CN108078733B - Training equipment and method for relieving upper limb tremor and muscular rigidity of Parkinson patient - Google Patents
Training equipment and method for relieving upper limb tremor and muscular rigidity of Parkinson patient Download PDFInfo
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- CN108078733B CN108078733B CN201711145209.7A CN201711145209A CN108078733B CN 108078733 B CN108078733 B CN 108078733B CN 201711145209 A CN201711145209 A CN 201711145209A CN 108078733 B CN108078733 B CN 108078733B
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- 206010044565 Tremor Diseases 0.000 title claims abstract description 119
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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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
- A61H2201/5007—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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- General Health & Medical Sciences (AREA)
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Abstract
The invention relates to a training device for relieving tremor of upper limbs of a Parkinson patient, which comprises a tremor suppression device, a tremor detection device and a tremor detection device, wherein the tremor suppression device is used for suppressing tremor behaviors of the Parkinson patient in a training process; the series robot is connected with the tremor suppression device and used for matching with the training of the Parkinson patient; the display device can receive the relevant data of the tremor suppression device and the tandem robot in the training process and is used for displaying the relevant image information of the upper limbs of the Parkinson patients in the training process in real time; and the computer is connected with the tremor suppression device and the serial robot and is used for processing related data in the training process, the tremor behavior of the Parkinson patients in the training process is suppressed in real time through the tremor suppression device, and the serial robot is matched with the Parkinson patients for training, so that the computer can be suitable for the rehabilitation training of the Parkinson patients with different body types and helps the Parkinson patients to relieve tremor symptoms.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to training equipment and a method for relieving upper limb tremor and muscle rigidity of a Parkinson patient.
Background
Muscle rigidity and resting tremor are two main symptoms of a Parkinson patient, and the muscles of the joints of the Parkinson patient can have higher muscle tension when the joint is in passive movement, so that the joint can feel like bending a lead pipe, and meanwhile, the patient can feel that the muscles are stiff and the patient needs to exercise very hard. Tremor is the first symptom of a parkinson patient, usually starts from the distal end of one upper limb, usually occurs when the patient is at rest, and is aggravated when the patient is in mental stress, and although the tremor does not endanger the life of the patient, the tremor brings great inconvenience to the life of the patient.
At present, the treatment method of the Parkinson comprises drug treatment and physical treatment, and although the drug treatment is the main treatment mode, the risk of drug side effect exists; although some physical treatment modes such as hand tremor suppression of the parkinson patient through the bracelet also appear, the bracelet acting force is small, the tremor suppression has certain hysteresis, and the previous excessively high muscle tension of the parkinson patient cannot be exercised, so that the parkinson patient still cannot be helped to relieve tremor symptoms.
Disclosure of Invention
Based on the above, there is a need for a training device and method for relieving tremor and muscular rigidity of upper limbs of parkinson patients, which can be applied to rehabilitation training of parkinson patients with different body types, and relieve tremor symptoms of the parkinson patients.
According to a first aspect of embodiments of the present invention there is provided a training apparatus for reducing tremor and muscle rigidity in a parkinson's patient's upper limb, the training apparatus comprising:
the tremor suppression device is used for fixing the upper limbs of the Parkinson patients and suppressing tremor behaviors of the Parkinson patients in the training process;
the series robot is connected with the tremor suppression device and used for matching with the training of the Parkinson patient;
the display device can receive the relevant data of the tremor suppression device and the tandem robot in the training process and is used for displaying the relevant image information of the upper limbs of the Parkinson patients in the training process in real time;
and the computer is connected with the tremor suppression device, the tandem robot and the display device and is used for processing relevant data in the training process.
In one embodiment, the tremor suppression device comprises a fixation portion for fixing the upper limb of a parkinson's patient and a tremor-reduction portion connected to the fixation portion.
In one embodiment, the anti-vibration part comprises a mounting plate, a return spring and at least one damper, two ends of the return spring are respectively abutted against the fixing part and the mounting plate, and two ends of the at least one damper are respectively connected with the mounting plate and the fixing part.
In one embodiment, the tremor suppression device further includes a connection base connected to the tandem robot and a universal swivel connected to the mounting plate.
In one embodiment, the tremor suppression device comprises three angle sensors, one of the angle sensors is arranged at the joint of the universal rotating part and the connecting base and is used for detecting the rotating angle of the universal rotating part around the z axis, and the other two angle sensors are arranged on the universal rotating part and are used for detecting the rotating angles of the universal rotating part around the x axis and the y axis.
In one embodiment, the universal rotating part is a cross universal shaft coupling, and a rotary damper is arranged on the cross universal shaft coupling.
In one embodiment, the fixing portion includes a supporting plate for supporting the upper limb of the parkinson patient, and a fixing band provided on the supporting plate for positioning the upper limb of the parkinson patient, one end of the at least one damper connected to the fixing portion is connected to the supporting plate, and one end of the return spring abutting against the fixing portion abuts against the supporting plate.
In one embodiment, the fixing portion further includes a pressure sensor disposed on the support plate.
In one embodiment, the training device further comprises a seat which is arranged at a distance from the tremor suppression device and is positioned at the front end of the tremor suppression device and used for the parkinsonian patient to train.
According to a second aspect of embodiments of the present invention, there is provided a training method for reducing tremor in an upper limb of a parkinson's patient, comprising:
fixing the upper limb to be trained of the Parkinson patient on the tremor suppression device;
controlling the series robot to be matched with the upper limb of the Parkinson patient for training;
and displaying the relevant image information of the upper limb of the Parkinson patient during training on the display device.
Compared with the prior art, the training equipment for relieving the upper limb tremor and the myotonia of the Parkinson patients provided by the invention can be used for inhibiting the tremor behaviors of the Parkinson patients in the training process in real time through the tremor inhibition device, and training the upper limb tremor and the myotonia through matching the series robot with the Parkinson patients, so that the training equipment is suitable for rehabilitation training of the upper limb tremor and the myotonia of the Parkinson patients with different body types, and helps the Parkinson patients to relieve the tremor symptoms and the myotonia.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of a training apparatus for reducing tremor in the upper limbs of a Parkinson's patient in accordance with an exemplary embodiment of the invention;
FIG. 2 is a schematic diagram of a tremor suppression device according to an exemplary embodiment of the invention;
FIG. 3 is a schematic diagram of a tandem robot configuration according to an exemplary embodiment of the present invention;
fig. 4 is a schematic structural diagram of a display device according to an exemplary embodiment of the present invention;
FIG. 5 is a schematic view of a cardan shaft coupling according to an exemplary embodiment of the present invention;
FIG. 6 is a flow chart of a training method for reducing tremor in the upper limbs of a Parkinson's patient in accordance with an exemplary embodiment of the invention;
FIG. 7 is a flow chart of another training method for reducing tremor in the upper limbs of a Parkinson's patient, according to an exemplary embodiment of the invention;
FIG. 8 is a flow chart of yet another training method for reducing tremor in the upper limbs of a Parkinson's patient, according to an exemplary embodiment of the invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
Fig. 1 is a schematic structural diagram of a training apparatus for reducing tremor of the upper limbs of a parkinson's patient according to an exemplary embodiment of the present invention, and the training apparatus includes a seat 10, a tremor suppression device 20, a tandem robot 30, a display device 40, and a computer 50. The seat 10 is arranged at the foremost end of the training equipment and is positioned in the middle of the training equipment, and a patient with Parkinson's disease to be trained can sit on the seat; the tremor suppression device 20 is used for suppressing tremor behaviors of the Parkinson patients during training; the series robot 30 is connected with the tremor suppression device and is used for matching with the training of the Parkinson patient; the display device 40 can receive the relevant data of the tremor suppression device and the tandem robot in the training process and is used for displaying the relevant image information of the upper limbs of the Parkinson patients in the training process in real time, and the computer 50 is connected with the tremor suppression device, the tandem robot and the display device and is used for processing the relevant data in the training process.
As shown in fig. 2, the tremor suppression device 20 includes a fixing portion 200, an anti-tremor portion 210 and a connection base 220 supporting the rotation device, wherein the fixing portion 200 is used for fixing the upper limb of the parkinson patient, and the anti-tremor portion 210 is used for suppressing the tremor behavior of the parkinson patient.
In this embodiment, the anti-chattering portion 210 includes a mounting plate 206, a return spring 205, and at least one damper 204, wherein two ends of the return spring 205 are respectively abutted against the fixing portion 200 and the mounting plate 206, and two ends of the at least one damper 204 are respectively connected to the mounting plate 206 and the fixing portion 200.
Specifically, three dampers 204 are arranged on the mounting plate 206, two ends of each damper are respectively connected with the mounting plate 206 and the fixing part 200, one damper is arranged at one end of the mounting plate 206, the other two dampers 204 are arranged at the other end of the mounting plate 206 and are arranged to form a stable triangle, a return spring 205 is arranged in the middle of each damper 204, two ends of the return spring 205 are respectively abutted to the fixing part 200 and the mounting plate 206, the dampers 204 can provide movement resistance to absorb tremor of the upper limbs of the parkinson patient, the return spring 205 can apply a reverse force to limit the tremor of the upper limbs of the parkinson patient, and accordingly the amplitude of the tremor of the upper limbs is limited, and the return spring and the dampers can cooperate to inhibit the tremor of the hands of the parkinson patient.
In the present embodiment, the tremor suppression device 20 further includes a connection base 220 connected to the tandem robot 30 and a universal swivel 208 connected to the mounting plate 206.
Specifically, the universal rotation portion 208 is a cross universal shaft coupling, and a rotary damper 207 is provided on the cross universal shaft coupling to increase the resistance of the universal rotation portion. As shown in fig. 5, the two shafts of the cross universal coupling 208 are cross-shaped, the center of the cross of the two shafts is used as the center of a circle, and the straight lines of the two shafts are used as the x-axis and the y-axis, respectively, so that the components connected with the cross universal coupling 208 can rotate around the x-axis and the y-axis, respectively, and if the axis of the connecting base 220 is used as the z-axis, the whole cross universal coupling can also rotate around the z-axis. In other embodiments, the universal connector 208 may be replaced by a ball joint that fits within a cavity of the connection base 220 to allow the components connected to the ball joint to rotate in all directions relative to the connection base 220.
In the present embodiment, the tremor suppression device 20 includes three angle sensors 209, wherein one angle sensor 209 is disposed at the connection between the universal rotating portion 208 and the connection base 220 for detecting the rotation angle of the universal rotating portion 208 around the z-axis, and the other two angle sensors are disposed on the universal rotating portion 208 for detecting the rotation angles of the universal rotating portion 208 around the x-axis and around the y-axis, respectively.
In this embodiment, the fixing part 200 includes a support plate 203 for supporting the upper limb of the parkinson's patient, and a fixing band 201 provided on the support plate 203 for positioning the upper limb of the parkinson's patient, one end of the at least one damper 204 connected to the fixing part 200 is connected to the support plate 203, and one end of the return spring 205 connected to the fixing part 200 is connected to the support plate 203.
Specifically, the supporting plate 203 is configured to be suitable for the shape of fingers placed when being closed, and two fixing bands 201 are respectively arranged at the front and rear positions on the supporting plate 203 and are matched with the supporting plate 203 to fix the hands of the parkinson patient placed on the supporting plate 203. Of course, the shape of the support plate 203 and the number and the arrangement positions of the fixing belts 201 are not limited in the present invention, and embodiments in which the upper limbs of the parkinson patient can be fixed to the support plate 203 are within the protection scope of the present invention.
In this embodiment, the fixing portion 200 further includes a pressure sensor 202, and the pressure sensor 202 is disposed on the supporting plate 203 and can collect the force applied to the upper limb of the parkinson patient placed on the supporting plate 203. The system can detect the power that the hand of parkinson patient received through pressure sensor 202 during the training, and when the power that the patient hand received exceeded predetermined scope, the system can promptly stop the training to the patient to play the effect of safety protection.
As shown in fig. 3, the tandem robot 30 includes a tandem robot body 301 and a link 302 connected to the tandem robot body 301, and the link 302 is movable along with the tandem robot body 301.
Specifically, the body 301 of the tandem robot includes a first link and a second link, the end of the first link is connected to the second link through a third joint, the other end of the first link is connected to a second joint, the second joint is installed at the end of the first joint, the first joint is installed on a base (not shown) that fixes the tandem robot body 302, in addition, the second link is connected to the connecting frame 302, the connecting frame 302 can move between any positions in the reachable space through the rotation of each joint of the tandem robot body 301, and the range of motion of the training device is wide, so the training device can be suitable for the training of patients with different body sizes and different arm lengths.
As shown in fig. 4, the display device 40 includes a display 402 and a support 401 supporting the display, and the display can receive the relevant data of the tremor suppression device 20 and the tandem robot 30 during the training process, and is used for displaying the relevant image information of the upper limb of the parkinson patient during the training process in real time. For example, when the upper limb of the parkinson patient is performing passive training, the display may display an interesting game interacting with the upper limb of the parkinson patient, and when the upper limb of the parkinson patient is performing active training, the display may display a movement trajectory of the upper limb of the parkinson patient during the training. The computer 50 is connected with the tremor suppression device 20, the tandem robot 30 and the display device 40, and is used for processing relevant data in the training process, collecting data of the tremor suppression device 20 and the tandem robot 30 in the training process, and sending the relevant data to the display device 20 for display.
Corresponding to the training equipment for relieving the upper limb tremor of the Parkinson's disease patient, the invention also provides a training method for relieving the upper limb tremor of the Parkinson's disease patient, which comprises the following steps:
fixing the upper limb to be trained of the Parkinson patient on the tremor suppression device;
controlling the series robot to be matched with the upper limb of the Parkinson patient for training;
and displaying the relevant image information of the upper limb of the Parkinson patient during training on the display device.
In order to facilitate a clearer understanding of the technical solutions of the present invention, the training apparatus and the training method for alleviating tremor of the upper limbs of parkinson's patients according to the present invention are further described below by way of specific examples. For convenience of description, the various embodiments are distinguished based on the manner of training the upper limbs of parkinson's patients. Wherein the training mode of the Parkinson patient comprises at least one of the following: the method comprises the following steps of single joint passive training, multi-joint composite passive training and active training.
The first embodiment is as follows: joint division passive training
FIG. 6 is a flow chart of a training method for reducing tremor in the upper limbs of a Parkinson's patient, according to an exemplary embodiment of the invention, the method including:
in step 601, the hands of the Parkinson's patient are secured to the pallet.
In this embodiment, can fix parkinson patient's hand on the layer board through the fixed band, make parkinson patient's palm hug closely and set up the pressure sensor on the layer board, this pressure sensor can real-time supervision parkinson patient's hand atress, and when the power that patient's hand received exceeded the certain limit, the system can promptly stop the training to the patient to play safety protection's effect.
In step 602, the distance between the joints of the upper limb of the parkinson's patient is calculated.
In this embodiment, since different parkinson patients have different sizes and different corresponding arm lengths, the distance between the shoulder joint and the elbow joint (i.e., the large arm length) and the distance between the elbow joint and the wrist joint (i.e., the small arm length) are different. In passive training, in order to train the tandem robot according to the arm length of the patient to be trained, the large arm length and the small arm length of the patient to be trained need to be measured first.
Specifically, the wrist joint and the elbow joint can be fixed by a binding band, the shoulder joint is driven by the hand to move independently, at the moment, each joint of the series robot moves under the drive of the hand of the Parkinson patient, and the corner data of each joint of the series robot can be sent to the computer for storage; then, fixing the wrist joint and the shoulder joint by using a binding band, driving the elbow joint to move independently by using the hand, driving each joint of the serial robot to move in the same way, and sending the corner data of each joint of the serial robot to the computer; similarly, the elbow joint and the shoulder joint are fixed by the binding bands, the wrist joint is driven by the hand to move independently, the computer records the corner data of each joint of the serial robot under the condition that the wrist joint moves independently, and finally, the computer calculates the length of the big arm and the length of the small arm of the Parkinson patient through a certain algorithm according to the recorded corner data and the position of the patient.
In step 603, the tandem robot drives the hands of the parkinson patient to perform a single joint training.
In this embodiment, the tandem robot may perform a single joint training on the parkinson's patient according to the arm length and the arm length of the upper limb of the parkinson's patient obtained by the computer processing in step 602.
Specifically, for example, when shoulder joints are trained, wrist joints and elbow joints can be fixed by using a binding band, the serial robot drives the tremor suppression device to move, the tremor suppression device can adjust the posture under the combined action of the serial robot and hand force of a patient, the hand of the patient can be in a more comfortable posture during training, the hand of the parkinson patient can horizontally rotate on a semicircular horizontal plane which is as high as the shoulder with the shoulder joint as the center and the arm length as the radius, and can also vertically rotate in the vertical direction.
Similarly, the training of the wrist and elbow joints is performed in a similar manner as described above.
In the training process, the series robot can drive the tremor suppression device to move, and the tremor suppression device can adjust the posture under the combined action of the series robot and the hand force of the patient, so that the hand of the patient is in a comfortable posture. When parkinsonism patient hand is trembled, can drive the layer board and tremble, the layer board drives reset spring and removes, and at this moment, this reset spring exerts a counter force to the hand and limits the tremble of parkinsonism patient hand to the tremble amplitude to the hand limits, and simultaneously, the energy when the attenuator can absorb parkinsonism patient hand tremble, like this, reset spring and attenuator can the cooperation restrain the tremble of parkinsonism patient hand.
In the process of single joint passive training, the training equipment for relieving the tremor of the upper limbs of the Parkinson patients can also be used for training the muscular rigidity of the Parkinson patients, the muscular rigidity refers to a group of muscular diseases of which the skeletal muscles are not easy to relax after contraction, and the symptoms can be aggravated by cold, generally speaking, the muscular rigidity is different from the muscular tension increase caused by hemiplegia and paraplegia, and the muscular tension caused by the Parkinson diseases is characterized in that the extensor flexor muscles are increased, and the flexor muscles are more obvious. Muscular rigidity can cause the patient to turn, stand, unbuckle and other daily activities to become slow and difficult, and also to have dull facial expressions, difficulty swallowing, and drooling and monotonous speech.
Specifically, when carrying out the single joint training, for example train the shoulder joint, can fix patient's wrist joint and elbow joint earlier, the tandem robot drives tremor suppression device motion, and tremor suppression device can carry out the posture adjustment under the combined action of tandem robot and patient hand power, makes patient's hand be in comparatively comfortable gesture. Then, the shoulder joint, the wrist joint and the elbow joint are trained in turn in the same way, so that the effect of training each muscle is achieved, and the stronger muscle tension of the Parkinson patient is reduced.
In addition, in the training process, some interesting games can be displayed on the display of the display device, for example, some human-computer interaction games can be designed, so that the joint training can be completed while the Parkinson patients play the games, and the interest of the Parkinson patients in exercising is increased.
Example two: multi-joint compound passive training
Fig. 7 is a flowchart of another training method for reducing tremor in an upper limb of a parkinson's patient, according to an exemplary embodiment of the invention, as shown in fig. 7, the training method comprising:
in step 701, the hands of a parkinson's patient are secured to a pallet.
In this embodiment, can fix parkinson patient's hand on the layer board through the fixed band, make parkinson patient's palm hug closely and set up the pressure sensor on the layer board, this pressure sensor can real-time supervision parkinson patient's hand atress, and when the power that patient's hand received exceeded the certain limit, the system can promptly stop the training to the patient to play safety protection's effect.
In step 702, the distance between the joints of the upper limb of the Parkinson's patient is calculated.
In this embodiment, since different parkinson patients have different sizes and different corresponding arm lengths, the distance between the shoulder joint and the elbow joint (i.e., the large arm length) and the distance between the elbow joint and the wrist joint (i.e., the small arm length) are different. In passive training, in order to train the tandem robot according to the arm length of the patient to be trained, the large arm length and the small arm length of the patient to be trained need to be measured first.
Specifically, the wrist joint and the elbow joint can be fixed by a binding band, the shoulder joint is driven by the hand to move independently, at the moment, each joint of the series robot moves under the drive of the hand of the Parkinson patient, and the corner data of each joint of the series robot can be sent to the computer; then, fixing the wrist joint and the shoulder joint by using a binding band, driving the elbow joint to move independently by using the hand, driving each joint of the serial robot to move in the same way, and sending the corner data of each joint of the serial robot to the computer; similarly, the elbow joint and the shoulder joint are fixed by the binding bands, the wrist joint is driven by the hand to move independently, the computer records the corner data of each joint of the serial robot under the condition that the wrist joint moves independently, and finally, the computer calculates the length of the big arm and the length of the small arm of the Parkinson patient through a certain algorithm according to the recorded corner data and the position of the patient.
In step 703, the tandem robot drives the hands of the parkinson patient to perform multi-joint compound passive training.
In this embodiment, the tandem robot may perform multi-joint composite passive training on the parkinson patient according to the arm length and the arm length of the upper limb of the parkinson patient obtained by the computer processing in step 702.
Specifically, any joint of the upper limb of the Parkinson patient does not need to be fixed, and the serial robot can drive the shoulder joint, the elbow joint and the wrist joint of the upper limb of the Parkinson patient to move simultaneously, so that the myotonia of the Parkinson patient can be trained, and the stronger muscle tension of the Parkinson patient is reduced. In the training process, under the driving of the serial robot, the shoulder joint, the wrist joint and the elbow joint of the Parkinson patient move simultaneously, so that the effect of training the whole muscle group is achieved, and the stronger muscle tension of the Parkinson patient is reduced.
When parkinsonism patient hand is trembled, can drive the layer board and tremble, the layer board drives reset spring and removes, and at this moment, this reset spring exerts a counter force to the hand and restricts the tremble of parkinsonism patient hand to the tremble amplitude to the hand limits, and simultaneously, the energy when the attenuator can absorb parkinsonism patient hand tremble, like this, reset spring and attenuator can the cooperation restrain the tremble of parkinsonism patient hand.
In this embodiment, the motion mode of the serial robot driving the hands of the parkinson patient is not limited, and the motion mode may be other curvilinear motions such as a linear motion, an oblique motion, a circular motion, and the like, which is not limited by the present invention. Similarly, some interesting games can be displayed on the display of the display device, for example, the interactive games specially aiming at multi-joint compound passive training of the upper limb of the Parkinson patient can increase the interest of the exercise of the Parkinson patient.
Example three: active training
The passive training is that the series robot drives the upper limb of the Parkinson patient to move, and the active training is that the upper limb of the Parkinson patient drives the series robot to move. Fig. 8 is a flowchart of another training method for reducing tremor in an upper limb of a parkinson's patient, according to an exemplary embodiment of the invention, and as shown in fig. 8, the training method comprises:
in step 801, the hands of a Parkinson's patient are secured to a pallet.
In this embodiment, can fix parkinson patient's hand on the layer board through the fixed band, make parkinson patient's palm hug closely and set up the pressure sensor on the layer board, this pressure sensor can real-time supervision parkinson patient's hand atress, and when the power that patient's hand received exceeded the certain limit, the system can promptly stop the training to the patient to play safety protection's effect.
In step 802, the upper limb of the parkinson patient actively drives the tandem robot.
In this embodiment, the upper limbs of the parkinson patient drive the tremor suppression device to move, so as to drive the movement of each joint of the series robot, and when the upper limbs of the parkinson patient move, the computer collects data in the series robot and the tremor suppression device in real time, and displays the movement track of the upper limbs of the parkinson patient on the display of the display device in real time, so that the parkinson patient can be encouraged to actively participate in training.
In the initiative training process, the tremor also takes place for parkinson patient's hand in the initiative motion to drive the layer board tremor, the layer board drives reset spring and removes, at this moment, this reset spring exerts a counter force to the hand and restricts the tremor of parkinson patient's hand, thereby restrict the tremor amplitude of hand, simultaneously, the energy when the attenuator can absorb parkinson patient's hand tremor, like this, reset spring and attenuator can cooperate the tremor that suppresses the parkinson patient's hand.
In order to increase the training intensity of the Parkinson patients, the Parkinson patients can also be subjected to impedance training, at the moment, each joint of the series robot can provide resistance, and the tremor suppression device acts on the hands of the Parkinson patients so that the hands of the Parkinson patients can be subjected to rehabilitation training under the resistance. During the impedance training, some training games can be displayed on the display of the display device, for example, games with antagonism are added to stimulate the training annals of the Parkinson patients.
Compared with the prior art, the training equipment and the training method for relieving the tremor of the upper limbs of the Parkinson patients have the following advantages:
1. the device can be used for relieving the upper limb tremor training of the Parkinson patients, and can also be used for training the myotonia of the Parkinson patients, so that the stronger muscle tension of the Parkinson patients is reduced.
2. Not only can a single joint of the upper limb of the Parkinson patient be trained, but also multi-joint composite training and impedance training can be realized, and the rehabilitation of the joint movement capability of the upper limb of the Parkinson patient is facilitated;
3. the training equipment for relieving the upper limb tremor of the Parkinson patients can be suitable for rehabilitation treatment of the Parkinson patients with different body types, and has strong adaptability;
4. in the tremor suppression device, the return spring and the damper are adopted to cooperate to suppress the tremor of the upper limbs of the Parkinson's disease patients, the structure is simple, and the device can be suitable for the Parkinson's disease patients with different tremor frequencies to suppress the tremor;
5. in passive training, the arm length of the Parkinson patients can be measured in advance, and the tandem robot can move to different degrees according to the Parkinson patients with different arm lengths, so that the patients are prevented from being injured in the training process;
6. and a man-machine interaction game is added in the training process, so that the training enthusiasm of the Parkinson patients is improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A training device for reducing upper limb tremor and muscle rigidity in Parkinson's patients, the training device comprising:
the tremor suppression device is used for fixing the upper limbs of the Parkinson patients and suppressing tremor behaviors of the Parkinson patients in the training process;
the series robot is connected with the tremor suppression device and used for matching with the training of the Parkinson patient;
the tremor suppression device comprises a universal rotating part and an angle sensor, wherein the universal rotating part is connected with the serial robot, and the angle sensor is used for detecting the rotating angle of the universal rotating part;
the tremor suppression device comprises three angle sensors for obtaining rotation angle data, wherein one of the three angle sensors is arranged at the joint of the universal rotating part and the connecting base and is used for detecting the rotating angle of the universal rotating part around the z axis, and the other two angle sensors are arranged on the universal rotating part and are used for detecting the rotating angles of the universal rotating part around the x axis and the y axis;
the display device can receive the relevant data of the tremor suppression device and the tandem robot in the training process and is used for displaying the relevant image information of the upper limbs of the Parkinson patients in the training process in real time;
a computer connected with the tremor suppression device, the serial robot and the display device for processing
And acquiring corner data acquired by an angle sensor according to related data in the training process, and calculating the arm length of the patient according to the corner data to train the series robot according to the arm length of the trained patient.
2. Training equipment as claimed in claim 1, wherein the tremor suppression means comprises a fixation section for fixation of the upper limbs of a parkinson's patient and a tremor-absorbing section connected to the fixation section.
3. The training device of claim 2, wherein the anti-tremor portion comprises a mounting plate, a return spring and at least one damper, wherein two ends of the return spring respectively abut against the fixing portion and the mounting plate, and two ends of the at least one damper respectively connect the mounting plate and the fixing portion.
4. The training apparatus of claim 3, wherein the tremor suppression device further comprises a connection base connected to the tandem robot and a universal swivel connected to the mounting plate.
5. Training equipment as claimed in claim 4, wherein the universal swivel is a cross cardan shaft coupling, on which a rotational damper is provided.
6. The training apparatus of claim 3, wherein the fixing portion comprises a support plate for supporting the upper limb of the Parkinson's patient and a fixing band provided on the support plate for positioning the upper limb of the Parkinson's patient, wherein one end of the at least one damper connected to the fixing portion is connected to the support plate, and one end of the return spring abutting the fixing portion abuts the support plate.
7. The training apparatus of claim 6, wherein the stationary portion further comprises a pressure sensor disposed on the pallet.
8. The training apparatus of claim 1, further comprising a seat spaced from and located at a forward end of the tremor suppression device for seating a parkinson's disease patient to be trained.
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| JP7107017B2 (en) * | 2018-06-21 | 2022-07-27 | カシオ計算機株式会社 | Robot, robot control method and program |
| CN109589245A (en) * | 2018-11-14 | 2019-04-09 | 华南理工大学 | A kind of end executive device of passive compliance upper limb rehabilitation robot |
| CN109568082B (en) * | 2018-12-11 | 2020-06-26 | 上海大学 | Upper limb rehabilitation training robot and upper limb rehabilitation training method |
| CN113181007A (en) * | 2021-06-10 | 2021-07-30 | 温州市中心医院 | Parkinson patient rehabilitation training device |
| CN113476783B (en) * | 2021-07-28 | 2022-06-14 | 青岛市中医医院 | Department of neurology rehabilitation training device |
| CN114225337B (en) * | 2021-09-18 | 2022-09-27 | 上海卓道医疗科技有限公司 | Rehabilitation training device and working method thereof |
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| CN102499858B (en) * | 2011-11-11 | 2013-06-26 | 东南大学 | Safety shoulder joint of rehabilitation robot |
| CN203885803U (en) * | 2014-05-16 | 2014-10-22 | 哈尔滨工程大学 | Ankle-foot rehabilitation training device and balance training system |
| CN106420261B (en) * | 2016-10-20 | 2020-07-14 | 上海交通大学 | Semi-exoskeleton upper limb rehabilitation instrument |
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| CN102309395A (en) * | 2006-09-25 | 2012-01-11 | 松下电工株式会社 | Passive motion-type exercise assistance device |
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