CN109568082B - Upper limb rehabilitation training robot and upper limb rehabilitation training method - Google Patents
Upper limb rehabilitation training robot and upper limb rehabilitation training method Download PDFInfo
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- CN109568082B CN109568082B CN201811507803.0A CN201811507803A CN109568082B CN 109568082 B CN109568082 B CN 109568082B CN 201811507803 A CN201811507803 A CN 201811507803A CN 109568082 B CN109568082 B CN 109568082B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title abstract description 10
- 239000012636 effector Substances 0.000 claims abstract description 41
- 239000003550 marker Substances 0.000 claims description 12
- 230000001012 protector Effects 0.000 claims description 3
- 230000003925 brain function Effects 0.000 abstract description 5
- 238000007634 remodeling Methods 0.000 abstract description 5
- 210000003205 muscle Anatomy 0.000 abstract description 4
- 210000005036 nerve Anatomy 0.000 abstract description 4
- 238000002560 therapeutic procedure Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000010428 Muscle Weakness Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000000297 inotrophic effect Effects 0.000 description 1
- 230000001537 neural 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
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Physical Education & Sports Medicine (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses an upper limb rehabilitation training robot which comprises a training table, wherein a display and at least one end effector are arranged on the training table, the end effector is used for clamping an upper limb of a patient, the end effector is connected with a cooperative mechanical arm, and the cooperative mechanical arm can drive the end effector to move and/or the upper limb can drag the cooperative mechanical arm to move through the end effector. The invention also discloses an upper limb rehabilitation training method by using the robot, which can select active training or passive training, when the active training is carried out, the cooperative mechanical arm is in a soft state, the upper limb of the patient is displayed in a game interface of the display by the display, and the upper limb with partial muscle force of the patient drags the cooperative mechanical arm to move in the game interface through the end effector to complete the active training while playing; when passive training is carried out, the upper limbs of the patient are driven by the cooperation mechanical arm through the end effector to move according to a set track, so that brain function and nerve remodeling are promoted.
Description
Technical Field
The invention relates to the technical field of rehabilitation training robots, in particular to an upper limb rehabilitation training robot and an upper limb rehabilitation training method.
Background
China is rapidly stepping into aging society, and the aging of the population greatly increases the rehabilitation requirement. The traditional upper limb rehabilitation therapy mode mainly takes bare-handed therapy of a physical therapist, and has the problems that the labor intensity of the physical therapist is high, the training continuity and the stability and controllability of the rehabilitation therapy are difficult to ensure, and training data are difficult to acquire and analyze. It has become a new trend to combine upper limb rehabilitation training with robots. Aiming at the problems, researchers in China improve and innovate from the perspective of exoskeletons, for example, Chinese patent invention of Harbin university of industry with publication number CN105597280A and publication number 2016, 5 and 25 in 2016 discloses an active and passive hybrid upper limb rehabilitation training exoskeleton, the upper limb rehabilitation training device disclosed by the patent realizes rehabilitation training through a synchronous belt pulley and a motor, but the training mode is single, different hands and arms are different, and the adjustable range is limited.
Disclosure of Invention
The invention aims to provide an upper limb rehabilitation training robot and an upper limb rehabilitation training method, which are used for solving the problems in the prior art, promoting the brain function and nerve remodeling of a patient through diversified rehabilitation training, and finally enabling the patient to regain part of daily life self-care capacity.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an upper limb rehabilitation training robot which comprises a training table, wherein a display and at least one end effector are arranged on the training table, the end effector is used for clamping an upper limb on the affected side of a patient, the end effector is connected with a cooperative mechanical arm, and the cooperative mechanical arm can drive the end effector to move and/or the upper limb on the affected side can drag the cooperative mechanical arm to move through the end effector.
Further, still be equipped with marker point device on the training table, marker point device is used for wearing on patient's healthy side upper limbs, the upside of training table is equipped with the motion capture device, the motion capture device is used for gathering the motion of wearing the healthy side upper limbs of marker point device.
Further, the motion capture device comprises a trinocular camera, a camera fixing frame and a camera support, the trinocular camera is connected with the top end of the camera support through the camera fixing frame, the bottom end of the camera support is fixedly arranged on the control cabinet mechanism, and the control cabinet mechanism is located on the front side of the training table.
Furthermore, one end of the cooperative mechanical arm is fixedly connected with the end effector, and the other end of the cooperative mechanical arm is fixedly connected with the control cabinet mechanism.
Further, the switch board mechanism includes switch board frame, switch board shell, mechanical arm control box and computer system, the switch board shell passes through the fix with screw on the switch board frame, the four corners department of switch board frame is equipped with the universal wheel, the mechanical arm control box with computer system all sets up the switch board shell is inboard, computer system can receive the signal of action trapping apparatus passes through the mechanical arm control box control the motion of cooperation arm to pass through the motion of patient's upper limbs of being good for and the upper limbs of suffering from side the display shows.
Furthermore, the display is connected with the training table through a rotating mechanism, a mirror is arranged on the back of the display, and the mirror is fixedly connected with the display through a display frame; the end effector comprises a hand guard and a camera, and the hand guard is provided with a fixing hole for connecting with a flange at the tail end of the cooperative mechanical arm; the camera is fixed the front end of hand protector, the camera is used for shooing patient's upper limbs motion in the mirror.
Furthermore, the training table comprises a table frame, switch buttons and a shell, wherein the switch buttons are respectively arranged at the corners of two sides of the table frame, and the shell is fixedly connected with the table frame through screws; the four corners of the table frame are provided with universal wheels.
Further, still include the training seat, the training seat is located the rear side of training table.
The invention also provides an upper limb rehabilitation training method by utilizing the upper limb rehabilitation training robot, which can select active training or passive training,
when active training is carried out, the cooperative mechanical arm is in a soft state, the upper limb of the patient is displayed in a game interface of the display by the display, and the upper limb with partial muscle force of the patient drags the cooperative mechanical arm to move in the game interface through the end effector, so that the active training is carried out while the game is finished;
when passive training is carried out, the cooperative mechanical arm drives the upper limb of the patient to move according to a set track through the end effector; to promote brain function and neural remodeling.
Further, the coordination training or the mirror training can be selected,
when the coordination training is carried out, the healthy upper limb of the patient wears the marker point device, the motion capture device collects the motion parameters of the healthy upper limb of the patient and transmits the motion parameters to the computer system, the computer system calculates the coordination motion to be carried out by the affected upper limb according to the motion parameters of the healthy upper limb and transmits the calculated control parameters of the coordination motion to the mechanical arm control box, and the mechanical arm control box controls the cooperative mechanical arm to drive the affected upper limb to carry out the coordination motion through the end effector;
when carrying out the mirror image training, the display becomes certain angle for the training table, the patient is good for the side upper limbs and is placed and do the motion between display and training table, the camera shoots the motion video of good for the side upper limbs in the mirror, and send the video to computer system, computer system draws the movement track of good for the side upper limbs, then send the movement track after the mirror image to the arm control box, the patient is ill the side upper limbs and is placed between display and training table, arm control box control cooperation arm passes through end effector and drives the motion track motion of ill the side upper limbs after the mirror image, and the motion video of the good for the side upper limbs of synchronous broadcast camera shooting in the display.
Compared with the prior art, the invention has the following technical effects: the invention can lead the patient to carry out active training, passive training, coordinated training or mirror image training, enriches the rehabilitation training mode of the patient, has more interest and reality, leads the patient to be more easily accepted, can select a training method with better effect according to the self condition, can carry out upper limb rehabilitation training in the whole period of the morning, the noon and the evening, promotes brain function and nerve remodeling, and finally leads the patient to regain part of the self-care ability of daily life.
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 the upper limb rehabilitation training robot of the present invention;
FIG. 2 is a schematic view of the structure of the display and mirror of the present invention;
FIG. 3 is a schematic view of the structure of the training table of the present invention;
FIG. 4 is a schematic structural view of an end effector of the present invention;
FIG. 5 is a schematic structural diagram of a control cabinet mechanism according to the present invention;
wherein: 1-a training table, 2-a display, 3-a rotating mechanism, 4-a motion capture device, 5-a cooperating robotic arm, 6-an end effector, 7-a control cabinet mechanism, 11-a table frame, 12-a marker point device, 13-a switch button, 14-a housing, 21-a display frame, 22-a mirror, 41-a trinocular camera, 42-a camera mount, 43-a camera mount, 61-a hand guard, 62-a camera, 71-a control cabinet frame, 72-a control cabinet housing, 73-a robotic arm control box, 74-a computer system.
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 obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide an upper limb rehabilitation training robot and an upper limb rehabilitation training method, which are used for solving the problems in the prior art, promoting the brain function and nerve remodeling of a patient through diversified rehabilitation training, and finally enabling the patient to regain part of daily life self-care capacity.
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.
As shown in fig. 1-5: the embodiment provides an upper limb rehabilitation training robot, including training table 1, the front side of training table 1 is equipped with switch board mechanism 7, and the rear side is equipped with the training seat. The training table 1 comprises a table frame 11, a switch button 13 and a shell 14, wherein the switch button 13 is arranged at each of two side corners of the table frame 11 and is in single-open and double-control arrangement to serve as a main power switch of the whole rehabilitation training robot, and the shell 14 is fixedly connected with the table frame 11 through screws; the four corners of the table frame 11 are provided with universal wheels which can be locked, so that the training table 1 can be moved and fixed conveniently.
The training table 1 is provided with a display 2, a marker point device 12 and an end effector 6, the end effector 6 is used for clamping an upper limb on the affected side of a patient, the end effector 6 is connected with a cooperative mechanical arm 5, the cooperative mechanical arm 5 can drive the end effector 6 to move, and the upper limb on the affected side of the patient can also drag the cooperative mechanical arm 5 to move through the end effector 6. Of course, two sets of end-effectors 6 and cooperating arms 5 may be provided for patients with both upper limbs affected. The marker point device 12 is used for being worn on the healthy upper limb of the patient, the motion capture device 4 is arranged on the upper side of the training table 1, and the motion capture device 4 is used for collecting the motion of the upper limb on which the marker point device 12 is worn. The cooperating robotic arm 5 and the motion capture device 4 may be secured to the training table 1 or to the control cabinet mechanism 7.
Preferably, the motion capture device 4 comprises a trinocular camera 41, a camera fixing frame 42 and a camera bracket 43, the trinocular camera 41 is connected with the top end of the camera bracket 43 through the camera fixing frame 42, the bottom end of the camera bracket 43 is fixedly arranged on the control cabinet mechanism 7, and the pose of the trinocular camera 41 can be adjusted through the camera fixing frame 42 and the camera bracket 43, so as to better capture the motion parameters of the upper limb of the healthy side of the patient.
The end of the cooperating mechanical arm 5 is fixedly connected with the end effector 6, and the fixed end of the cooperating mechanical arm 5 can be fixedly connected with the control cabinet mechanism 7 so as to facilitate wiring.
The control cabinet mechanism 7 specifically comprises a control cabinet frame 71, a control cabinet casing 72, a mechanical arm control box 73 and a computer system 74, wherein the cooperative mechanical arm 5 and the camera support 43 are both fixedly connected with the control cabinet frame 71, the control cabinet casing 72 is fixed on the control cabinet frame 71 through screws, lockable universal wheels are arranged at four corners of the control cabinet frame 71, so as to facilitate the movement and fixation of the control cabinet mechanism 7, the mechanical arm control box 73 and the computer system 74 are both arranged at the inner side of the control cabinet shell 72, and both get electricity from the switch button 13, so that the patient controls the whole rehabilitation training robot through the switch button 13 on the healthy side, the computer system 74 can receive the signal of the motion capture device 4 and control the motion of the cooperative robot arm 5 through the robot arm control box 73, the movement of the upper limbs of the patient is displayed through the display 2, and the computer system 74 is pre-loaded with the game software and the control software for rehabilitation training.
Further, the display 2 can be connected with the training table 1 through the rotating mechanism 3, so that the angle of the display 2 relative to the training table 1 can be adjusted, a mirror 22 is arranged on the back of the display 2, and the mirror 22 is fixedly connected with the display 2 through a display frame 21; the end effector 6 comprises a hand guard 61 and a camera 62, and the hand guard 61 is provided with a fixing hole for connecting with a flange at the tail end of the cooperative mechanical arm 5; a camera 62 is fixed to the front end of the hand guard 61, and the camera 62 is used to photograph the movement of the healthy upper limb of the patient in the mirror 22.
The embodiment also provides an upper limb rehabilitation training method by using the upper limb rehabilitation training robot, which can select active training, passive training, coordination training or mirror training.
When active training is carried out, the computer control software sets a training game, the cooperative mechanical arm 5 is in a soft state, the display 2 is horizontally placed and displays the set game, the affected upper limb (usually the forearm) of the patient is fixed on the end effector 6, the affected upper limb of the patient is displayed in the game interface of the display 2 by the display 2, and the affected upper limb with partial muscle strength of the patient drags the cooperative mechanical arm 5 to move in the game interface through the end effector 6, so that the active training is carried out while the game is finished. Active training is for patients with partial muscle arm movements in a plane or space.
When passive training is performed, the control software in the computer system 74 sets the track of the passive training, the track is transmitted to the mechanical arm control box 73, the cooperative mechanical arm 5 drives the affected upper limb of the patient to move according to the set track through the end effector 6, and the display 2 is horizontally placed and displays the picture during the passive training. Passive training is for patients with arm muscle weakness.
When the coordination training is carried out, the control software in the computer system 74 sets a coordination training scene, the marker point device 12 is worn on the healthy upper limb of the patient, the motion capture device 4 collects the motion parameters of the healthy upper limb of the patient and transmits the motion parameters to the computer system 74, the computer system 74 calculates the coordination motion to be carried out on the affected upper limb according to the motion parameters of the healthy upper limb, and transmits the calculated control parameters of the coordination motion to the mechanical arm control box 73, the mechanical arm control box 73 controls the coordination mechanical arm 5 to drive the affected upper limb to carry out the coordination motion through the end effector 6, and the display 2 displays the two arms of the patient to carry out the two-arm coordination motion in real time. Coordination training is applicable to patients with only one-sided arm inotropic.
When mirror image training is carried out, the display 2 forms a certain angle relative to the training table 1, generally 45 degrees, firstly, the upper limb on the healthy side of a patient is placed between the display 2 and the training table 1 to do some movement, the camera 62 shoots the movement video of the upper limb on the healthy side in the mirror 22 and transmits the video to the computer system 74, the computer system 74 extracts the movement track of the upper limb on the healthy side, then the movement track after mirror image is transmitted to the mechanical arm control box 73, then the upper limb on the sick side of the patient is fixed on the end effector 6 between the display 2 and the training table 1, the mechanical arm control box 73 controls the cooperative mechanical arm 5 to drive the upper limb on the sick side to move according to the movement track after mirror image through the end effector 6, and the movement video of the upper limb on the healthy side shot before the camera 62 is synchronously played in.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present 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 (8)
1. The utility model provides an upper limbs rehabilitation training robot which characterized in that: including the training table, be equipped with display and at least one end effector on the training table, end effector is used for centre gripping patient's the upper limbs that suffer from side, end effector is connected with cooperation arm, cooperation arm can drive end effector motion and/or the upper limbs that suffer from side pass through end effector can drag cooperation arm motion, the display pass through rotary mechanism with the training table is connected, the back of display is equipped with the mirror, end effector includes hand protector and camera, the camera is fixed the front end of hand protector is used for taking patient's in the mirror upper limbs motion that falls into good side.
2. The upper limb rehabilitation training robot of claim 1, wherein: still be equipped with marker point device on the training table, marker point device is used for wearing on patient's the healthy side upper limbs, the upside of training table is equipped with motion capture device, motion capture device is used for gathering and wears the motion of the healthy side upper limbs of marker point device.
3. The upper limb rehabilitation training robot of claim 2, wherein: the motion capture device comprises a three-eye camera, a camera fixing frame and a camera support, the three-eye camera is connected with the top end of the camera support through the camera fixing frame, the bottom end of the camera support is fixedly arranged on a control cabinet mechanism, and the control cabinet mechanism is located on the front side of the training table.
4. The upper limb rehabilitation training robot of claim 3, wherein: one end of the cooperation mechanical arm is fixedly connected with the end effector, and the other end of the cooperation mechanical arm is fixedly connected with the control cabinet mechanism.
5. The upper limb rehabilitation training robot of claim 3, wherein: the switch board mechanism includes switch board frame, switch board shell, mechanical arm control box and computer system, the switch board shell passes through the fix with screw on the switch board frame, the four corners department of switch board frame is equipped with the universal wheel, the mechanical arm control box with computer system all sets up the switch board shell is inboard, computer system can receive the signal of action capture device passes through the mechanical arm control box control the motion of cooperation arm to pass through the motion of patient's healthy side upper limbs and sick side upper limbs the display shows.
6. The upper limb rehabilitation training robot of claim 1, wherein: the mirror is fixedly connected with the display through a display frame; the hand guard is provided with a fixing hole used for being connected with a flange at the tail end of the cooperative mechanical arm.
7. The upper limb rehabilitation training robot of claim 1, wherein: the training table comprises a table frame, switch buttons and a shell, wherein the switch buttons are arranged at the corners of two sides of the table frame respectively, and the shell is fixedly connected with the table frame through screws; the four corners of the table frame are provided with universal wheels.
8. The upper limb rehabilitation training robot of claim 1, wherein: still include the training seat, the training seat is located the rear side of training table.
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