CN105362035B - The polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training - Google Patents

Abstract

Vegetative patient's passive rehabilitation training is polymorphic to promote system armor device of waking up, it is related to medical instruments field, the armor including coating Whole Body, at the ankle of the armor, knee joint, at hip joint, at shoulder joint, elbow joint mutually flexible connection respectively, at the ankle of the armor, knee joint, at hip joint, at shoulder joint, be arranged between the armor of elbow joint flexible connection and intend motion driving mechanism；The armor is made of two half shells for mutually covering sum, and two sides of half shell one are hinged；Closed and locked device is set between another side, and in the hinged place of two half shells, setting is closed driving mechanism.This armor device can prevent the complication such as infection, while play the role of CO2 laser weld, and then achieve the purpose that promote to wake up；This armor plant automation degree is high, and controlling each driving mechanism by intelligence system acts, high degree of automation.

Description

The polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training

Technical field

The present invention relates to medical instruments field, more particularly to a kind of physiotherapy being mainly used in rehabilitation department, while It can be applied to the wards situation of all-level hospitals nerve ICU, gerontal rehabilitation center, community rehabilitation center, specialized rehabilitation hospital, major (grade) doctor The manufacturing technology field of the armor of the awake robot system of rush of the medical spaces such as institute's Neurology, orthopaedics.

Background technology

Vegetative state is that have awakening after serious cerebral injury caused by the various causes of disease (wound, non-wound) but without awareness Permanent lesion caused by state, non-traumatic disease is because including infection, palsy, poisoning, hypoxic-ischemic, electric shock, tumour and brain Degenerative disease etc..It has the characteristics that stringent therapeutic time window, expensive medical expense and burden on society, by people pole Big concern.

At present in the Therapy study for many years of such disease, always exists two and hinder asking for the disease treatment curative effect Topic:

First, not detecting, treating the required sophisticated equipment of the disease；

Two are a lack of the awake technology of rush and means that experienced profession promotees the awake talent and system, and the therapeutic effect of patient is very It is low.

Treatment means to long-term coma or vegetative patient waken treatment and rehabilitation in terms of still understanding it is insufficient, also throw Enter not enough, traditional treatment persistent vegetable state is had by the method for active adoption：With to the nutritious effect of cranial nerve drug, Drug, electro photoluminescence, hyperbaric oxygen, music treatment, the mechanical-physical therapy etc. of the acupuncture and fragrance ventilation of Chinese medicine.Tradition machinery physics Healing robot can be divided mainly into following main three classes in therapy：1. assisting humanoid robot, 2. artificial limb type, 3. orthoses (brace Type).Auxiliary humanoid robot can substitute the equipment that people completes a certain task.The equipment that artificial limb type can replace people's limb function.It is orthopedic Device (brace type) is loaded by supporting, and assists or fight the relative motion between (body each section) body segment to enhance Power is weak or paralyzed limbs.

There are some defects for existing treatment means:

In view of the defect in the prior art, more people doctors and assistant is needed to help patient to carry out jointly with family members in traditional treatment Rehabilitation training, labor intensive and time, artificial limb in the market, auxiliary instrument, orthoses, which use, relatively limits to.

Physical instrument rehabilitation can help the different forms training such as patient's completion is bent and stretched, gait is simulated, these, which are only capable of realizing, has Consciousness patient actively bends and stretches the training with passive flexion and extension, can not carry out treadmill ambulation training, can not carry out transporting active Plantar pressure, kinematic parameter, physiological function under dynamic and passive movement state carry out test and statistical analysis, can not also move again Receive the other treatments such as drug importing, biofeedback, electro photoluminescence, eeg monitoring, cardioelectric monitor, defecation nursing simultaneously in the process, It reduces the validity of rehabilitation and extends the awakening time.

Single therapy mode cannot solve the following complication of unconscious vegetative patient：

One, pulmonary infection：The pharyngeal areflexia of vegetative patient causes mouth, nose, pharyngeal secretion, vomitus accidentally to inhale In air entering flue, cause pulmonary infection；Patient is in the operations such as mouth breathing or trachea cannula, tracheotomy, suction sputum, keeps respiratory tract anti- Imperial function reduction, bacterium invade lung and infect；When carrying out respiratory therapy, therapeutic device pollution, such as atomizer, sputum aspirator Deng pollution be also an important factor for leading to pulmonary infection.

Two, urinary infection：Vegetative patient's long-term bed, gatism, perineum sanitary condition it is bad or because Urethral catheterization stimulates urethra and bladder, causes bacterial invasion and urethral injury and is complicated by infection；Bladder irrigation can also cause retrograde infection.

Three, dermatological complications：Vegetative patient's long-term bed, local organization is by duration pressure at right angle；Stool and urine Incontinence, skin can be caused pressure ulcer by humidity stimulation, pollution, Abwehrkraft des Koepers decline etc..

Four, oral cavity, eyes complication：Since swallowing reflex disappears, the accumulation of mouth and nose secretion adds opens vegetative patient Mouth breathing sputum is easily formed a scab, and oral bacteria or fungal infection can be caused；Due to hypophasis, eyeball is exposed to air for a long time In, cause bitot's patches, the complication such as keratitis.

Five, bedsore：Local organization is pressurized for a long time, occur continuous ischemia, anoxic, malnutrition and cause tissue fester downright bad. Out-of-flatness or to have debris, part to bear for a long time be more than just in long-term bed or wheelchair, clamping plate inner liner is placed improper, gypsum The compressing of normal capillary, can cause pressure sore.

Six, limbs complication：For vegetative patient due to long-term bed, limbs are fixed, and joint is made to maintain a certain appearance The gesture time is too long, causes the contracture of joint and stiff, it is common have intersection point, hang down wrist, hip joint flexion contracture, hip outward turning etc..

Invention content

The present invention provides a kind of vegetative patient's passive rehabilitation training the polymorphic armor device for promoting awake system, it is therefore intended that It solves to lead to the defect of multi-infection and multiple complications because of long-term bed, while it is eye-catching to reach rush.

The present invention includes coating the armor of Whole Body, at the ankle of the armor, knee joint, at hip joint, shoulder Joint, elbow joint respectively mutually flexible connection, at the ankle of the armor, knee joint, at hip joint, shoulder joint Quasi- motion driving mechanism is respectively set between place and the armor of elbow joint flexible connection；The armor is by mutually covering the two halves of sum Shell forms, and one side of shell is hinged described in two halves；Closed and locked device is set between another side, described in two halves The hinged place setting of shell is closed driving mechanism.

The armor of the present invention includes the leg armor, the upper body armor, the arm armor, the leg armor, the arm armor point Not to be connect by axis pin at hip joint, at shoulder joint with the upper body armor, the leg armor, the arm armor with it is described on Quasi- motion driving mechanism is respectively set in the junction of the body armor, and the leg armor includes foot's armor, the calf armor, thigh Portion's armor, foot's armor, the calf armor, the huckle armor pass sequentially through shaft connection, foot's armor, calf The armor, the huckle armor junction quasi- motion driving mechanism is respectively set；The arm armor includes vambrace, upper arm helmet First, the vambrace are connect with the upper arm armor by shaft, are arranged between the vambrace and the upper arm armor Quasi- motion driving mechanism.

The upper body armor of the present invention includes the shirtfront armor, the back armor that mutual lid closes, the shoulder of the shirtfront armor Position is fixedly connected with two connecting rods, and one end of each connecting rod is fixedly connected with the shirtfront armor respectively, each company The other end of extension bar is connect by axis pin with the shoulder position of the back armor respectively, the connecting rod and the back armor Between setting for the shirtfront armor, back armor lid splitting or integrating from the first driving mechanism.

The invention also includes the head armor, neck support rod piece is set between the head armor and the back armor, Neck support rod piece one end and the detachable rigid connection of the head armor, the other end of the neck support rod piece with The back armor is hinged by axis pin, and setting is for head between the neck support rod piece and the back armor outer wall Second driving mechanism of armor movement.

When the present invention works, by intending the relative motion between the motion driving mechanism driving armor, when simulating normal walking Action process, the tension of muscle can be kept in this way, avoid muscular atrophy, while can avoid the contracture of joint and stiff；This helmet First device is mainly used with corresponding activity bed body and bed body support assorted, and activity bed body drives the work shape of this armor device State, such as standing, handstand, horizontally-inclined, state of lying on one's side can prevent the complication such as infection, while play the role of CO2 laser weld, into And achieve the purpose that promote to wake up；This armor plant automation degree is high, and controlling each driving mechanism by intelligence system acts, automatic Change degree is high.

Description of the drawings

Fig. 1 is a kind of structural schematic diagram of the armor of the present invention；

Fig. 2 is the left view of Fig. 1；

Fig. 3 is the rearview of Fig. 1；

Fig. 4 is the stereogram of Fig. 1；

Fig. 5 is the partial schematic diagram of Fig. 4；

Fig. 6 is the partial schematic diagram of Fig. 4；

Fig. 7 is the partial schematic diagram of Fig. 4；

Fig. 8 is the partial schematic diagram of Fig. 1；

Fig. 9 is the partial schematic diagram of Fig. 2.

Specific implementation mode

As shown in Fig. 1,2,3,4,5,6,7,8,9, the polymorphic helmet for promoting awake system of this vegetative patient passive rehabilitation training First device, includes the armor 7 of cladding Whole Body, at the ankle of the armor 7, knee joint, at hip joint, at shoulder joint, elbow Joint respectively mutually flexible connection, at the ankle of the armor 7, knee joint, at hip joint, at shoulder joint, elbow joint Quasi- motion driving mechanism 8 is respectively set between the armor of flexible connection；The armor 7 is made of two half shells 9 for mutually covering sum, two halves 9 one sides of shell are hinged；Closed and locked device 10 is set between another side.It is arranged in the hinged place of two half shells 9 It is closed driving mechanism 11.

Preferably, the armor 7 includes the leg armor 12, the upper body armor 13, the arm armor 14, the leg armor 12, the arm armor 14 at hip joint, at shoulder joint with the upper body armor 13 by axis pin respectively to be connect, the leg armor 12, the arm armor 14 and upper body Quasi- motion driving mechanism 8-1,8-2 is respectively set in the junction of the armor 13, and the leg armor 12 includes foot's armor 15, calf helmet First 16, the huckle armor 17, foot's armor 15, the calf armor 16, the huckle armor 17 pass sequentially through shaft connection, foot's helmet First 15, the calf armor 16, the huckle armor 17 junction quasi- motion driving mechanism 8-3,8-4 is respectively set；The arm armor 14 include vambrace 18, the upper arm armor 19, and vambrace 18 connect with the upper arm armor 19 by shaft, vambrace 18 with it is upper It is arranged between the arm armor 19 and intends motion driving mechanism 8-5.

Preferably, the upper body armor 13 includes the shirtfront armor 20 that mutually lid closes, the back armor 21, the shoulder of the shirtfront armor 20 Position is fixedly connected with two connecting rods 22, and one end of each connecting rod 22 is fixedly connected with the shirtfront armor 20 respectively, each connecting rod 22 The other end connect respectively with the shoulder position of the back armor 21 by axis pin, between connecting rod 22 and the back armor 21 be arranged use In the shirtfront armor 20,21 lid splitting or integrating of the back armor from the first driving mechanism 23.

Further, robot shell 3 further includes the head armor 24, and neck is arranged between the head armor 24 and the back armor 21 Portion's supporting bar 25,25 one end of neck support rod piece and 24 detachable rigid connection of the head armor, neck support rod piece 25 The other end is hinged by axis pin with the back armor 21, and setting is for head between 21 outer wall of neck support rod piece 25 and the back armor The second driving mechanism 26 that portion's armor 24 moves.

Quasi- motion driving mechanism 8-3 between above-mentioned foot's armor 15 and the calf armor 16 includes servo motor 37, connection Axis device 38, drive screw 39, servo motor 37 are fixed on the rear portion of the calf armor 16, and the output end of servo motor 37 passes through connection Axis device 38 connects drive screw 39, and drive screw 39 is supported on by bearing, bearing block on the calf armor 16, calf helmet The lower end setting one of first 16 carries the sliding block 40 of otic placode, and the lower connecting base of otic placode is carried in the rear end of foot's armor 15 setting one 41, a connecting rod 42 is set between sliding block 40 and connecting seat 41, and the both ends of connecting rod 42 are connected to sliding block 40 by axis pin respectively, connect On the otic placode of joint chair 41, sliding block 40 is threaded on drive screw 39.

Quasi- motion driving mechanism 8-4 between the above-mentioned two calf armor 16 and two huckle armors 17 includes connection One end of shaft 43, gear 44 between the calf armor 16, the huckle armor 17, rack 45, servo motor 46, shaft 43 is solid It is scheduled on the upper end of the calf armor 16, gear 44 is fixed on the other end of shaft 43, and servo motor 46 is fixed by the bracket On the huckle armor 17, drive screw 47 is connected by shaft coupling in the output end of servo motor 46, drive screw 47 passes through axis Hold, bearing block 50,51 is supported on the huckle armor 17, a driving block 49 is threadedly coupled on drive screw 47, in bearing A support plate 53 for carrying sliding slot 52 is fixedly connected on seat 51, driving block 49 coordinates in sliding slot 52, rack 45 and gear 44 Engagement.

Quasi- motion driving mechanism between the above-mentioned two huckle armor 17 and the upper body armor 13 includes the connection upper body armor It is fixed on greatly with one end of the shaft 54 of the huckle armor, gear 55, rack 56, servo motor 57, drive screw 58, shaft 54 The upper end of the leg armor 17, gear 55 are fixed on the other end of shaft 54, and servo motor 57 is fixed by the bracket in huckle The armor 17 it is upper, servo motor 57 connects drive screw 58 by shaft coupling, and drive screw 58 passes through bearing, bearing block 60,61 It is supported on the huckle armor 17, a driving block 59 is threadedly coupled on drive screw 58, one is fixedly connected on bearing block 61 Guide plate 63 with sliding slot 62, driving block 59 coordinate in sliding slot 62, and rack 56 is fixed on driving block 59, rack 56 It is engaged with gear 55.

Quasi- motion driving mechanism 8-2 between the above-mentioned two upper arm armor 19 and the upper body armor 13 includes opposite for upper arm Shaft between the servo motor 63 of trunk sideshake, rack 64, gear 65, the connection upper body armor 13 and the upper arm armor 19 66；Upper arm relative to the servo motor 67 of trunk swing, gear ring 68, gear 69, gear shaft 70, connection the upper body armor with it is upper Shaft 71 between the arm armor；Upper arm adjusted back and forth horizontally relative to shoulder the servo motor 72 of shoulder width, drive screw 73, Shift fork 74 connects the upper body armor 13 and the upper arm armor 19；Servo motor 63, rack 64, tooth of the upper arm relative to trunk sideshake Shaft 66 between wheel 65, the connection upper body armor and the upper arm armor, one end of shaft 66 are fixed on the upper body armor 13 and are floated with level On dynamic gear ring 68, gear 65 is fixed on the other end of shaft 66, and servo motor 63 is fixed by the bracket on the upper arm armor 19, Drive screw 75 is connected to the output end of servo motor 63 by shaft coupling, and drive screw 75 is supported on by bearing, bearing block On the upper arm armor 19, a driving block is threadedly coupled on drive screw 75, rack 64 is fixed on driving block, rack 64 and tooth 65 engagement of wheel, realizes large arm relative to trunk sideshake.Servo motor 67 of the large arm relative to trunk swing, gear ring 68, the shaft 71 between gear 69, the connection upper body armor 13 and the upper arm armor 19；It is led using parallel two one end of shaft 71 Bar floating is fixed on the upper body armor 13, and it is past relative to shoulder level as the upper arm armor 19 that fixing end sets two parallel guide rods Servo motor 72, drive screw 73, the shift fork 74 of polyphony section shoulder width provide the guiding of horizontal movement, i.e. 19 phase of the upper arm armor Relative to trunk it is that integral level is adjustable for trunk swing；Gear 78 is fixed on the back armor 21, servo motor 67 are fixed by the bracket on the back armor 21, and drive screw 76 is connected to the output end of servo motor 67 by shaft coupling, pass Dynamic screw rod 76 is supported on by bearing, bearing block on the back armor 21, and a driving block, rack are threadedly coupled on drive screw 76 77 are fixed on driving block, and rack 77 is engaged with gear 78, and band movable gear shaft rotates, and imparts power to gear, 70 is another On the gear 69 at end, gear 69 drives the gear ring 68 of 19 end of the upper arm armor, gear ring 68 to pass through the upper arm armor 19 with the upper arm armor Shaft 71 between the upper body armor 13, which is fixed together, realizes large arm relative to trunk sideshake.

Quasi- motion driving mechanism 8-5 between above-mentioned two vambrace 18 and two upper arm armors 19 includes connection upper arm The armor 19 and the shaft 80 of vambrace 18, servo motor 81, gear 82, rack 83, drive screw 85, one end of shaft 80 are solid It is scheduled on vambrace 18, gear 82 is fixed on the other end of shaft 80, and servo motor 81 is fixed by the bracket in the upper arm armor On 19, drive screw 85 is connected to the output end of servo motor 81 by shaft coupling, and drive screw 85 passes through bearing, bearing block 86, it 87 is supported on the upper arm armor 19, a driving block 88 is threadedly coupled on drive screw 85, rack 83 is fixed on driving block On 88, rack 83 is engaged with gear 82.

Above-mentioned foot's armor 15 includes sole shell 90, instep shell 91, and instep shell 91 includes the mutual split of two panels Cambered surface shell 92, it is hinged by being closed shaft 91 respectively between two panels cambered surface shell 92 and sole shell 90, in each closure shaft 91 one end is separately connected single-revolution cylinder 93, and rotary cylinder 93 is separately fixed at the rear portion of sole shell 90, in same foot Retaining mechanism 94 is set between the two panels cambered surface shell 92 of face-piece body 91, and retaining mechanism 94 includes cylinder 95, float 96, pin of cutting somebody's hair Axis 97, fastener 98；When rotary cylinder does rotary motion, axis connection shaft coupling is exported, by power transmission to fastener, is driven Fastener rotates, and realizes that two fasteners fastening pin holes are coaxial when fastener fastens, at fastening, locking cylinder acts at this time, band Dynamic movement of cutting somebody's hair of floating, floating, which is cut somebody's hair, drives axis pin realization to wear pin action, and coaxial fastener pin hole is locked.And then realize lock The locking function of tight mechanism.

It is above-mentioned for the shirtfront armor 20,21 lid splitting or integrating of the back armor from the first driving mechanism 23 include the shirtfront armor 20 Two axis pins 99 between the back armor 21 further include two servo motors 102 of rack 101, two of gear 100, two, respectively One end of axis pin 99 is fixed with the shirtfront armor 20 respectively, and each gear 100 is fixed on the other end of the axis pin 99 of homonymy, each servo electricity Machine 102 is fixed on the both sides shoulder position of the back armor 21 by bearing, and two toothed racks 101 are separately fixed at servo motor 102 Output end, each rack 101 engages with the gear of homonymy 101 respectively.

The above-mentioned calf armor 16, the huckle armor 17, the upper arm armor 19, vambrace 18 closure driving mechanism 11 divide Not Bao Kuo the hinged axis pin 103 of two half shells 9, be respectively fixedly connected with gear 106 at the middle part of each axis pin 103, two half shells 9 are divided Shell 107, movable housing 108 Wei not be fixed, servo motor 109 is set on fixed shell 107, in the defeated of servo motor 109 Outlet connects rack 110, and rack 110 is engaged with gear 106.

The packet of closed and locked mechanism 10 of the above-mentioned calf armor 16, the huckle armor 17, the upper arm armor 19, vambrace 18 Include locking cylinder 111, the latch segment 112 of through-hole be provided at fixed 107 free edge of shell, movable housing 108 from By edge be provided with the latch segment 113 of through-hole, the latch segment 112,113 on fixed shell 107, movable housing 108 is mutual It is correspondingly arranged, fixed shell 107 is connected to the through-hole of latch segment on movable housing 108 112,113 when being closed, locking cylinder 111 piston rod is detachable to be plugged in the through-hole of two latch segments 112,113 connection.

Claims (4)

1. the polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training, it is characterised in that complete including cladding human body The armor of body, at the ankle of the armor, knee joint, at hip joint, at shoulder joint, mutually activity is even respectively for elbow joint It connects, at the ankle of the armor, knee joint, at hip joint, at shoulder joint and the armor that elbow joint is respectively flexibly connected Between quasi- motion driving mechanism is respectively set；The armor is made of two half shells for mutually covering sum, shell one described in two halves Side is hinged；Closed and locked device is set between another side, and the hinged place setting of the shell described in two halves is closed driving Mechanism.

2. the polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training according to claim 1, special Sign is that the armor includes the leg armor, the upper body armor, the arm armor, and the leg armor, the arm armor are closed with hip respectively It is connect by axis pin at section, at shoulder joint with the upper body armor, the leg armor, the arm armor and the upper body armor Junction is respectively set quasi- motion driving mechanism, and the leg armor includes foot's armor, the calf armor, the huckle armor, Foot's armor, the calf armor, the huckle armor pass sequentially through shaft connection, foot's armor, the calf armor, big Quasi- motion driving mechanism is respectively set in the junction of the leg armor；The arm armor includes vambrace, the upper arm armor, described Vambrace is connect with the upper arm armor by shaft, and quasi- movement is arranged between the vambrace and the upper arm armor and drives Motivation structure.

3. the polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training according to claim 2, special Sign is that the upper body armor includes the shirtfront armor, the back armor that mutual lid closes, and the shoulder position of the shirtfront armor is fixed Connect two connecting rods, one end of each connecting rod is fixedly connected with the shirtfront armor respectively, each connecting rod it is another One end is connect by axis pin with the shoulder position of the back armor respectively, is arranged between the connecting rod and the back armor For the shirtfront armor, back armor lid splitting or integrating from the first driving mechanism.

4. the polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training according to claim 1, special Sign is to further include the head armor, and neck support rod piece, the neck are arranged between the head armor and the back armor Supporting bar one end and the detachable rigid connection of the head armor, the other end and the back of the neck support rod piece The armor is hinged by axis pin, and setting is for the movement of the head armor between the neck support rod piece and the back armor outer wall The second driving mechanism.