CN109512494A - A kind of exoskeleton auxiliary rehabilitation therapy system - Google Patents
A kind of exoskeleton auxiliary rehabilitation therapy system Download PDFInfo
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- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
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Abstract
The invention discloses a kind of exoskeleton auxiliary rehabilitation therapy systems, it is related to medicine auxiliary therapeutic area, solves exoskeleton device during use, the problem of motion state in the life of patient can not be real-time monitored, its key points of the technical solution are that: it further include central server, patient terminal, hospital terminal, pressure detecting module；Pressure detecting signal is used to judge the healing status at current knochenbruch and for understanding currently disconnected symphysis period；Pressure reference signal is preset on central server, central server obtains pressure detecting signal and judges the size with pressure reference signal, and when pressure detecting signal is greater than pressure reference signal, hospital terminal is to realize warning.A kind of exoskeleton auxiliary rehabilitation therapy system of the invention, is measured in real time the motion state of patient, and will test data and be uploaded to cloud central server, so that people check, while judging knochenbruch healing, more intelligently.
Description
Technical field
The present invention relates to a kind of medicine auxiliary therapeutic area, in particular to a kind of exoskeleton auxiliary rehabilitation therapy system.
Background technique
Fracture is a kind of wound common on Orthopedic Clinical, and patient needs to receive corresponding treatment to guarantee after fracture occurs
Impaired bone is got well.
In the prior art, such as the Chinese patent of Publication No. CN106420022B, a kind of intelligence for fractures
Property exoskeleton device, including intelligent personalized ectoskeleton and installation auxiliary device, installation auxiliary device include steel needle with a scale,
Bone reduction mechanism and benchmark fixed plate, steel needle with a scale are coupled by benchmark fixed plate and bone reduction mechanism in intelligence
The corresponding lesions position of personalized ectoskeleton.The present invention is to retain inside and outside fixed advantage, for the purpose of removing inside and outside fixed disadvantage
Design.Ectoskeleton of the invention realizes that the design of ectoskeleton, which then involves, accurately sets nail, CT thin layer scanning, meter by 3D printing
A series of technologies such as calculation machine virtually resets, biomethanics designs, are a kind of intelligent personalized customized type solutions for fractures
Certainly scheme.May be implemented minimally invasive, accurate reset, strong fixation, early recovery limb function purpose.
But exoskeleton device can not know the rehabilitation state of patient during actual use, usually I
Judged that accuracy of judgement degree is low using the auxiliary of time and CT, therefore, doctor often allows patient's continuous wear ectoskeleton to fill
It sets, to guarantee safety, wear time is caused to increase, there is room for improvement.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of exoskeleton auxiliary rehabilitation treatment system
System, is measured in real time the motion state of patient, and will test data and be uploaded to cloud central server, so that people look into
It sees, while knochenbruch healing is judged, more intelligently.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of exoskeleton auxiliary rehabilitation therapy system is connected to the dress of the ectoskeleton on two knochenbruch by bone steel needle including corresponding
Set (1), further includes:
Central server, for carrying out the processing and storage of data；
Patient terminal connect with central server and is used for data interaction；
Hospital terminal connect with central server and is used for data interaction；
Pressure detecting module is set in exoskeleton device and connect with central server and for detecting the pressure in exoskeleton device
Power and output pressure detection signal；
Pressure detecting signal is used to judge the healing status at current knochenbruch and for understanding currently disconnected symphysis period；
Be preset with pressure reference signal on the central server, the central server obtain pressure detecting signal and judge with
The size of pressure reference signal, when pressure detecting signal is greater than pressure reference signal, the hospital terminal is to realize warning.
Using the above scheme, by the setting of central server, data are handled and are stored, at the same patient terminal with
Hospital terminal is attached with central server, to improve the interaction capabilities of data, while according to indicating module and police
Show that module is indicated and warned, the size of pressure detecting signal is fed back to improve, to the motion state of patient
It is measured in real time, and will test data and be uploaded to cloud central server, more intelligently.
Preferably, further including the rehabilitation training module being connect with central server, preset in the rehabilitation training module
There is rehabilitation training database；
The central server according to pressure detecting signal from matched in rehabilitation training database corresponding training program and on
Reach patient terminal.
Using the above scheme, it by the setting of rehabilitation training module, takes some exercises to the rehabilitation of patient, and rehabilitation data
Library is matched with pressure detecting signal, to match corresponding training program, for patient exercise, and training program is direct
Patient terminal is uploaded to so that patient checks, it is practical.
Preferably, further including the rehabilitation log module connecting with patient terminal, the rehabilitation log module passes through patient
Feeling after completing training program scores to generate log to pain and ease；
The rehabilitation training module goes out the training program of next stage according to the log matches that sufferer provides.
Using the above scheme, the setting of rehabilitation log module carries out impression after completing corresponding training program to patient
Marking, so that log is generated, and rehabilitation training module goes out the training program of next stage by the log matches that patient provides, with
Improve the speed of Rehabilitation.
Preferably, further including the rehabilitation duration module being connect with central server, it is preset in the central server
Healing time database；
The rehabilitation duration module calls pressure detecting signal simulation output rehabilitation duration data, rehabilitation duration data are from when healing
Corresponding healing time is transferred in spatial database and in showing on patient terminal.
Using the above scheme, by the setting of rehabilitation duration module, to the rehabilitation duration of patient by the way of countdown
It is accumulated, to reduce the feeling of agitation of sufferer, while patient terminal shows, gives patient's more intuitive understanding,
It is practical.
Preferably, further including the three-dimensional reconstruction module connecting with central server, the fracture scan data of patient is adopted
It is scanned with CT, MRI, ultrasonic wave, laser scanning and the acquisition to scan data；
The three-dimensional reconstruction module receives the fracture scan data of patient and generates the first data, and judges bone in fracture
The insertion position of steel needle generates the second data, and the central server obtains the second data and generates the first threedimensional model and show
In on central server.
Using the above scheme, the setting of three-dimensional reconstruction module is scanned the fracture of patient, and by bone steel needle into
Scanning after row insertion, so that the second data are generated, and the second data are obtained for central server, to generate the one or three
Dimension module, the first threedimensional model is shown by central server, practical.
Preferably, further including the analog module connecting with central server, bone is also preset in the central server
Folding correction data；
The analog module simulates the position after correction where bone steel needle and defeated according to the second data and fracture correction data
Out position signal is to central server, during the central server obtains position signal and generates the second threedimensional model and be shown in
It entreats on server；
The hospital terminal deployment position signal and the second threedimensional model for exoskeleton device production.
Using the above scheme, by the setting of analog module, the second data are read out, cooperation fracture correction data from
And the position after correction is simulated, and the second threedimensional model is generated by central server, so that doctor checks, thus to adaptation
The second threedimensional model afterwards carries out the production of exoskeleton device, practical.
Preferably, further include the ectoskeleton generation module being connect with central server, the ectoskeleton generation module from
The first threedimensional model and the second threedimensional model are transferred in central server and generate the ectoskeleton model of exoskeleton device to be manufactured.
Using the above scheme, it is used to carry out 3D printing to exoskeleton device to produce by ectoskeleton generation module
With manufacture, more accurately, while can also be customized, it is practical.
In conclusion the invention has the following advantages:
1, the motion state of patient is measured in real time, and will test data and is uploaded to cloud central server, for people
It checks, while knochenbruch healing is judged, more intelligently；
2, by the simulation to bone steel needle, so that exoskeleton device is made, it is practical.
Detailed description of the invention
Fig. 1 is the system schematic of ectoskeleton treatment system；
The system flow chart of feedback transducer for Fig. 2；
Fig. 3 is the system flow chart of patient terminal；
Fig. 4 is the system flow chart of image generation module；
Fig. 5 is the system flow chart of rehabilitation duration module；
Fig. 6 is the system flow chart of three-dimensional reconstruction module and analog module；
Fig. 7 is the system flow chart of pressure detecting module.
Appended drawing reference: 1, exoskeleton device；2, central server；3, patient terminal；4, hospital terminal；6, indicating module；
7, alarm module；8, rehabilitation training module；9, rehabilitation log module；10, date module；11, image generation module；12, rehabilitation
Time module；13, three-dimensional reconstruction module；14, analog module；15, pressure detecting module；16, ectoskeleton generation module.
Specific embodiment
Below in conjunction with attached drawing 1-7, invention is further described in detail.
As shown in Figure 1, a kind of exoskeleton auxiliary rehabilitation therapy system, including correspondence are connected to two by bone steel needle and break
Exoskeleton device 1 on bone, exoskeleton device 1 is made of enhancing nylon, and carries out printing and making by 3D printer.Dermoskeleton
Pressure detecting module 15 is installed on bone device 1.Pressure detecting module 15 is used to detect the pressure between bone steel needle and exoskeleton device 1
Power and output pressure detect signal to central server 2.
Patient terminal 3 and hospital terminal 4 are APP software, and user can install APP to smart phone, tablet computer, intelligence
On energy wrist-watch, computer.And central server 2 is mainframe computer, and processing and storage for carrying out data.Patient is whole
End 3, hospital terminal 4 connect with central server 2 and carry out data interaction.
Patient terminal 3 further includes indicating module 6, alarm module 7, rehabilitation log module 9.Indicating module 6 is shone using light
Bright mode is indicated, and alarm module 7 is warned by the way of sound.
Central server 2 includes rehabilitation training module 8, date module 10, rehabilitation duration module 12, three-dimensional reconstruction module
13, analog module 14, ectoskeleton generation module 16.Rehabilitation training module 8 is used to provide the project of the rehabilitation training of patient, date
Log is carried out inverted order arrangement by module 10 sequentially in time, and image generation module 11 is used to data carrying out image conversion, thus
More intuitive when checking people, rehabilitation duration module 12 carries out the accumulation of time, Three-dimensional Gravity modeling by the way of countdown
For block 13 for being scanned to the fracture of patient and the position of bone steel nail, analog module 14 is used for the reset direction according to patient
It is simulated, ectoskeleton generation module 16 is used to generate and exoskeleton device 1 by the first threedimensional model and the second threedimensional model
Corresponding threedimensional model.
As shown in Fig. 2, central server 2 is preset with the slight signal of pressure, pressure moderate signal, pressure height according to pressure value
Spend signal.
Central server 2 judges the size of pressure detecting signal Yu pressure altitude signal, when pressure detecting signal be greater than etc.
When pressure severe signal, hospital terminal 4 shows current demand signal；When pressure detecting signal is not below or equal to pressure height
When signal, continue to detect pressure detecting signal and analyzed.
Central server 2 judges the size of pressure detecting signal Yu pressure moderate signal, when pressure detecting signal is less than pressure
Power highest signal and be more than or equal to pressure moderate signal when, indicating module 6 with realize instruction；When pressure detecting signal is not less than pressure
Power highest signal and when being more than or equal to pressure moderate signal, indicating module 6 is without instruction, while pressure detecting signal continues to examine
It surveys.
When pressure detecting signal is less than pressure moderate signal and is more than or equal to the slight signal of pressure, central server 2 into
Row counts, and in showing number on hospital terminal 4；When pressure detecting signal not less than pressure moderate signal and is more than or equal to pressure
When slight signal, continue to detect pressure detecting signal and analyzed.
Central server 2 judges the size of pressure detecting signal Yu the slight signal of pressure, when pressure detecting signal is less than pressure
When power is slight signal, alarm module 7 is to realize warning；When pressure detecting signal signal slight not less than pressure, alarm module 7
Without warning, and pressure detecting signal is continued to test.
As shown in figure 3, rehabilitation training database is preset in rehabilitation training module 8,15 output pressure of pressure detecting module
Signal is detected to central server 2, central server 2 is matched from rehabilitation training database accordingly according to pressure detecting signal
Training program, and the unique training program of telephone expenses be uploaded to patient terminal 3 for patient check with training.
Rehabilitation log module 9 is provided in patient terminal 3, after patient passes through 9 pairs of completion training programs of rehabilitation log module
Feeling, i.e. pain and ease scores to generate log, and log is uploaded in central server 2, rehabilitation training mould
Block 8 goes out the training program of next stage according to the log matches that sufferer provides, and is sent to patient terminal 3.
And date module 10 transfers the log generated, and obtains pain and ease and arrange according to date inverted order
Column, so that people be facilitated to consult log.
As shown in figure 4, the pain that image generation module 11 obtains data image, date module 10 according to date inverted order
Integrated value Q with comfort level includes the training number of the pain coefficient of training program, the completion difficulty of training program, training program
The deadline of amount, training program.
And the pain coefficient of training program is x1, and weight is f1；
The completion difficulty of training program is x2, and weight is f2；
The training quantity of training program is x3, and weight is f3；
The deadline of training program is x4, and weight is f4；
Integrated value Q=(x1*f1+x2*f2+x3*f3+x4*f4)/(f1+f2+f3+f4).
Definition: the integrated value of continuous three periods of current pain and comfort level is Q1, Q2, Q3.
Functional image includes ascent stage, plateau, decline stage, fluctuation stage.It is classified into four-stage, thus right
The integrated value Q of continuous three periods carries out image analysis.
Ascent stage: Q1=Q2 < Q3 or Q1 < Q2=Q3 or Q1 < Q2 < Q3；
Plateau: Q1=Q2=Q3；
Decline stage: Q1=Q2 > Q3 or Q1 > Q2=Q3 or Q1 > Q2 > Q3；
The fluctuation stage: Q1>Q2<Q3 or Q1<Q2>Q3.
As shown in figure 5, being preset with healing time database in central server 2, pressure detecting module 15 issues pressure inspection
Signal is surveyed, pressure detecting signal is uploaded to central server 2, while rehabilitation duration module 12 is transferred pressure detecting signal and simulated
Rehabilitation duration data are exported, rehabilitation duration data transfer corresponding healing time from healing time database, and in patient's end
It is shown on end 3, in showing the time on patient terminal 3 by the way of countdown.
As shown in fig. 6, three-dimensional reconstruction module 13 is scanned the fracture of patient, scanning can use CT, and export
First data, while the position of the bone steel needle of insertion required for patient is judged, and export the second data, central server
2 obtain the second data and generate the first threedimensional model, and the first threedimensional model is shown by central server 2.
Fracture correction data are also preset in central server 2, and analog module 14 is rectified according to the second data and fracture
Correction data simulates the position after correction where bone steel needle and output position signal to central server 2, and central server 2 obtains
Position signal simultaneously generates the second threedimensional model and is shown on central server 2.4 deployment position signal of hospital terminal and second
Threedimensional model obtains the first threedimensional model and the second threedimensional model by ectoskeleton generation module 16, and is used by 3D printer
In give patient make exoskeleton device 1.
As shown in fig. 7, pressure detecting module 15 is for detecting the pressure between exoskeleton device 1 and bone steel needle and exporting pressure
Power detects signal, and is preset with pressure reference signal on central server 2.When pressure detecting signal is greater than pressure reference signal
When, hospital terminal 4 is to realize prompt；When pressure detecting signal is not more than pressure reference signal, hospital terminal 4 is without mentioning
Show.
Healing period is definition medically, and in the present embodiment, healing period is the time of knochenbruch healing, healing period packet
Include following 4 stages:
1st stage: from it is injured in an instant, fracture site begins to heal.The severity of fracture and surrounding soft tissue's damage
It is closely related to hurt degree, soft tissue injury is more serious, fractures more serious.This stage may continue 1-2 weeks since fracture.
2nd stage: 4-21 days after fracture, fracture site can gradually appear the cartilage callus grades.Poroma is the new life of fracture site
Cell replaces hemotoncus caused by fracture and occurs.In addition to poroma, fracture site gap also starts chondroblast occur, newborn
Soft tissue can gradually replace non-viable non-apoptotic cell and tissue, promote bone to restore.
3rd stage: about 2 week after fracture, osteoblast starts to occur and grow, to form new cartilaginous tissue, into
One step generates new bone.This stage is the callus growth phase, is about continueed to after fracture 6-12 weeks.
4th stage: this stage bone starts to remold, and osteoclast can promote injury bone according to bone recovery situation
It is restored to normal condition.This stage can start normal activity, and appropriateness activity and movement facilitate bone healing.The stage holds
The continuous time is longer, is even 9 years sometimes.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (7)
1. a kind of exoskeleton auxiliary rehabilitation therapy system, including corresponding to the ectoskeleton being connected on two knochenbruch by bone steel needle
Device (1), it is characterized in that: further include:
Central server (2), for carrying out the processing and storage of data；
Patient terminal (3) connect and for data interaction with central server (2)；
Hospital terminal (4) is connect and for data interaction with central server (2)；
Pressure detecting module (15) is set on exoskeleton device (1) and connect with central server (2) and for detecting ectoskeleton
Pressure and output pressure on device (1) detect signal；
Pressure detecting signal is used to judge the healing status at current knochenbruch and for understanding currently disconnected symphysis period；
Pressure reference signal is preset on the central server (2), the central server (2) obtains pressure detecting signal simultaneously
The size of judgement and pressure reference signal, when pressure detecting signal is greater than pressure reference signal, the hospital terminal (4) is with reality
Now warn.
2. a kind of exoskeleton auxiliary rehabilitation therapy system according to claim 1, it is characterized in that: further including and central service
The rehabilitation training module (8) of device (2) connection, is preset with rehabilitation training database in the rehabilitation training module (8)；
The central server (2) matches corresponding training program simultaneously from rehabilitation training database according to pressure detecting signal
It is uploaded to patient terminal (3).
3. a kind of exoskeleton auxiliary rehabilitation therapy system according to claim 2, it is characterized in that: further including and patient terminal
(3) the rehabilitation log module (9) connected, the rehabilitation log module (9) is by the feeling after patient's completion training program to pain
Pain and ease score to generate log；
The rehabilitation training module (8) goes out the training program of next stage according to the log matches that sufferer provides.
4. a kind of exoskeleton auxiliary rehabilitation therapy system according to claim 1, it is characterized in that: further including and central service
The rehabilitation duration module (12) of device (2) connection, is preset with healing time database in the central server (2)；
The rehabilitation duration module (12) transfers pressure detecting signal simulation output rehabilitation duration data, and rehabilitation duration data are from more
It closes and transfers corresponding healing time in temporal database and shown on patient terminal (3).
5. a kind of exoskeleton auxiliary rehabilitation therapy system according to claim 1, it is characterized in that: further including and central service
The three-dimensional reconstruction module (13) of device (2) connection, the fracture scan data of patient using CT, MRI, ultrasonic wave, laser scanning into
Row scanning and the acquisition to scan data；
The three-dimensional reconstruction module (13) receives the fracture scan data of patient and generates the first data, and judges in fracture
The insertion position of bone steel needle generates the second data out, and the central server (2) obtains the second data and generates the first three-dimensional mould
Type is simultaneously shown on central server (2).
6. a kind of exoskeleton auxiliary rehabilitation therapy system according to claim 5, it is characterized in that: further including and central service
The analog module (14) of device (2) connection is also preset with fracture correction data in the central server (2)；
The analog module (14) simulates the position after correcting where bone steel needle according to the second data and fracture correction data
And output position signal, to central server (2), the central server (2) obtains position signal and generates the second threedimensional model
And it is shown on central server (2)；
Hospital terminal (4) the deployment position signal and the second threedimensional model for exoskeleton device (1) production.
7. a kind of exoskeleton auxiliary rehabilitation therapy system according to claim 6, it is characterized in that: further including and central service
The ectoskeleton generation module (16) of device (2) connection, the ectoskeleton generation module (16) transfer first from central server (2)
Threedimensional model and the second threedimensional model and the ectoskeleton model for generating exoskeleton device to be manufactured (1).
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| CN113230544A (en) * | 2021-06-10 | 2021-08-10 | 昌乐县人民医院 | Finger fracture intelligent auxiliary recovery system, method and equipment for orthopedics department |
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Denomination of invention: An Exoskeleton Assisted Rehabilitation Treatment System Effective date of registration: 20230504 Granted publication date: 20210209 Pledgee: Zheshang Bank Co.,Ltd. Hangzhou Branch Pledgor: HANGZHOU SANTAN MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2023980039768 |