CN108743214A - A kind of both hands visual transmission auxiliary system and method for neural rehabilitation - Google Patents
A kind of both hands visual transmission auxiliary system and method for neural rehabilitation Download PDFInfo
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- CN108743214A CN108743214A CN201810322685.XA CN201810322685A CN108743214A CN 108743214 A CN108743214 A CN 108743214A CN 201810322685 A CN201810322685 A CN 201810322685A CN 108743214 A CN108743214 A CN 108743214A
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- mechanical arm
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- master controller
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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
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
Abstract
The invention discloses a kind of both hands visual transmission auxiliary systems for neural rehabilitation, include：One left mechanical arm is worn on patient's left hand portion, left side arm and finger movement for driving patient；One right mechanical arm, is worn on patient's right hand portion, right side arm and finger movement for driving patient；One master controller, the master controller is preset with right-hand man's motion video of normal hand and right-hand man's event trace corresponding with right-hand man's motion video, and the master controller is for driving left mechanical arm and right mechanical arm to be moved respectively according to right-hand man's event trace；One video player, the video player are electrically connected at master controller, and the video player is used to play right-hand man's motion video while left mechanical arm and right mechanical arm move.The present invention can effectively avoid uninteresting, dull in such a way that both hands synchronize stimulation, substantially increase the efficiency of rehabilitation training and the harmony of both hands.
Description
Technical field
The present invention relates to apoplexy, the neural rehabilitation auxiliary systems of hemiplegia patient more particularly to a kind of for neural rehabilitation
Both hands visual transmission auxiliary system and method.
Background technology
Apoplexy, hemiplegia are called hemiplegia, refer to the dyskinesia of side upper and lower extremities, facial muscle and lingualis lower part, are acute
The common sympton of cerebrovascular disease.Although slight hemiplegia patient still can be movable, walk and, often upper limb buckling, lower limb stretch,
The lower limb of paralysis, which make a move, draws half of circle, and this special walking posture is called hemiplegic gait, and severe patient is often unable to leave the bed, funeral
Lose viability.For the patient of apoplexy, hemiplegia, manual massage or machinery are generally used for the mode of its rehabilitation at present
The method of recovery, still, the human cost needed for manual massage's mode are too high, and machinery restores the flesh for being also only to aid in patient
Meat not atrophy, to the nervous system of patient, there is no rehabilitative actions, thus can not play a role in neural work of rehabilitation.
Invention content
The technical problem to be solved in the present invention is, in view of the deficiencies of the prior art, provide it is a kind of based on visual transmission and
The R. concomitans that machinery restores, in conjunction with both hands visual transmission mode, auxiliary realizes CO2 laser weld in the training process, and then helps
Apoplexy and hemiplegia patient carry out the both hands visual transmission auxiliary system and method that rehabilitation training is used for neural rehabilitation.
In order to solve the above technical problems, the present invention adopts the following technical scheme that.
A kind of both hands visual transmission auxiliary system for neural rehabilitation, which is characterized in that include：One left manipulator
Arm is worn on patient's left hand portion, left side arm and finger movement for driving patient；One right mechanical arm, is worn on patient
Right hand portion, right side arm and finger movement for driving patient；One master controller, the master controller are preset with normal hand
Right-hand man's motion video and right-hand man's event trace corresponding with right-hand man's motion video, the master controller use
It is moved respectively according to right-hand man's event trace in driving left mechanical arm and right mechanical arm；One video player, it is described to regard
Frequency player is electrically connected at master controller, and the video player is used to move in left mechanical arm and right mechanical arm same
When play right-hand man's motion video.
Preferably, the master controller is electrically connected with storage unit, and the storage unit is for storing right-hand man's activity
Video and right-hand man's event trace corresponding with right-hand man's motion video.
Preferably, right-hand man's event trace is different, to enable the left mechanical arm and right mechanical arm execute different actions.
Preferably, the master controller is communicated with the left mechanical arm and the foundation of right mechanical arm, if the main control
One of device and the left mechanical arm and right mechanical arm communication failure, then the master controller stop mechanical arm and the right side to the left
Mechanical arm sends out motion control instruction.
A kind of both hands visual transmission householder method for neural rehabilitation, this method is based on system realization, the system
Include a left mechanical arm, a right mechanical arm, a master controller and a video player, the left mechanical arm is worn on
Patient's left hand portion and the left side arm and finger movement for being used to drive patient, the right mechanical arm are worn on patient's right hand portion
And right side arm and finger movement for driving patient, the video player are electrically connected at master controller, the master
Controller is preset with right-hand man's motion video of normal hand and right-hand man corresponding with right-hand man's motion video lives
Dynamic rail mark, described method includes following steps：Step S1, the video player play right-hand man's motion video；Step S2, institute
Stating master controller, mechanical arm and right mechanical arm send out motion control instruction to the left；Step S3, the left mechanical arm and the right side
Mechanical arm executes the motion control instruction, and is moved respectively according to right-hand man's event trace.
Preferably, right-hand man's event trace is different, and in the step S3, the left mechanical arm and right mechanical arm execute
Difference action.
Preferably, the master controller is communicated with the left mechanical arm and the foundation of right mechanical arm, if the main control
One of device and the left mechanical arm and right mechanical arm communication failure, then the master controller stop mechanical arm and the right side to the left
Mechanical arm sends out motion control instruction.
Preferably, the master controller monitors the movement velocity of the left mechanical arm and right mechanical arm, if the left side
The movement position of mechanical arm and right mechanical arm lags behind right-hand man's event trace, then the main controller controls video playing
Device suspends right-hand man's motion video, until the movement position of the left mechanical arm and right mechanical arm and right-hand man's event trace
When synchronous, continue to play right-hand man's motion video.
Preferably, the master controller is electrically connected with storage unit, and the storage unit is for storing right-hand man's activity
Video and right-hand man's event trace corresponding with right-hand man's motion video.
Preferably, in the step S3, right-hand man's event trace is different, to enable the left mechanical arm and right mechanical arm
Execute different actions.
Both hands visual transmission auxiliary system disclosed by the invention for neural rehabilitation, in the process of implementation, first with institute
It states video player and plays right-hand man's motion video, meanwhile, the master controller drives the left mechanical arm and right manipulator
Arm is moved according to right-hand man's event trace respectively.In the above process, patient watches video while, can stimulate cranial nerve, simultaneously
Left mechanical arm and right mechanical arm drive left hand and the right hand movement of patient, under the conditions of long-time functional stimulus, it is ensured that
The both hands not atrophy of patient can also quickly get through contacting for cranial nerve and hand, and then help patients ' recovery.In addition, this hair
It is bright in such a way that both hands synchronize stimulation, compared to only for hand carries out the system of rehabilitation training, the present invention can effectively be kept away
Exempt from uninteresting, dull, particularly suitable for the patient of both hands dysfunction simultaneously, and substantially increases the efficiency and both hands of rehabilitation training
Harmony.
Description of the drawings
Fig. 1 is the composition frame chart of present system.
Fig. 2 is the method flow diagram in the preferred embodiment of the present invention.
Specific implementation mode
The present invention is described in more detail with reference to the accompanying drawings and examples.
The invention discloses a kind of both hands visual transmission auxiliary systems for neural rehabilitation, please refer to Fig. 1 comprising
Have：
One left mechanical arm 1 is worn on patient's left hand portion, left side arm and finger movement for driving patient；
One right mechanical arm 2, is worn on patient's right hand portion, right side arm and finger movement for driving patient；
One master controller 4, the master controller 4 be preset with normal hand right-hand man's motion video and with the left and right
The corresponding right-hand man's event trace of hand motion video, the master controller 4 is for driving left mechanical arm 1 and right mechanical arm
2 move according to right-hand man's event trace respectively；
One video player 5, the video player 5 are electrically connected at master controller 4, and the video player 5 is used for
Right-hand man's motion video is played while left mechanical arm 1 and right mechanical arm 2 move.
Above system plays right-hand man's motion video in the process of implementation, first with the video player 5, meanwhile, institute
Stating master controller 4 drives the left mechanical arm 1 and right mechanical arm 2 to be moved respectively according to right-hand man's event trace.It is above-mentioned
In the process, cranial nerve can be stimulated while patient watches video, while left mechanical arm 1 and right mechanical arm 2 drive patient's
Left hand and right hand movement, under the conditions of long-time functional stimulus, it is ensured that the both hands not atrophy of patient can also quickly get through brain
Nerve is contacted with hand, and then helps patients ' recovery.In addition, the present invention, in such a way that both hands synchronize stimulation, it is only right to compare
For one hand carries out the system of rehabilitation training, the present invention can effectively avoid it is uninteresting, dull, particularly suitable for both hands function simultaneously
The patient of obstacle, and substantially increase the efficiency of rehabilitation training and the harmony of both hands.
In the present embodiment, the master controller 4 is electrically connected with storage unit 6, and the storage unit 6 is for storing left and right
Hand motion video and right-hand man's event trace corresponding with right-hand man's motion video.
Right-hand man's event trace is different as a preferred method, to enable the left mechanical arm 1 and right mechanical arm 2
Execute different actions.In the present embodiment, the action of two hands is different in fact, so the training of both hands can temper two
The harmony of hand.
In practical application, the master controller 4 is communicated with the left mechanical arm 1 and the foundation of right mechanical arm 2, if described
One of master controller 4 and the left mechanical arm 1 and right mechanical arm 2 communication failure, then the master controller 4 stop machine to the left
Tool arm 1 and right mechanical arm 2 send out motion control instruction.
In order to preferably describe technical scheme of the present invention, the invention also discloses a kind of both hands for neural rehabilitation to regard
Frequency stimulation householder method, in conjunction with shown in Fig. 1 and Fig. 2, this method realizes that the system comprises have a left manipulator based on a system
Arm 1, a right mechanical arm 2, a master controller 4 and a video player 5, the left mechanical arm 1 are worn on patient's left hand portion
And left side arm and finger movement for driving patient, the right mechanical arm 2 are worn on patient's right hand portion and are used for
The right side arm and finger movement of patient, the video player 5 is driven to be electrically connected at master controller 4, the master controller 4
It is preset with right-hand man's motion video of normal hand and right-hand man's event trace corresponding with right-hand man's motion video,
Described method includes following steps：
Step S1, the video player 5 play right-hand man's motion video；
Step S2, mechanical arm 1 and right mechanical arm 2 send out motion control instruction to the master controller 4 to the left；
Step S3, the left mechanical arm 1 and right mechanical arm 2 execute the motion control instruction, and respectively according to
Right-hand man's event trace and move.
In the above method, right-hand man's event trace is different, in the step S3, the left mechanical arm 1 and right manipulator
Arm 2 executes different actions.
As a preferred method, in order to ensure that left mechanical arm 1 and right mechanical arm 2 accurately execute motion command, institute
It states master controller 4 to communicate with the left mechanical arm 1 and the foundation of right mechanical arm 2, if the master controller 4 and the left machinery
One of arm 1 and right mechanical arm 2 communication failure, then the master controller 4 stop mechanical arm 1 and right mechanical arm 2 to the left
Send out motion control instruction.
In order to ensure that mechanical arm is synchronous with the hand video in video, in the present embodiment, the master controller 4 monitors institute
The movement velocity of left mechanical arm 1 and right mechanical arm 2 is stated, if the movement position of the left mechanical arm 1 and right mechanical arm 2
Right-hand man's event trace is lagged behind, then the master controller 4 controls the pause right-hand man's motion video of video player 5, until institute
State left mechanical arm 1 and right mechanical arm 2 movement position it is synchronous with right-hand man's event trace when, continue to play right-hand man's activity
Video.
In the above method, the master controller 4 is electrically connected with storage unit 6, and the storage unit 6 is for storing left and right
Hand motion video and right-hand man's event trace corresponding with right-hand man's motion video.
Further, in the step S3, right-hand man's event trace is different, to enable the left mechanical arm 1 and right machinery
Arm 2 executes different actions.
The above is preferred embodiments of the present invention, is not intended to restrict the invention, all technology models in the present invention
Interior done modification, equivalent replacement or improvement etc. are enclosed, should be included in the range of of the invention protect.
Claims (10)
1. a kind of both hands visual transmission auxiliary system for neural rehabilitation, which is characterized in that include：
One left mechanical arm (1), is worn on patient's left hand portion, left side arm and finger movement for driving patient；
One right mechanical arm (2), is worn on patient's right hand portion, right side arm and finger movement for driving patient；
One master controller (4), the master controller (4) be preset with normal hand right-hand man's motion video and with the left and right
The corresponding right-hand man's event trace of hand motion video, the master controller (4) is for driving left mechanical arm (1) and right machinery
Arm (2) is moved according to right-hand man's event trace respectively；
One video player (5), the video player (5) are electrically connected at master controller (4), the video player (5)
For playing right-hand man's motion video while left mechanical arm (1) and mobile right mechanical arm (2).
2. the both hands visual transmission auxiliary system as described in claim 1 for neural rehabilitation, which is characterized in that the master control
Device (4) processed is electrically connected with storage unit (6), the storage unit (6) for store right-hand man's motion video and with it is described
The corresponding right-hand man's event trace of right-hand man's motion video.
3. the both hands visual transmission auxiliary system as described in claim 1 for neural rehabilitation, which is characterized in that right-hand man lives
Dynamic rail mark is different, to enable the left mechanical arm (1) action different with right mechanical arm (2) execution.
4. the both hands visual transmission auxiliary system as described in claim 1 for neural rehabilitation, which is characterized in that the master control
Device (4) processed communicates with the left mechanical arm (1) and right mechanical arm (2) foundation, if the master controller (4) and the left machine
One of tool arm (1) and right mechanical arm (2) communication failure, then the master controller (4) stop mechanical arm (1) and the right side to the left
Mechanical arm (2) sends out motion control instruction.
5. a kind of both hands visual transmission householder method for neural rehabilitation, which is characterized in that this method is based on system realization,
The system comprises having a left mechanical arm (1), a right mechanical arm (2), a master controller (4) and a video player (5),
The left mechanical arm (1) is worn on patient's left hand portion and left side arm and finger movement for driving patient, the right side
Mechanical arm (2) is worn on patient's right hand portion and right side arm and finger movement for driving patient, the video playing
Device (5) is electrically connected at master controller (4), the master controller (4) be preset with normal hand right-hand man's motion video and
Right-hand man's event trace corresponding with right-hand man's motion video, described method includes following steps：
Step S1, the video player (5) play right-hand man's motion video；
Step S2, mechanical arm (1) and right mechanical arm (2) send out motion control instruction to the master controller (4) to the left；
Step S3, the left mechanical arm (1) and right mechanical arm (2) execute the motion control instruction, and respectively according to
Right-hand man's event trace and move.
6. the both hands visual transmission householder method as claimed in claim 5 for neural rehabilitation, which is characterized in that right-hand man lives
Dynamic rail mark is different, in the step S3, the left mechanical arm (1) action different with right mechanical arm (2) execution.
7. the both hands visual transmission householder method as claimed in claim 5 for neural rehabilitation, which is characterized in that the master control
Device (4) processed communicates with the left mechanical arm (1) and right mechanical arm (2) foundation, if the master controller (4) and the left machine
One of tool arm (1) and right mechanical arm (2) communication failure, then the master controller (4) stop mechanical arm (1) and the right side to the left
Mechanical arm (2) sends out motion control instruction.
8. the both hands visual transmission householder method as claimed in claim 5 for neural rehabilitation, which is characterized in that the master control
The movement velocity of device (4) the monitoring left mechanical arm (1) and right mechanical arm (2) processed, if the left mechanical arm (1) and the right side
The movement position of mechanical arm (2) lags behind right-hand man's event trace, then master controller (4) the control video player (5)
Suspend right-hand man's motion video, until the movement position of the left mechanical arm (1) and right mechanical arm (2) and right-hand man's activity
When trajectory synchronization, continue to play right-hand man's motion video.
9. the both hands visual transmission householder method as claimed in claim 5 for neural rehabilitation, which is characterized in that the master control
Device (4) processed is electrically connected with storage unit (6), the storage unit (6) for store right-hand man's motion video and with it is described
The corresponding right-hand man's event trace of right-hand man's motion video.
10. the both hands visual transmission householder method as claimed in claim 5 for neural rehabilitation, which is characterized in that the step
In rapid S3, right-hand man's event trace is different, to enable the left mechanical arm (1) action different with right mechanical arm (2) execution.
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| CN201810322685.XA CN108743214A (en) | 2018-04-11 | 2018-04-11 | A kind of both hands visual transmission auxiliary system and method for neural rehabilitation |
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Application publication date: 20181106 |