure By spending, 2 is lift the bottom free degree in shoulder joint, 3 be the elbow joint bending free degree.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
It is bilateral mirror image rehabilitation system functional block diagram of the present invention as shown in Figure 1, including following major part: Somatosensory device limb motion state acquisition, the real-time 3D virtual reality scenarios of computer generation, DC motor driver, outside upper limb Bone rehabilitation mechanical arm, joint of mechanical arm torgue measurement sensor, Surface Electromyography Signal Acquisition System, for handling emergency Scram button, for the data collecting card of acquisition system sensing data, operate in the motion control of embedded real time system Software, merges the rehabilitation mechanical arm motion control arithmetic of power and positional information.Somatosensory device collects patient health side limbs institute The action done, and kinematics parameters are converted into, it is transferred on computer.
Computer receives the motion state that patient is good for side, judges the state whether in the state space of safety, if place In safe condition space, then control instruction is sent to motion control arithmetic, driving exoskeleton rehabilitation mechanical arm drives patient's Ipsilateral Limbs complete mirror image action;If the state sends report not in the state space of safety, by virtual reality scenario to patient It is alert, indicate that its rehabilitation exercise motion deviates specification, it is necessary to readjust.Computer terminal operation virtual reality scenario generation software, The human simulation model established using the driving of 3D graphics engines based on Skeletal Skinned technology, and by scene with first person Mode is presented to the patient for receiving rehabilitation training;Manikin in the scene imitates the action that patient is done, and completes a system The virtual task generated by computer designed in advance is arranged, includes the crawl and movement of article, and complete an action specified Sequence.The real-time 3D virtual reality scenarios of computer generation provided by the invention, its feature include:Using 3 d modeling software, The human body electronic 3-D model of height emulation is established using Skeletal Skinned Animation technology, 3-D graphic is realized by computer programming Engine drives the motion simulation of the model realization human body, and virtual scene is showed reception rehabilitation training by graphic alphanumeric display Patient, realize the visual feedback of Rehabilitation process.And devise a series of instruction completed required for rehabilitation training of upper limbs Practice action, and be supplied to patient to select by virtual reality scenario by the form of Mission Objective and complete corresponding training.
Be illustrated in figure 4 ectoskeleton upper limb healing machinery arm schematic diagram of the present invention, ectoskeleton mechanical arm be configured with to Few three degree of freedom, including the bottom free degree 1 is lifted in shoulder joint, receives the free degree 2, the elbow joint bending free degree in shoulder abduction 3, wherein the elbow joint bending free degree before adjustment in the case of arm mechanical arm installation site can with that the bottom is lifted in shoulder joint is free Degree is in the same plane or in mutually perpendicular two planes.And each free degree is driven by a direct current generator.
The present invention provides one group of patch type moment sensing for being used to measure ectoskeleton joint of mechanical arm output torque size Device, using strain-type torgue measurement element, element is affixed at joint mechanics square deformation, is distributed and pasted using full-bridge type strain gauge element Method and measuring circuit, are filtered sensor output original signal using passive filter, weaken interference, utilize high-precision instrument Table amplifier is amplified the weak stress signal after filtered the amplitude range of data collecting card reception, will be amplified Sensor analog signals access data collecting card carries out analog-to-digital conversion.
Surface patch electrode is formed by having sticking adhered layer and three electrode contacts;Wherein three electrode contacts difference For a signal reference ground and two differential signal inputs;Patch electrode is connected by shielding line with signal acquisition box, signal Collecting cassette is connected by data/address bus with computer, realizes collection and the record of electromyography signal data.Utilize the surface flesh of collection Electrical signal data, can estimate current upper limb joint movement angle using its signal characteristic.Surface electromyogram signal can be used for estimating at the same time Muscle cramp is counted, stops rehabilitation training when predicting spasm and will occur, and judge to suffer from according to surface electromyogram signal information Person's pain degree, stops rehabilitation training when pain occurs.
The bilateral mirror image rehabilitation system perceived based on biological information, the upper extremity function available for upper limb disorder patient are extensive It is multiple, including the limb motion awareness apparatus based on somatosensory device, the real-time 3D virtual reality scenarios of computer generation, direct current generator Driver, upper limb exoskeleton rehabilitation mechanical arm, joint of mechanical arm torgue measurement sensor, Surface Electromyography Signal Acquisition System, is used In the urgent emergency stop and supplemental button with specified event of processing, for the data collecting card of acquisition system sensing data, movement Control software, merges the rehabilitation mechanical arm motion control arithmetic of power and positional information;The depth of the somatosensory device collection scene Information and color image information are spent, patient's current motion state is estimated based on human skeleton model and predicts that patient in next step may Motion state;Mirror image visual simulation needed for the computer 3D real-time virtuals reality scene generation Rehabilitation, at the same time The mode of task based access control instructs the action completed needed for Rehabilitation;The upper limb healing machinery arm includes upper limb ectoskeleton sheet Body and the direct current generator that power is provided;The DC motor driver is connected by power line with signal wire with direct current generator, It is connected by data/address bus with computer;Direct current generator is provided with numeric type Hall sensor and photoelectric encoder.The machine Tool arm motion control arithmetic merges power and positional information, and the limbs of patient motion state collected according to somatosensory device, is calculating Generator terminal sends DC motor driver control instruction, and then DC motor driver control upper limb ectoskeleton by data/address bus Mechanical arm drives limbs of patient to complete rehabilitation training.
It is illustrated in figure 2 the functional block diagram of the myoelectric signal collection apparatus of the present invention, Surface Electromyography Signal Acquisition System bag Include electromyographic electrode, signal amplifier, data acquisition box;Wherein described electromyographic electrode is connected to affected limb, for receiving Ipsilateral The signal of limbs, and the signal of affected limb is sent to signal amplifier, the signal after processing is sent to by signal amplifier The signal collected is sent to computer by data acquisition box, data acquisition box.
Limb motion awareness apparatus provided by the invention based on somatosensory device, 3D scenes are realized using infrared measurement technique Depth information collection, the Color Image Acquisition of scene is realized using visible light sensor;Merge and calibrate depth information with The 3 d space coordinate of any point in scene can be obtained after colour information;With reference to human skeleton model, human upper limb can be obtained Wrist portion, ancon, shoulder joints x, y, z director space three-dimensional coordinate;It can be estimated according to the following steps using artis space coordinate Go out articulation angle:
It is (x1, y1, z1) to define shoulder joint coordinate, and elbow joint coordinate is (x2, y2, z2), wrist joint coordinate be (x3, y3,z3)
Shoulder joint swings up and down angle
Angle is received in shoulder abduction is
Elbow joint bending angle is
It is illustrated in figure 3 the control system block diagram of the present invention based on power and Position Hybrid Control, torque sensor The signal collected is used to carry out ectoskeleton mechanical arm power/Position Hybrid Control, and torque sensor is used based on patch type Strain transducer, the bending strain amount gone out by measuring connecting rod stress measure the output torque of connecting rod, moment information warp indirectly Cross kinematic decoupling and be converted into the amount of exercise deviation signal that each free degree gives, for controlling the movement of ectoskeleton mechanical arm, So as to which patient is merged in mechanical arm control closed loop with the opplied moment that mechanical arm directly contacts, the control pair of mechanical arm is realized People and the compliance of robot contact power, the control algolithm cause patient to obtain comfort and peace in rehabilitation training is received Quan Xing.
Surface electromyogram signal is input in collecting cassette by being pasted on the electrode of skin surface and is acquired, and computer is read Whether the electromyography signal collected is used for the movement angle for analyzing the current arm joint of patient, judge its range of movement in safety Motion state space in, and alarm is given to incorrect and dangerous sports state.Electromyography signal can be used for suffering from the same time The pain of person's Ipsilateral movement arm judges, when patient's Ipsilateral arm motion but detects patient pain in safe space, Give alarm sounds and stop current rehabilitation training.Electromyography signal has reacted the active degree of human muscle, therefore myoelectricity The feature of signal is also used for rehabilitation efficacy of the evaluation patient after the rehabilitation course for the treatment of of experience a period of time, is treated for reasonable arrangement Scheme provides guidance and foundation.

Claims (6)

  1. A kind of 1. bilateral mirror image rehabilitation system perceived based on biological information, it is characterised in that:Including somatosensory device, computer and Mechanical arm;
    The healthy side limbs of somatosensory device one end connection, gather the motor message of healthy side limbs, and the other end passes through usb bus and meter Calculation machine connects, and the motor message of the healthy side limbs collected is sent to computer;
    Motor driver is connected to computer by CAN bus, for receiving the motion control instruction of computer transmission, the other end It is connected with motor, the motion control instruction received is converted into corresponding current signal, be sent to motor, driving motor turns It is dynamic;
    The motor is arranged at the movable joint of mechanical arm, drives robot linkage to be moved when motor rotates;
    Affected limb is placed in the mechanical arm, drives affected limb to carry out rehabilitation exercise by robot linkage;
    One end of the affected limb connection myoelectric signal collection apparatus, for gathering affected limb electromyography signal;
    The other end connection computer of the myoelectric signal collection apparatus, for the signal collected to be sent to computer;
    The myoelectric signal collection apparatus includes sequentially connected electromyographic electrode, signal amplifier and data acquisition box;Wherein institute State electromyographic electrode and be connected to affected limb, signal is sent to for receiving the signal of affected limb, and by the signal of affected limb Signal after processing is sent to data acquisition box by amplifier, signal amplifier, and data acquisition box sends the signal collected To computer;
    Torque sensor is equipped with the movable joint of the mechanical arm, the torque sensor is used for the torque for measuring joint shaft Information;
    One end of data collecting card is connected with the torque sensor, for gathering moment information;
    The other end of data collecting card is connected to computer, and the moment information collected is sent to computer.
  2. 2. the bilateral mirror image rehabilitation system according to claim 1 perceived based on biological information, it is characterised in that:The power Square sensor is strain-type torgue measurement element.
  3. 3. the bilateral mirror image rehabilitation system according to claim 1 perceived based on biological information, it is characterised in that:Further include Braking control button is known in the mistake held by rehabilitation therapist.
  4. 4. the bilateral mirror image rehabilitation system according to claim 3 perceived based on biological information, it is characterised in that:Further include Embedded real time system, the mistake know that braking control button is connected with embedded real time system, during for accident or emergency Safety stop rehabilitation training is controlled by rehabilitation therapist.
  5. 5. the bilateral mirror image rehabilitation system according to claim 1 perceived based on biological information, it is characterised in that:The body Sense equipment is the equipment that the collection of 3D depth information of scene is realized using infrared measurement technique.
  6. 6. the bilateral mirror image rehabilitation system according to claim 1 perceived based on biological information, it is characterised in that:Further include Virtual reality scenario display device, the virtual reality scenario display device is worn on patients head, and is connected with computer, will The virtual reality scenario of computer generation is illustrated in the visual feedback that patient forms Rehabilitation training at the moment.
CN201310634899.8A 2013-11-28 2013-11-28 The bilateral mirror image rehabilitation system perceived based on biological information CN104666047B (en)

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CN105852874B (en) * 2016-04-08 2019-01-25 王春宝 A kind of autonomous type rehabilitation training system and method
CN106066938B (en) * 2016-06-03 2019-02-26 贡京京 A kind of disease prevention and health control method and system
CN105943312B (en) * 2016-06-15 2018-08-31 华中科技大学 One kind driving integrated hip joint healing auxiliary device based on sensing
CN106176134A (en) * 2016-07-12 2016-12-07 王春宝 A kind of method and system of autonomous training
CN106074092A (en) * 2016-07-22 2016-11-09 天津理工大学 A kind of novel exoskeleton finger healing robot and method of work thereof
CN106618957B (en) * 2016-12-16 2019-12-03 南通大学 A kind of upper limb rehabilitation robot
CN106618958B (en) * 2016-12-16 2019-07-02 南通大学 A kind of upper limb ectoskeleton mirror image healing robot of motion sensing control
CN107397649B (en) * 2017-08-10 2020-08-14 燕山大学 Upper limb exoskeleton movement intention identification method based on radial basis function neural network
CN109620631A (en) * 2017-10-09 2019-04-16 李卫国 A kind of bionical automatic control rehabilitation arm
CN108670251A (en) * 2018-06-01 2018-10-19 广州中医药大学(广州中医药研究院) Shoulder rehabilitation system and method
CN109288651A (en) * 2018-08-20 2019-02-01 中国科学院苏州生物医学工程技术研究所 Personalized upper-limbs rehabilitation training robot system and its recovery training method
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