CN109330825B - Hand rehabilitation mirror image training robot - Google Patents
Hand rehabilitation mirror image training robot Download PDFInfo
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- CN109330825B CN109330825B CN201811507998.9A CN201811507998A CN109330825B CN 109330825 B CN109330825 B CN 109330825B CN 201811507998 A CN201811507998 A CN 201811507998A CN 109330825 B CN109330825 B CN 109330825B
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- 230000003925 brain function Effects 0.000 abstract description 3
- 230000007659 motor function Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000007634 remodeling Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 208000014674 injury Diseases 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000002560 therapeutic procedure Methods 0.000 description 3
- 208000012260 Accidental injury Diseases 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010021403 Illusion Diseases 0.000 description 1
- 208000002193 Pain Diseases 0.000 description 1
- 208000004983 Phantom Limb Diseases 0.000 description 1
- 206010056238 Phantom pain Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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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
-
- 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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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a mirror image training robot for hand rehabilitation, which comprises a training table mechanism, a display device, a support mechanism, a small display mechanism, a hand rehabilitation device, a sound, a square prop, a cylindrical prop and a seat. The bracket mechanism is fixed on the training table mechanism; the display device is fixed at the extending end of the bracket mechanism through a screw; the small display mechanism is fixed at the position of the rear side of the bracket mechanism; the stereo, the square prop and the cylindrical prop are respectively two and are placed on the left side and the right side of the training table, the stereo is used for voice reminding when a patient performs training, and the square prop and the cylindrical prop can be grabbed by the patient when the square prop and the cylindrical prop are used for rehabilitation training; the hand rehabilitation device is bound on the affected hand of the patient and is used for driving the affected hand of the patient to train under the condition of mirror image training; the seat can be adjusted according to the height of the patient. The invention can help patients to carry out hand rehabilitation mirror image training, increase the sense of reality of hand rehabilitation of patients, promote brain function remodeling and induce motor function recovery, thereby solving some daily living requirements of patients.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to a mirror image training robot for hand rehabilitation.
Background
Mirror image therapy, also known as mirror image visual feedback therapy, was first proposed in 1995 by Ramachandran et al and was used in the treatment of pain in phantom limb pain patients. The mirror image therapy is a treatment means which is formed by copying a picture of the movement of the healthy side to the affected side by using a plane imaging principle, enabling a patient to imagine the movement of the affected side and combining a rehabilitation training project through visual illusion, visual feedback and virtual reality. At present, a hand rehabilitation mirror image training device is simpler and not perfect enough, usually only one mirror is used for rehabilitation training, only the visual angle is focused for rehabilitation training, and mirror image rehabilitation training is not realized by combining medical equipment.
Disclosure of Invention
The invention aims to provide a robot for mirror image training of hand rehabilitation, which is used for solving the problems in the prior art, helping patients with hand dysfunction caused by upper limb hemiplegia, movement injury and accidental injury caused by stroke to perform rehabilitation training, and simultaneously combining mirror image medical treatment and hand rehabilitation medical equipment to perform rehabilitation training through vision and force sense.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a mirror image training robot for hand rehabilitation, which comprises a training table mechanism and a seat matched with the training table mechanism, wherein a support mechanism, a display device, a hand rehabilitation device and a prop component are arranged on the table top of the training table mechanism, the support mechanism is fixed on the table top plate of the training table, the display device is installed at the extending end of the support mechanism through screws, the prop component is placed on the left side and the right side of the table top of the training table mechanism, and the hand rehabilitation device is connected with the display device through a controller and is used for being bound on the affected side hand of a patient.
Preferably, the training table mechanism comprises a table frame and universal wheels, the table frame is used for supporting the table top plate, and the universal wheels are installed at four corners of the bottom end of the table frame.
Preferably, the training table mechanism further comprises an emergency stop switch, and the emergency stop switch is used for patients or medical staff to take emergency stop measures.
Preferably, the support mechanism comprises a vertical support, a transverse support, a drawer-type inner guide rail, a drawer-type outer guide rail and a display support; the vertical bracket is directly arranged on the table top plate, and the transverse bracket is inserted into the vertical bracket and locked by a screw; the drawer-type inner guide rails are installed on two sides of the inner groove of the transverse support, the drawer-type outer guide rails are installed on two sides of the display support, and the display support on which the drawer-type outer guide rails are installed is installed on the drawer-type inner guide rails.
Preferably, the support mechanism further comprises a camera and a camera support, the camera is mounted in an inner groove of the camera support, the camera support is mounted at the lower end of the transverse support, and the camera is used for collecting videos of hand movements of a patient inside a mirror in the display device and is in signal connection with the hand rehabilitation device through a feedback center in the controller.
Preferably, the display device comprises a display fixing plate, a display and a mirror, the display is embedded on the front surface of the display fixing plate, the plane of the display is flush with the plane of the display fixing plate, and the mirror is installed on the back surface of the display fixing plate.
Preferably, the prop assembly comprises two sets of props, each set of props is provided with a square prop and a cylindrical prop, and the two sets of props are respectively placed on the left side and the right side of the table top of the training table mechanism.
Preferably, the training table mechanism is further provided with a sound box, and the sound box is used for providing voice reminding when the patient trains.
Preferably, a small display mechanism fixed at the rear side position of the support mechanism is further arranged on the table top plate of the training table mechanism, and the small display mechanism comprises a small display, a small display support base, a small display middle support, a small display tail end support and a small display fixing plate; the small display middle bracket is arranged on the small display bracket base cylinder, the small display tail end bracket is arranged on the small display middle bracket cylinder, the small display fixing plate is embedded in the small display tail end bracket, and the small display is arranged on the small display fixing plate through screws; the joints of all parts, which are connected with each other, of the small display bracket base, the small display middle bracket, the small display tail end bracket and the small display fixing plate can generate relative motion.
Compared with the prior art, the invention has the following technical effects:
the hand rehabilitation mirror image training robot can help a patient to perform rehabilitation training from the visual angle, promote brain function remodeling and induce motor function recovery; can carry out the rehabilitation training of the force sense under the assistance of medical equipment, and is beneficial to the facilitation of the motor nerve path of a patient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a hand rehabilitation mirror image training robot;
FIG. 2 is a schematic view of a training table;
FIG. 3 is a schematic diagram of a display device;
FIG. 4 is a structural diagram of a support mechanism;
FIG. 5 is a schematic structural diagram of a small display mechanism;
wherein, 1-a training table mechanism, 2-a display device, 3-a support mechanism, 4-a small display mechanism, 5-a hand rehabilitation device, 6-a sound, 7-a square, 8-a column, 9-a seat, 11-a table frame, 12-a table panel, 13-an emergency stop switch, 14-a universal wheel and 21-a display fixing plate, 22-display, 23-mirror, 31-vertical support, 32-transverse support, 33-drawer type inner guide rail, 34-drawer type outer guide rail, 35-display support, 36-camera support, 37-camera, 41-small display, 42-small display support base, 43-small display middle support, 44-small display end support and 45-small display fixing plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a robot for mirror image training of hand rehabilitation, which is used for solving the problems in the prior art, helping patients with hand dysfunction caused by upper limb hemiplegia, movement injury and accidental injury caused by stroke to perform rehabilitation training, and simultaneously combining mirror image medical treatment and hand rehabilitation medical equipment to perform rehabilitation training through vision and force sense.
Based on the above, the hand rehabilitation mirror image training robot provided by the invention comprises a training table mechanism and a seat matched with the training table mechanism, wherein a support mechanism, a display device, a hand rehabilitation device and a prop component are arranged on the table top of the training table mechanism, the support mechanism is fixed on the table top of the training table, the display device is installed at the extending end of the support mechanism through screws, the prop component is placed on the left side and the right side of the table top of the training table mechanism, and the hand rehabilitation device is connected with the display device through a controller and is used for being bound on the hand on the affected side of a patient.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-5, fig. 1 is a schematic diagram of an overall structure of a hand rehabilitation mirror image training robot; FIG. 2 is a schematic view of a training table; FIG. 3 is a schematic diagram of a display device; FIG. 4 is a structural diagram of a support mechanism; fig. 5 is a structural diagram of a small display mechanism.
The invention provides a mirror image training robot for hand rehabilitation, which is structurally shown in figure 1 and comprises a training table mechanism 1, a display device 2, a support mechanism 3, a small display mechanism 4, a hand rehabilitation device 5, a sound box 6, a square prop 7, a cylindrical prop 8 and a seat 9. The bracket mechanism 3 is fixed on the training table mechanism 1; the display device 2 is fixed at the extending end of the bracket mechanism 3 through a screw; the small display mechanism 4 is fixed at the rear side position of the bracket mechanism 3; the stereo 6, the square prop 7 and the cylindrical prop 8 are respectively two and are placed on the left side and the right side of the training table mechanism 1.
Further, the sound 6 is used for voice reminding when the patient performs training, and the square prop 7 and the cylindrical prop 8 are used for grabbing by the patient during rehabilitation training; the hand rehabilitation device 5 is bound on the affected hand of the patient and is used for driving the affected hand of the patient to train under the condition of mirror image training; the seat 9 is adjustable according to the height of the patient.
As shown in fig. 2, the training table mechanism 1 includes a table frame 11, a table top 12, an emergency stop switch 13, and universal wheels 14. The table top plate 12 is supported on the left side and the right side of the table frame 11, the emergency stop switch 13 is placed at the left lower corner and the right lower corner of the table top plate 12, so that emergency stop measures can be taken by patients or medical staff conveniently, and the universal wheels 14 are installed at the lower end corners of the table frame 11, so that the whole mechanism can be transported conveniently.
As shown in fig. 3, the display device 2 includes a display fixing plate 21, a display 22, and a mirror 23. The display 22 is embedded on the front surface of the display fixing plate 21, and the plane of the display 22 is flush with the plane of the display fixing plate 21; a mirror 23 is mounted on the back of the display fixing plate 21.
As shown in fig. 4, the support mechanism 3 includes a vertical support 31, a lateral support 32, a drawer-type inner rail 33, a drawer-type outer rail 34, a display support 35, a camera support 36, and a camera 37. The vertical support 31 is directly installed on the table top 12, and then the horizontal support 32 is inserted into the vertical support 31 and locked by screws; the drawer type inner guide rails 33 are installed at both sides of the inner groove of the transverse bracket 32, the drawer type outer guide rails 34 are installed at both sides of the display bracket 35, and the display bracket 35 with the drawer type outer guide rails 34 installed is installed on the drawer type inner guide rails 33; the camera 37 is mounted in a groove in the camera support 36, and then the camera support 36 is mounted at the lower end of the transverse support 32, and the camera 37 is used for collecting video of the movement of the hand of the patient in the mirror 23.
As shown in fig. 5, the small monitor mechanism 4 includes a small monitor 41, a small monitor support base 42, a small monitor middle support 43, a small monitor end support 44, and a small monitor fixing plate 45. The middle bracket 43 of the small display is arranged on the cylinder of the base 42 of the small display bracket, the end bracket 44 of the small display is arranged on the cylinder of the middle bracket 43 of the small display, the fixing plate 45 of the small display is embedded into the end bracket 44 of the small display, the joints of all the parts can generate relative movement, and the small display 41 is arranged on the fixing plate 45 of the small display through screws. The small display mechanism 4 is mainly used for displaying relevant information of a patient, and medical staff carries out rehabilitation training by setting the small display 41 to select a mode in which the patient needs to be rehabilitated. The small display mechanism 4 can be pulled to a position convenient for the medical care personnel to operate during training; the small display means 4 are placed on one side when not exercising.
When mirror image rehabilitation training is performed, firstly, a patient side-care hand grabs a square 7 or a column 8 prop on the back of the display device 2; then, a camera 37 is used for collecting the video of the movement of the healthy side hand in the mirror 23 at the back of the display device 2, and the collected video is displayed in the display 22 and provided for the patient to watch; and finally, the hand rehabilitation device sets a control mode according to the motion action of the healthy side hand, so that the affected side hand of the patient is driven to grab the prop. Thus, the patient feels that the hands can move through the display 22, which is beneficial to promoting the brain function to be remolded and inducing the motor function to be recovered; meanwhile, the hand rehabilitation device 5 drives the hand to move, which is beneficial to the facilitation of the motor nerve path of the patient.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. The utility model provides a recovered mirror image training robot of hand which characterized in that: the hand rehabilitation device is connected with the display device through a controller and is used for being bound on an affected hand of a patient;
the bracket mechanism comprises a vertical bracket, a transverse bracket, a drawer type inner guide rail, a drawer type outer guide rail and a display bracket; the vertical bracket is directly arranged on the table top plate, and the transverse bracket is inserted into the vertical bracket and locked by a screw; the drawer-type inner guide rails are arranged on two sides of the inner groove of the transverse support, the drawer-type outer guide rails are arranged on two sides of the display support, and the display support with the drawer-type outer guide rails installed is arranged on the drawer-type inner guide rails; the display device comprises a display fixing plate, a display and a mirror, wherein the display is embedded on the front surface of the display fixing plate, the plane of the display is flush with the plane of the display fixing plate, and the mirror is installed on the back surface of the display fixing plate;
the support mechanism further comprises a camera and a camera support, the camera is mounted in an inner groove of the camera support, the camera support is mounted at the lower end of the transverse support, and the camera is used for collecting videos of the patient side-care hand movement inside a mirror in the display device and is in signal connection with the hand rehabilitation device through a feedback center in the controller.
2. The hand rehabilitation mirror image training robot of claim 1, wherein: the training table mechanism comprises a table frame and universal wheels, the table frame is used for supporting the table panel, and the universal wheels are installed at four corners of the bottom end of the table frame.
3. The hand rehabilitation mirror image training robot of claim 1, wherein: the training table mechanism further comprises an emergency stop switch, and the emergency stop switch is used for patients or medical staff to take emergency stop measures.
4. The hand rehabilitation mirror image training robot of claim 1, wherein: the prop component comprises two groups of props, each group of props is respectively provided with a square prop and a cylindrical prop, and the two groups of props are respectively placed on the left side and the right side of the table panel of the training table mechanism.
5. The hand rehabilitation mirror image training robot of claim 1, wherein: the training table mechanism is also provided with a sound box, and the sound box is used for providing voice prompt when the patient trains.
6. The hand rehabilitation mirror image training robot of claim 1, wherein: a small display mechanism fixed at the rear side position of the bracket mechanism is further arranged on the table top plate of the training table mechanism, and comprises a small display, a small display bracket base, a small display middle bracket, a small display tail end bracket and a small display fixing plate; the small display middle bracket is arranged on the small display bracket base cylinder, the small display tail end bracket is arranged on the small display middle bracket cylinder, the small display fixing plate is embedded in the small display tail end bracket, and the small display is arranged on the small display fixing plate through screws; the joints of all parts, which are connected with each other, of the small display bracket base, the small display middle bracket, the small display tail end bracket and the small display fixing plate can generate relative motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507998.9A CN109330825B (en) | 2018-12-11 | 2018-12-11 | Hand rehabilitation mirror image training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507998.9A CN109330825B (en) | 2018-12-11 | 2018-12-11 | Hand rehabilitation mirror image training robot |
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| CN109330825A CN109330825A (en) | 2019-02-15 |
| CN109330825B true CN109330825B (en) | 2020-06-23 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846673B (en) * | 2019-03-11 | 2020-05-15 | 上海大学 | Co-fusion type double-arm rehabilitation training robot |
| CN109999427A (en) * | 2019-05-06 | 2019-07-12 | 上海机器人产业技术研究院有限公司 | A kind of upper-limbs rehabilitation training robot based on mobile platform |
| CN113274242A (en) * | 2021-04-21 | 2021-08-20 | 上海大学 | Small-size intelligent upper limbs rehabilitation robot |
| CN113413579A (en) * | 2021-06-15 | 2021-09-21 | 黄富表 | Humanized table chair combination of applied pressure sensor based on cylinder training |
| CN113350750A (en) * | 2021-06-16 | 2021-09-07 | 浙江省肿瘤医院 | Nursing device suitable for breast cancer postoperative |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101511427B1 (en) * | 2012-08-30 | 2015-04-10 | 서울대학교산학협력단 | A treatment device for hemiplegia |
| CN106178426A (en) * | 2014-10-21 | 2016-12-07 | 复旦大学附属华山医院 | Digitalized artificial mirror image treatment training system |
| JP5928851B2 (en) * | 2014-11-26 | 2016-06-01 | 株式会社ピーアンドエーテクノロジーズ | Rehabilitation equipment |
| AU2016232780A1 (en) * | 2015-03-18 | 2017-10-05 | Mirrored Motion Works, Inc. | Bimanual arm trainer |
| CN107184372A (en) * | 2017-07-19 | 2017-09-22 | 深圳睿瀚医疗科技有限公司 | It is a kind of to be used for the visual transmission accessory system and method for neural rehabilitation |
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