CN107374911B - Intelligent medical robot for lower limb rehabilitation - Google Patents
Intelligent medical robot for lower limb rehabilitation Download PDFInfo
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- CN107374911B CN107374911B CN201710753177.2A CN201710753177A CN107374911B CN 107374911 B CN107374911 B CN 107374911B CN 201710753177 A CN201710753177 A CN 201710753177A CN 107374911 B CN107374911 B CN 107374911B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 73
- 230000033001 locomotion Effects 0.000 claims abstract description 55
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 239000000725 suspension Substances 0.000 claims abstract description 38
- 230000005484 gravity Effects 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims abstract description 8
- 239000013585 weight reducing agent Substances 0.000 claims abstract description 6
- 238000012423 maintenance Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 41
- 210000004394 hip joint Anatomy 0.000 claims description 28
- 210000000629 knee joint Anatomy 0.000 claims description 22
- 210000000689 upper leg Anatomy 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000036772 blood pressure Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 5
- 230000003183 myoelectrical effect Effects 0.000 claims description 5
- 238000002560 therapeutic procedure Methods 0.000 claims description 5
- 210000004556 brain Anatomy 0.000 claims description 4
- 210000003414 extremity Anatomy 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010008111 Cerebral haemorrhage Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000008717 functional decline Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000002219 manual therapy Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- 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
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- 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
- A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
- A61H2230/06—Heartbeat rate
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- 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
- A61H2230/08—Other bio-electrical signals
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- 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
- A61H2230/30—Blood pressure
-
- 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
- A61H2230/50—Temperature
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- Health & Medical Sciences (AREA)
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides an intelligent medical robot for lower limb rehabilitation, which is characterized in that a motion suspension system is arranged above a motion transmission system through an upright post, a patient who performs lower limb rehabilitation performs weight reduction and position maintenance through the suspension system, and the patient vertically walks on the motion transmission system under the drive of a lower limb exoskeleton robot system; the gravity center self-balancing system between the lower limb exoskeleton robot system and the rotating system is connected with the lower limb exoskeleton robot system to adjust the height of the lower limb exoskeleton robot system along with the gravity center change of the walking of the patient; the sensor system collects equipment parameters and human body parameters, and transmits the equipment parameters and the human body parameters to the embedded control system for display. The invention has high control precision and strong intelligence, and can carry out rehabilitation training of upright walking on patients.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a rehabilitation medical robot.
Background
The exoskeleton technique and rehabilitation training are combined, the exoskeleton rehabilitation robot is used for limb rehabilitation training, the exoskeleton robot can be controlled through the intelligence of a person, and the physical strength of the robot is used for driving rehabilitation exercise of a patient. The mode can inherit the rehabilitation modes and methods adopted by patients with cerebral hemorrhage, cerebral apoplexy, muscular atrophy, spinal cord injury, functional decline and the like at present, and can thoroughly solve the problems in the rehabilitation training methods.
At present, the rehabilitation therapy mostly adopts a manual therapy mode, and the main defects include the following aspects: 1) The labor cost is high, and the differences among different rehabilitation therapists exist; 2) Objective data are difficult to evaluate in the treatment process and after the treatment is finished; 3) The rehabilitation therapist has no data support and can not optimally treat patients in different stages by adopting objective customized schemes; 4) Especially for the early-stage patients, the upright walking is difficult to realize in a manual mode, and the internal circulation and the accelerated rehabilitation of the bodies of the patients are not facilitated.
Chinese patent CN2815338Y is a supine lower limb rehabilitation training robot, which adopts driving modes such as torque motor and gear box. The Chinese patent CN101623547A is a lower limb rehabilitation medical robot for paraplegic patients, and adopts a base, a rehabilitation lower limb training device and a computer control system to realize sitting rehabilitation training. The rehabilitation training robots mentioned in the prior published patent have the defects that the human body cannot be recovered to walk vertically, the intelligence is not strong and the like. Therefore, the intelligent medical robot with the self-adaptive control function and combined with the cloud platform, the big data, the virtual reality and the like is further researched, and the intelligent medical robot has important significance.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the intelligent medical robot for the lower limb rehabilitation therapy, which has high control precision and strong intelligence and can perform upright walking rehabilitation training on patients.
The technical scheme adopted for solving the technical problems is as follows: an intelligent medical robot for lower limb rehabilitation therapy comprises a lower limb exoskeleton robot system, a suspension system, a motion transmission system, a rotation system, a gravity center self-balancing system, a cloud platform display system, an embedded control system and a sensor system;
The motion suspension system is arranged above the motion transmission system through an upright post, and a patient who performs lower limb rehabilitation treatment performs weight reduction and position maintenance through the suspension system and walks vertically on the motion transmission system;
The upper surface of the motion transmission system translates according to a set speed;
the lower limb exoskeleton robot system is arranged on the upright post through a rotating system and can rotate around the upright post, when the lower limb exoskeleton robot system rotates to the position above the motion transmission system, the lower limb of a patient is connected and fixed with the lower limb exoskeleton robot system, and the lower limb exoskeleton robot system drives the lower limb of the patient to train;
The lower limb exoskeleton robot system is connected with the rotating system through a gravity center self-balancing system, and the height of the lower limb exoskeleton robot system is adjusted along with gravity center change when a patient walks;
The sensor system acquires the operation parameters of the lower limb exoskeleton robot system, the motion transmission mechanism and the human body parameters of a patient, transmits the operation parameters to the embedded control system, and receives the display of the embedded control system through the cloud platform display system;
the embedded control system realizes self-adaptive control, modal switching and intelligent high-precision actuation of the lower limb exoskeleton robot system, the suspension system, the motion transmission system, the rotation system, the gravity center self-balancing system, the cloud platform display system and the sensor system, and performs information interaction outwards through the cloud platform.
The lower limb exoskeleton robot system comprises a hip joint horizontal cantilever beam, a hip joint bearing, a hip joint disc type motor, a thigh structure, a knee joint bearing, a knee joint disc type motor and a shank structure; the two ends of the hip joint horizontal cantilever beam are respectively connected with one end of the thigh structure through a hip joint bearing, and the thigh structure is driven to rotate around the hip joint bearing through a hip joint disc type motor; the other end of the thigh structure is connected with the shank structure through a knee joint bearing, and the shank structure is driven to rotate around the knee joint bearing through a knee joint disc type motor.
The suspension system comprises a weight-reducing motor, a weight-reducing spring, a movable pulley mechanism and a suspension motor; the weight-reducing motor is fixedly connected with the upright post, the output end of the weight-reducing motor is connected with the suspension motor through a weight-reducing spring, and the motion direction between the weight-reducing spring and the suspension motor is converted through a movable pulley system; the suspension motor pulls the bandage tied on the patient.
The motion transmission system comprises a stepping motor and a crawler mechanism, wherein the stepping motor drives the crawler mechanism to perform rolling motion through a cylindrical shaft of the crawler mechanism.
The rotating system adopts a motor driving mode to realize the screwing-in and screwing-out of the lower limb exoskeleton mechanism, the limiting positions of the screwing-in and the screwing-out are provided with the ultrasonic ranging device and the infrared sensor, and the motor is cut off after the rotating system reaches the limiting position.
The gravity center self-balancing system comprises an upper cantilever beam, a lower cantilever beam and a spring mechanism; the upper cantilever beam and the lower cantilever beam which are parallel are connected between the rotating system and the lower limb exoskeleton robot system to form a four-bar mechanism, and the four-bar mechanism is connected with the lower limb exoskeleton robot system through a spring mechanism.
The embedded control system comprises a controller and a cloud platform; the controller adopts an upper computer-lower computer type controller; the sensor system collects the operation parameters of the lower limb exoskeleton robot system, the motion transmission mechanism and the human body parameters of a patient, and transmits the operation parameters to the upper computer controller for control operation; the upper computer controller performs servo control on the lower limb exoskeleton robot system and the motion speed transmission mechanism through the lower computer controller; and the controller performs information interaction outwards through the cloud platform.
The sensor system comprises an absolute rotary encoder, a current sensor, a pressure sensor, a linear displacement sensor, a proximity switch, an electroencephalogram sensor, a myoelectric sensor and heart rate, blood pressure and temperature sensors; the absolute rotary encoder collects the rotation angles of the hip joint and the knee joint bearing of the lower limb exoskeleton robot system; the current sensor and the pressure sensor respectively collect current and voltage signals of the hip joint and knee joint disc type motors; the linear displacement sensor acquires position signals of the output ends of the suspension motor and the weight-reducing motor; the proximity switch collects position signals of the rotating system; the brain electric sensor and the myoelectric sensor collect movement intention signals of a patient; the heart rate, blood pressure and temperature sensors collect basic physiological parameters of the patient.
The invention also comprises a handrail system which is fixed on two sides of the motion transmission system.
The beneficial effects of the invention are as follows:
1) According to the invention, a motion suspension system is arranged above a motion transmission system through a stand column, a patient who performs lower limb rehabilitation treatment performs weight reduction and position maintenance through the suspension system, and the patient vertically walks on the motion transmission system under the drive of a lower limb exoskeleton robot system to perform rehabilitation training;
2) The high-precision servo motor is adopted, so that the control precision of the joint position can be improved;
3) The invention adopts the dual-core embedded control system based on ARM and POWERPC to realize the self-adaptive control and the high-safety control of different modes, and has strong intelligence;
4) According to the invention, the cloud platform based on the embedded control system is adopted to realize interconnection between the embedded control system and the IOT protocol, and remote data monitoring and control based on the cloud platform are adopted, so that the maintainability and after-sale service quality of equipment are greatly improved, and predictive maintenance is realized.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a self-balancing system with center of gravity;
FIG. 3 is a block diagram of the components of an embedded control system;
In the figure, a 1-lower extremity exoskeleton robot system; 2-a suspension system; 3-a motion transmission system; 4-a rotation system; 5-center of gravity self-balancing system; 6-an embedded control system; 7-sensor system.
Detailed Description
The invention will be further illustrated with reference to the following figures and examples, which include but are not limited to the following examples.
The invention provides an intelligent medical robot for lower limb rehabilitation therapy, which comprises a lower limb exoskeleton robot system, a suspension system, a motion transmission system, a rotation system, a gravity center self-balancing system, a cloud platform display system, an armrest system, an embedded control system and a sensor system thereof; the cloud platform display system is fixed on the front support of the motion transmission system, and the handrail system is fixed on two sides of the motion transmission system. One side of the motion transmission system is connected with the upright post in a bottom welding mode, and the inner mechanism of the upright post and the horizontally extending structure at the top of the upright post form a suspension system together. The central shaft of the rotating system is fixed on the outer side of the upright post, the U-shaped steel structure is adopted to rotate by taking the upright post as the center, and the limiting upright post device of the rotating system is fixed on the other side of the motion transmission system. The gravity center self-balancing system is fixed at the tail end of the U-shaped steel structure of the rotating system, and the lower limb exoskeleton robot system is fixed at the tail end of the gravity center self-balancing system. The embedded control system is fixed in the upright post, and the sensor system is fixed on the lower limb exoskeleton mechanism, the motion speed transmission mechanism and the surface of the human body.
When the invention works, the weight of a human body is reduced and the position of the human body is kept by the suspension system, and the human body is erected on the motion transmission system; the lower limb exoskeleton robot system is screwed in through a rotating system, screwed into a human body fixed on the suspension system, and connected and fixed with the lower limb exoskeleton robot system; when the lower limb exoskeleton robot system drives a human body to train, the gravity center self-balancing system adaptively follows the change of the gravity center of the human body; the embedded control system realizes self-adaptive control, modal switching and intelligent high-precision actuation of the whole robot, and interaction with the cloud platform and interconnection of virtual reality environments are realized.
The lower limb exoskeleton robot system comprises a hip joint horizontal cantilever beam, a hip joint bearing, a hip joint disc type motor, a thigh structure, a knee joint bearing, a knee joint disc type motor and a shank structure. Wherein hip joint bearing and hip joint dish motor are connected in the end of hip joint horizontal cantilever beam, and thigh structure is connected in the hip joint bearing other end, and the end of thigh structure is connected with knee joint bearing and knee joint dish motor, and shank structure is connected in the other end of knee joint bearing. The thigh structure and the shank structure are both rod-shaped structures, the length adjustment range of the thigh structure is 43cm-53cm, the length adjustment range of the shank structure is 28cm-38cm, the knee joint movement range is 0-90 degrees, the hip joint movement range is-45 degrees to +55 degrees, and the direct current servo motor and the ball screw are adopted for driving.
The suspension system comprises a weight-reducing motor, a weight-reducing spring, a movable pulley mechanism and a suspension motor. The weight-reducing motor is positioned at the bottom of the upright post, the weight-reducing motor is connected with a weight-reducing spring at the upper end of the weight-reducing motor in a bolt fixing mode, the upper end of the weight-reducing spring is connected with the movable pulley system, and the suspension motor is connected with the other end of the movable pulley system. The double-motor control mode is adopted to realize the functions of suspending the human body and reducing the weight of different weights.
The motion transmission system is characterized in that: the crawler belt comprises a stepping motor and a crawler belt mechanism, wherein the stepping motor drives the crawler belt mechanism to conduct rolling motion through a cylindrical shaft of the crawler belt mechanism. The speed change control can be carried out at a speed of 0-5km/h, the speed change precision is 0.1km/h, and the movement speed of the lower limb exoskeleton robot system is cooperated in real time and uniformly controlled by the embedded control system.
The rotating system comprises a column inner bearing, a U-shaped steel structure and a limiting column structure. The U-shaped steel structure is connected with the bearing inside the upright post, and the limiting upright post is positioned on the other side of the upright post mechanism. The motor-driven lower limb exoskeleton mechanism realizes the functions of automatically screwing in and screwing out the lower limb exoskeleton mechanism.
The gravity center self-balancing system comprises an upper cantilever beam, a lower cantilever beam and a spring mechanism. The upper cantilever beam and the lower cantilever beam are connected through a spring mechanism. The self-balancing gravity center device adopts the structural design of a passive gas spring system to realize gravity center self-balancing within the gravity center variation range of 10cm of a human body.
The embedded control system comprises a dual-core processing module of ARM+POWERPC, a power interface, a cloud platform interface, a motion speed-transmission system interface, a sensor interface, a brake switch interface, a driver interface and a test equipment interface. The dual-core processing system of ARM+POWERPC is adopted to realize the control function of the robot system with high safety and high reliability, and the bidirectional communication with the cloud platform and the virtual reality equipment is realized through an internet of things (IoT) transmission protocol.
The sensor subsystem comprises an absolute rotary encoder, a current sensor, a pressure sensor, a linear displacement sensor, a proximity switch, an electroencephalogram sensor, a myoelectric sensor, a heart rate sensor, a blood pressure sensor, a temperature sensor and the like which are required by closed-loop control of the robot control system. The absolute rotary encoder, the current sensor and the pressure sensor are arranged in the hip joint and knee joint bearings of the lower limb exoskeleton robot system, and disc type motor signals are collected; the linear displacement sensor is arranged at the tail ends of the suspension motor and the weight-reducing motor and collects position signals of the linear displacement sensor; the proximity switch is arranged in the limiting upright post and used for collecting a position signal of the rotating system. In addition, the brain electric sensor and the muscle electric sensor are arranged on the outer sides of the brain and the skin of the lower limbs of the human body, and collect the movement intention signals of the human body; heart rate, blood pressure and temperature sensors are arranged at the front end of the armrest system and are used for collecting basic physiological parameters of a human body.
Embodiments of the present invention include a lower extremity exoskeleton robot system 1, a suspension system 2, a motion transfer system 3, a rotation system 4, a center of gravity self-balancing system 5, an embedded control system 6, and a sensor system 7.
In the lower limb exoskeleton robot system 1, thigh and calf structures are made of titanium alloy materials, back support and waist support structures are made of aluminum alloy materials, and the lower limb exoskeleton robot system is connected with a gravity center self-balancing system through steel structure fasteners. Thigh shank length adjustment is adjusted through V type groove structure, and the adjustment precision is 1cm. The thigh length adjusting range is 43cm-53cm, the calf length adjusting range is 28cm-38cm, the knee joint moving range is 0-90 degrees, the hip joint moving range is-45 degrees to +55 degrees, the position control and the force control of different modes of the lower limb exoskeleton robot are realized by adopting a direct current servo motor and a ball screw mode for driving, and an absolute rotary encoder, a current sensor, a pressure sensor, a moment sensor and the like are adopted.
The main body of the suspension system 2 is fixed in the upright post and comprises a suspension position control motor, the suspension height is adjusted through the structure of the movable pulley system, and in addition, the weight reduction motor is used for adjusting the weight reduction of different human bodies through the position control of a spring group.
The motion speed transmission system 3 is controlled by an embedded control system sending instruction, can control the speed of 0-5km/h, has the speed change precision of 0.1km/h, and cooperates with the motion speed of the lower limb exoskeleton robot system in real time. The height and angle of the armrest can be manually adjusted.
The rotating system 4 adopts a motor driving mode to realize the functions of automatically screwing in and screwing out the lower limb exoskeleton mechanism, ultrasonic ranging and infrared sensors are arranged at the limiting positions of screwing in and screwing out, and the motor is automatically cut off after the limiting positions are reached. The limit position of the rotating system after being screwed in is shown in fig. 1.
The gravity center self-balancing system 5 adopts a passive gas spring system structural design to realize gravity center self-balancing within the change range of the gravity center of a human body within 10cm, is connected with the lower limb exoskeleton robot system 1 by adopting a parallel four-bar structure, and the tail end of the parallelogram structure is connected with the gas spring system to realize self-balancing up-and-down floating, and the structure is shown in figure 2.
The embedded control system 6 and the sensor system 7 are the cores for realizing the intelligent medical robot. Referring to fig. 3, the specific working procedure is as follows:
1, an upper computer carrying a cloud platform receives a cloud instruction, and the cloud instruction is synchronized with a virtual reality interface in real time and can independently control a motion transmission system.
And 2, the core function of the upper computer carrying the cloud platform is to communicate with an embedded controller of dual redundancy ARM+POWERPC, send instructions such as gait, speed and time to the embedded controller, receive feedback such as implementation health state of the embedded controller, and further forward the feedback to a virtual storage end of the cloud platform.
And 3, carrying out real-time fault detection in the embedded controller of the dual-redundancy ARM+POWERPC through fault judgment logic, and ensuring the safety and stability of the system. And the real-time optimal closed-loop control of the motion speed transmission device and the motor driver is realized by integrating external feedback information such as a sensor, a brake switch, test equipment and the like.
And 4, directly controlling the motor by the driver, mainly receiving PWM and enabling signals of the embedded controller of the dual redundancy ARM+POWERPC, and feeding back the motor state to the embedded controller in real time.
Claims (1)
1. An intelligent medical robot for lower limb rehabilitation therapy, includes low limbs ectoskeleton robot system, suspension system, motion transmission system, rotary system, focus self-balancing system, cloud platform display system, embedded control system and sensor system, its characterized in that:
The suspension system is arranged above the motion transmission system through an upright post, and a patient who performs lower limb rehabilitation treatment performs weight reduction and position maintenance through the suspension system and walks vertically on the motion transmission system;
The suspension system comprises a weight-reducing motor, a weight-reducing spring, a movable pulley mechanism and a suspension motor; the weight-reducing motor is fixedly connected with the upright post, the output end of the weight-reducing motor is connected with the suspension motor through a weight-reducing spring for adjusting weight of different human bodies, the weight-reducing spring and the suspension motor are used for converting the movement direction through a movable pulley mechanism, and the movable pulley mechanism is also used for adjusting the suspension height;
The upper surface of the motion transmission system translates according to a set speed;
the lower limb exoskeleton robot system is arranged on the upright post through a rotating system and can rotate around the upright post, when the lower limb exoskeleton robot system rotates to the position above the motion transmission system, the lower limb of a patient is connected and fixed with the lower limb exoskeleton robot system, and the lower limb exoskeleton robot system drives the lower limb of the patient to train;
The lower limb exoskeleton robot system is connected with the rotating system through a gravity center self-balancing system, and the height of the lower limb exoskeleton robot system is adjusted along with gravity center change when a patient walks;
The sensor system acquires the operation parameters of the lower limb exoskeleton robot system, the motion transmission mechanism and the human body parameters of a patient, transmits the operation parameters to the embedded control system and displays the operation parameters through the cloud platform display system;
The embedded control system realizes self-adaptive control, modal switching and intelligent high-precision actions of a lower limb exoskeleton robot system, a suspension system, a motion transmission system, a rotation system, a gravity center self-balancing system, a cloud platform display system and a sensor system, and performs information interaction outwards through a cloud platform;
The rotating system comprises a stand column inner bearing, a U-shaped steel structure and a limiting stand column structure, wherein the U-shaped steel structure is connected with the stand column inner bearing, and the limiting stand column is positioned at the other side of the stand column mechanism;
the rotating system adopts a motor driving mode to realize screwing-in and screwing-out of the lower limb exoskeleton mechanism, an ultrasonic ranging device and an infrared sensor are arranged at the limiting positions of the screwing-in and the screwing-out, and the motor is cut off after the rotating system reaches the limiting position;
The gravity center self-balancing system comprises an upper cantilever beam, a lower cantilever beam and a spring mechanism; the parallel upper cantilever beam and lower cantilever beam are connected between the rotating system and the lower limb exoskeleton robot system to form a four-bar mechanism, the four-bar mechanism is connected with the lower limb exoskeleton robot system through a spring mechanism and is used for realizing self-balancing up-and-down floating, and the spring mechanism of the gravity center self-balancing system is of a passive gas spring system structure;
The lower limb exoskeleton robot system comprises a hip joint horizontal cantilever beam, a hip joint bearing, a hip joint disc type motor, a thigh structure, a knee joint bearing, a knee joint disc type motor and a shank structure; the two ends of the hip joint horizontal cantilever beam are respectively connected with one end of the thigh structure through a hip joint bearing, and the thigh structure is driven to rotate around the hip joint bearing through a hip joint disc type motor; the other end of the thigh structure is connected with the shank structure through a knee joint bearing, and the shank structure is driven to rotate around the knee joint bearing through a knee joint disc type motor;
The suspension motor pulls the bandage bound on the patient;
The motion transmission system comprises a stepping motor and a crawler mechanism, wherein the stepping motor drives the crawler mechanism to perform rolling motion through a cylindrical shaft of the crawler mechanism;
The embedded control system comprises a controller and a cloud platform; the controller adopts an upper computer-lower computer type controller; the sensor system collects the operation parameters of the lower limb exoskeleton robot system, the motion transmission mechanism and the human body parameters of a patient, and transmits the operation parameters to the upper computer controller for control operation; the upper computer controller performs servo control on the lower limb exoskeleton robot system and the motion speed transmission mechanism through the lower computer controller; the controller performs information interaction outwards through the cloud platform;
The sensor system comprises an absolute rotary encoder, a current sensor, a pressure sensor, a linear displacement sensor, a proximity switch, an electroencephalogram sensor, a myoelectric sensor and heart rate, blood pressure and temperature sensors; the absolute rotary encoder collects the rotation angles of the hip joint and the knee joint bearing of the lower limb exoskeleton robot system; the current sensor and the pressure sensor respectively collect current and voltage signals of the hip joint and knee joint disc type motors; the linear displacement sensor acquires position signals of the output ends of the suspension motor and the weight-reducing motor; the proximity switch collects position signals of the rotating system; the brain electric sensor and the myoelectric sensor collect movement intention signals of a patient; the heart rate, blood pressure and temperature sensors collect basic physiological parameters of a patient;
The handrail system is fixed on two sides of the motion transmission system.
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| CN109700639A (en) * | 2019-03-04 | 2019-05-03 | 南京中医药大学 | Intelligent lower limb rehabilitation therapeutic equipment and its operating method based on android system |
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| CN110840712A (en) * | 2019-11-21 | 2020-02-28 | 合肥工业大学 | Lower limb rehabilitation robot system based on human-computer interaction |
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