CN110993057B - Rehabilitation training system and method based on cloud platform and lower limb rehabilitation robot - Google Patents
Rehabilitation training system and method based on cloud platform and lower limb rehabilitation robot Download PDFInfo
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- CN110993057B CN110993057B CN201911257715.4A CN201911257715A CN110993057B CN 110993057 B CN110993057 B CN 110993057B CN 201911257715 A CN201911257715 A CN 201911257715A CN 110993057 B CN110993057 B CN 110993057B
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- 238000004458 analytical method Methods 0.000 claims description 5
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- 238000004891 communication Methods 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 4
- 210000003414 extremity Anatomy 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 201000010099 disease Diseases 0.000 claims description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 210000004197 pelvis Anatomy 0.000 claims description 2
- 238000002560 therapeutic procedure Methods 0.000 claims description 2
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H10/00—ICT specially adapted for the handling or processing of patient-related medical or healthcare data
- G16H10/60—ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/70—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H80/00—ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
Abstract
The invention discloses a rehabilitation training system and method based on a cloud platform and a lower limb rehabilitation robot. The rehabilitation training system provided by the invention can analyze and track specific rehabilitation data of a specific patient, store the patient training data and summarize the patient history training data, thereby improving the scientificity of patient rehabilitation training plan formulation and accelerating the rehabilitation training process of the patient. In addition, the invention also carries out unified acquisition and management on the sensor information of the rehabilitation equipment so as to better carry out rehabilitation treatment on patients.
Description
Technical Field
The invention relates to the technical field of robot cloud platforms, in particular to a rehabilitation training system and method based on a cloud platform and a lower limb rehabilitation robot.
Background
At present, the online diagnosis and treatment rehabilitation system based on the cloud is generally used for rehabilitation through connection of a doctor end and a patient end through a network protocol, specific rehabilitation data analysis and tracking are not carried out on specific patients, storage of patient training data and historical training data summarization on the patients are lacked, and accordingly the patient rehabilitation training plan is possibly unscientific and the rehabilitation process is slow. And as the rehabilitation robot is also an important component in the rehabilitation training process, the information acquisition and management of the rehabilitation robot are reasonably and orderly beneficial to the rehabilitation of patients.
Disclosure of Invention
The invention aims to provide a rehabilitation training system and method based on a cloud platform and a lower limb rehabilitation robot, which are used for solving the problem that the existing online diagnosis and treatment rehabilitation system cannot formulate a scientific rehabilitation training plan, so that the rehabilitation process of a patient is slow.
In order to achieve the above object, the present invention provides the following solutions:
rehabilitation training system based on cloud platform and low limbs rehabilitation robot, rehabilitation training system include: the lower limb rehabilitation robot, the equipment sensor acquisition device, the cloud platform server, the doctor terminal and the patient terminal are connected in sequence;
The equipment sensor acquisition device is used for acquiring training data of a patient and sending the training data to the cloud platform server when the patient adopts the lower limb rehabilitation robot to perform lower limb rehabilitation training; the training data of the patient comprise the real-time joint angle of the legs, the rotation angle of the waist and the left and right acting forces of the waist of the patient;
The cloud platform server is used for generating rehabilitation training conditions of the patient according to the training data of the patient and sending the rehabilitation training conditions to the doctor terminal; the rehabilitation training condition of the patient comprises a rehabilitation curve and a training result of the patient; the training result comprises the extension condition of the legs of the patient, the sensitivity condition of the waist of the patient and the left and right acting force condition of the waist of the patient;
the doctor terminal is used for making a rehabilitation training plan of the patient according to the rehabilitation training condition and sending the rehabilitation training plan to the patient terminal for display;
And the patient adopts the lower limb rehabilitation robot to perform lower limb rehabilitation training according to the rehabilitation training program displayed by the patient terminal.
Optionally, the cloud platform server adopts a TCP/IP protocol to perform data transmission with the doctor terminal and the patient terminal respectively.
Optionally, the cloud platform server is further configured to store patient information of the patient and the corresponding rehabilitation training plan, training data, and rehabilitation training condition to a cloud database.
Optionally, the device sensor acquisition device is further configured to acquire an idle state of the lower limb rehabilitation robot and send the idle state to the cloud platform server; the cloud platform server is further used for distributing corresponding lower limb rehabilitation robots to the patient according to patient information of the patient and the idle state of the lower limb rehabilitation robots.
A rehabilitation training method based on a cloud platform and a lower limb rehabilitation robot, wherein the rehabilitation training method is based on the rehabilitation training system; the rehabilitation training method comprises the following steps:
The doctor terminal obtains patient information of a patient currently in a diagnosis; the patient information includes basic information, resident information, and a disease condition of the patient;
The doctor terminal acquires recent training data and rehabilitation training conditions of the patient from a cloud platform server according to the patient information, and formulates a current rehabilitation training plan of the patient according to the training data and the rehabilitation training conditions;
the doctor terminal sends the rehabilitation training plan to the patient terminal and the cloud platform server respectively;
The cloud platform server distributes corresponding lower limb rehabilitation robots to the patient according to the patient information of the patient and the idle state of the lower limb rehabilitation robots;
After the patient arrives at the lower limb rehabilitation robot, the patient starts the video-audio interaction function of the patient terminal and performs video-audio interaction with the doctor terminal;
And the doctor guides the patient to perform rehabilitation training on line by adopting the lower limb rehabilitation machine according to the rehabilitation training plan through the video-audio interactive function of the doctor terminal.
Optionally, when the patient adopts the lower limb rehabilitation machine to perform rehabilitation training according to the rehabilitation training plan, the device sensor acquisition device acquires training data of the patient and sends the training data to the cloud platform server; the training data of the patient comprise the real-time joint angle of the legs, the rotation angle of the waist and the left and right acting forces of the waist of the patient;
the cloud platform server generates rehabilitation training conditions of the patient according to the training data of the patient, and stores patient information of the patient, the corresponding rehabilitation training program, the training data and the rehabilitation training conditions into a cloud database.
Optionally, before the doctor terminal obtains the patient information of the patient currently in the doctor, the method further includes:
the doctor logs in the doctor terminal according to the doctor registration information.
Optionally, before the patient turns on the video-audio interactive function of the patient terminal, the method further includes:
the patient logs in the patient terminal according to the patient registration information.
Optionally, the rehabilitation training method further includes:
The cloud platform server generates a rehabilitation curve of the patient according to training data and training results of the patient stored in a cloud database;
And the cloud platform server sends the rehabilitation curves to the doctor terminal and the patient terminal for display.
Optionally, the rehabilitation training method further includes:
the method comprises the steps that a hospital general responsible person logs in the cloud platform server according to responsible person registration information, and data of all patients in the hospital are checked and edited on a cloud general interface of the cloud platform server;
And the platform super manager logs in the cloud platform server according to the registration information of the super manager, and views and edits all data in the cloud database on a cloud total interface of the cloud platform server.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
The invention provides a rehabilitation training system and method based on a cloud platform and a lower limb rehabilitation robot. The rehabilitation training system provided by the invention can analyze and track specific rehabilitation data of a specific patient, store the patient training data and summarize the patient history training data, thereby improving the scientificity of patient rehabilitation training plan formulation and accelerating the rehabilitation training process of the patient. In addition, the invention also carries out unified acquisition and management on the sensor information of the rehabilitation equipment so as to better carry out rehabilitation treatment on patients.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it will be apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to the drawings provided by the present invention without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural diagram of a rehabilitation training system based on a cloud platform and a lower limb rehabilitation robot;
FIG. 2 is a functional schematic diagram of a rehabilitation training system based on a cloud platform and a lower limb rehabilitation robot provided by the invention;
fig. 3 is an operation flow chart of the rehabilitation training system based on the cloud platform and the lower limb rehabilitation robot.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a rehabilitation training system and method based on a cloud platform and a lower limb rehabilitation robot, which are used for solving the problem that the existing online diagnosis and treatment rehabilitation system cannot formulate a scientific rehabilitation training plan, so that the rehabilitation process of a patient is slow.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a schematic structural diagram of a rehabilitation training system based on a cloud platform and a lower limb rehabilitation robot. Fig. 2 is a functional schematic diagram of a rehabilitation training system based on a cloud platform and a lower limb rehabilitation robot. Referring to fig. 1 and 2, the rehabilitation training system includes: the lower limb rehabilitation robot, the equipment sensor acquisition device, the cloud platform server, the doctor terminal and the patient terminal are connected in sequence; and the cloud database and the cloud total interface are connected with the cloud platform server. The patient terminal is also in communication with the cloud platform server connection.
The equipment sensor acquisition device is used for acquiring training data of a patient and sending the training data to the cloud platform server in real time when the patient adopts the lower limb rehabilitation robot to perform lower limb rehabilitation training; and storing real-time training data of the patient into the cloud database. And analyzing the real-time data of patient training through the cloud platform server, and transmitting an analysis result to a doctor terminal for making a rehabilitation plan and evaluating the rehabilitation condition.
The equipment sensor collection system of low limbs rehabilitation robot is used for gathering patient's pelvis and low limbs's rehabilitation training data, gathers patient's training data through the force transducer that is tied in patient's waist and the inertial sensor that is tied in patient's shank, and patient's training data includes: real-time joint angles of the legs of the patient, rotation angles of the waist of the patient, left and right acting forces of the waist, and the like. The equipment sensor acquisition device of the lower limb rehabilitation robot is connected with the cloud platform server and used for sending patient training data to the cloud platform server, and then the cloud platform server stores the patient training data into the cloud database and displays the patient training data on the cloud total interface.
The cloud platform server has data processing and analysis functions and is used for analyzing and processing patient training data and displaying analysis results on a cloud total interface. And the cloud platform server generates rehabilitation training conditions of the patient according to the training data of the patient and sends the rehabilitation training conditions to the doctor terminal. The rehabilitation training condition of the patient comprises a rehabilitation curve of the patient and training results. The training result comprises the extension condition of the legs of the patient, the sensitivity condition of the waist of the patient, the left and right acting force condition of the waist of the patient and pathological indexes. The pathological index is obtained by comparing training data of a patient with a training data table corresponding to the training in medicine.
The doctor terminal is used for making a rehabilitation training plan of the patient according to the rehabilitation training condition and sending the rehabilitation training plan to the patient terminal for display. The doctor terminal has the functions of making a rehabilitation training plan of the patient, guiding the patient to perform specific rehabilitation training in real time, checking training data of the patient and managing the patient. The data received by the doctor terminal are personal data (patient information) and rehabilitation data of all patients guided by the doctor, and the rehabilitation training program of the patients, namely specific training content, including training modes, intensity, frequency and the like is output.
The general flow of online diagnosis and treatment by adopting the doctor terminal is as follows: the patient inputs patient information (including basic information and pathological information) firstly, then a doctor is selected for service, and the doctor can initially make a rehabilitation training plan according to the basic information and pathological information of the patient. On-line diagnosis and treatment is a long-term process, and doctors can make different professional training plans in each period of patient rehabilitation.
The patient terminal is a PC-end computer for helping the patient to carry out rehabilitation training program and is responsible for displaying training conditions of the patient and historical training data of some patients. And the patient adopts the lower limb rehabilitation robot to perform lower limb rehabilitation training according to the rehabilitation training program displayed by the patient terminal.
The doctor terminal and the patient terminal are provided with video and audio interaction functions, the patient can conduct video and audio communication with a far-end doctor through a camera of the patient terminal, the far-end doctor can guide the patient to conduct corresponding training, and the patient and the doctor can conduct rehabilitation therapy and remote rehabilitation guidance in a face-to-face mode in a remote mode. The cloud platform server can store video and audio call records of patients and doctors within a period of time, and text files of training contents and training results of the patients.
According to the cloud platform server, unified management is conducted on all users and rehabilitation robots under the cloud platform, and data are stored and classified through the cloud database, so that different users can see different data. The specific process of grading the data is to adopt different data filtering means according to different users, and the specific process is 4 grades, namely a platform super manager, a general responsible person in a hospital, a doctor and a general user (patient). The grading standard is that the higher the level is, the larger the data authority can be seen and processed, so that the data of the general user can be conveniently managed without causing security problems such as data leakage.
Meanwhile, the cloud platform server transmits and receives data in real time by applying a TCP/IP protocol, and displays the acquired data through the cloud total interface. Specifically, the cloud platform server adopts a TCP/IP protocol to respectively perform data transmission with the doctor terminal and the patient terminal. The doctor terminal can make a rehabilitation training plan for a patient in an online diagnosis and treatment mode, meanwhile, video and audio communication is added, real-time guidance is carried out on the patient, and the video and audio interaction system is arranged in the PC computers of the patient terminal and the doctor terminal.
And finally, analyzing the rehabilitation data of the patient through a data processing and analyzing module of the cloud platform server, and analyzing and calculating pathological indexes of the patient so as to make and evaluate a follow-up rehabilitation plan. The pathological index of the patient is that the acquired training data of the patient is analyzed, the pathological index in the medicine is compared to judge the rehabilitation stage of the patient, and the doctor can carry out the subsequent training guidance and the establishment of training plan according to the severity.
The cloud platform server is further used for storing patient information of the patient, the corresponding rehabilitation training program, the training data and the rehabilitation training situation into a cloud database.
The equipment sensor acquisition device is also used for acquiring the idle state of the lower limb rehabilitation robot and sending the idle state to the cloud platform server; and the cloud platform server distributes corresponding lower limb rehabilitation robots for the patient to perform rehabilitation training according to the patient information of the patient and the idle state of the lower limb rehabilitation robots. The doctor can select a specific lower limb rehabilitation robot device for the patient to perform rehabilitation training after logging in the cloud platform.
The cloud platform server provided by the invention has the function of displaying rehabilitation data in real time, and data sharing is achieved due to the existence of the cloud platform, so that all users using the cloud platform can conveniently and rapidly check information stored in the cloud platform through the mobile phone end and the PC end.
The rehabilitation training system provided by the invention can analyze and track specific rehabilitation data of a specific patient, store the patient training data and summarize the patient history training data, thereby improving the scientificity of patient rehabilitation training plan formulation and accelerating the rehabilitation training process of the patient. In addition, the invention also carries out unified acquisition and management on the sensor information of the rehabilitation equipment so as to better carry out rehabilitation treatment on patients.
Fig. 3 is an operation flow chart of the rehabilitation training system based on the cloud platform and the lower limb rehabilitation robot. Referring to fig. 3, the operation flow of the rehabilitation training system based on the cloud platform and the lower limb rehabilitation robot of the invention comprises the following steps:
(1) Rehabilitation begins;
(2) The user registration and login system has four kinds of user registration and login functions, including patient, doctor (including doctor and department doctor), general responsible person in hospital and super platform manager, and the user registration and login module has one registration and login function realized by the cloud platform server and displays different interfaces after logging in through the IDs of different users.
(3) The doctor checks patient information of the patient at the doctor terminal, and whether a common doctor or a department doctor can check recent rehabilitation training content of the patient after registering and logging in, the content can comprise all recent training data and rehabilitation conditions of the patient, and the training data of the patient comprise: the rehabilitation condition is to compare pathological indexes, training results and rehabilitation curves of the patient in medical pathological feature analysis;
(4) A doctor makes a rehabilitation training plan at a doctor terminal, the doctor makes different rehabilitation training plans aiming at pathological characteristics of each patient according to each patient, the rehabilitation training plan comprises contents such as sitting station training, walking training, resistance training, game training and the like, and the doctor can set the difficulty level of training according to different rehabilitation conditions of the patient.
(5) The cloud platform server (called cloud platform for short) distributes the rehabilitation robots, and the rehabilitation robots are required to be utilized to the greatest extent because the number of the manpower of the rehabilitation robots is limited, and the cloud platform distributes the rehabilitation robots based on the idle state of the rehabilitation robots and the convenience of communities where patients are located.
(6) The patient executes the rehabilitation training plan, and after the patient arrives at the designated rehabilitation robot, the doctor executes the rehabilitation training plan already formulated. And the doctor guides the patient to perform rehabilitation training on line by adopting the lower limb rehabilitation machine according to the rehabilitation training plan through the video-audio interactive function of the doctor terminal. When the patient adopts the lower limb rehabilitation machine and performs rehabilitation training according to the rehabilitation training program, the equipment sensor acquisition device acquires training data of the patient and sends the training data to the cloud platform server.
(7) And after the patient executes the rehabilitation training program, the cloud platform server generates the rehabilitation training condition of the patient according to the training data of the patient, and stores the patient information of the patient and the corresponding rehabilitation training program, training data and rehabilitation training condition into a cloud database.
(8) The doctor analyzes the rehabilitation data, and can know the real-time rehabilitation condition and training result of the patient through big data analysis, wherein the rehabilitation data comprises the extension condition of the legs of the patient, the sensitivity condition of the waist of the patient, the left and right acting force condition of the waist of the patient and the like, and the rehabilitation data is acquired by the sensor acquisition device of the lower limb rehabilitation robot equipment and is generated by the cloud platform server;
(9) The cloud platform writes in a database and updates a patient rehabilitation curve, wherein the patient rehabilitation curve refers to a history curve of a patient in a training process, the abscissa is time, and the ordinate is a unit of rehabilitation data of the patient. After the rehabilitation training curve of the patient is updated, the interface of the patient terminal, the interface of the doctor terminal and the cloud total interface are respectively displayed, and the patient rehabilitation training curve acts on some rehabilitation incentives of the patient, so that a doctor can analyze and summarize rehabilitation data conveniently, and specific rehabilitation conditions of the patient can be judged.
(10) And a doctor makes a next rehabilitation training plan according to the rehabilitation condition of the patient.
(11) The rehabilitation process is ended.
Based on the rehabilitation training system provided by the invention, the invention also provides a rehabilitation training method based on the cloud platform and the lower limb rehabilitation robot, and the rehabilitation training method comprises the following steps:
The doctor terminal obtains patient information of a patient currently in a diagnosis; the patient information includes basic information, resident information, and a disease condition of the patient;
The doctor terminal acquires recent training data and rehabilitation training conditions of the patient from a cloud platform server according to the patient information, and formulates a current rehabilitation training plan of the patient according to the training data and the rehabilitation training conditions;
the doctor terminal sends the rehabilitation training plan to the patient terminal and the cloud platform server respectively;
The cloud platform server distributes corresponding lower limb rehabilitation robots to the patient according to the patient information of the patient and the idle state of the lower limb rehabilitation robots;
After the patient arrives at the lower limb rehabilitation robot, the patient starts the video-audio interaction function of the patient terminal and performs video-audio interaction with the doctor terminal;
And the doctor guides the patient to perform rehabilitation training on line by adopting the lower limb rehabilitation machine according to the rehabilitation training plan through the video-audio interactive function of the doctor terminal.
When the patient adopts the lower limb rehabilitation machine and performs rehabilitation training according to the rehabilitation training program, the equipment sensor acquisition device acquires training data of the patient and sends the training data to the cloud platform server; the training data of the patient comprise the real-time joint angle of the legs, the rotation angle of the waist and the left and right acting forces of the waist of the patient;
the cloud platform server generates rehabilitation training conditions of the patient according to the training data of the patient, and stores patient information of the patient, the corresponding rehabilitation training program, the training data and the rehabilitation training conditions into a cloud database.
Before the doctor terminal obtains the patient information of the patient currently in the doctor, the method further comprises:
The doctor logs in the doctor terminal according to the doctor registration information, and the doctor can check the information of all the responsible patients at the doctor terminal.
Before the patient starts the video-audio interactive function of the patient terminal, the method further comprises:
The patient logs in the patient terminal according to the patient registration information, and the patient can see relevant information of the patient at the patient terminal.
The rehabilitation training method further comprises the following steps:
The cloud platform server generates a rehabilitation curve of the patient according to training data and training results of the patient stored in a cloud database;
And the cloud platform server sends the rehabilitation curves to the doctor terminal and the patient terminal for display.
The rehabilitation training method further comprises the following steps:
the method comprises the steps that a hospital general responsible person logs in the cloud platform server according to responsible person registration information, and data of all patients in the hospital are checked and edited on a cloud general interface of the cloud platform server;
And the platform super manager logs in the cloud platform server according to the registration information of the super manager, and views and edits all data in the cloud database on a cloud total interface of the cloud platform server.
The device sensor acquisition device can transmit patient data to the cloud end in real time and display the patient data on a cloud end total interface, a cloud end server updates a database of the cloud end, and a doctor terminal is used for analyzing the patient data and making a patient training plan. According to the invention, a doctor can monitor the running states of the patient and the lower limb rehabilitation robot through the cloud, and data generated by the data analysis module are sent to the cloud platform interface of the lower limb robot rehabilitation system to analyze and display real-time data of rehabilitation training of the patient. The invention can well integrate the robot technology and the internet technology, so that the traditional robot technology can be better revealed through the internet cloud platform technology.
The foregoing is merely illustrative of preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be construed as falling within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the above examples being provided only to assist in understanding the device and its core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. Rehabilitation training system based on cloud platform and low limbs rehabilitation robot, its characterized in that, rehabilitation training system include: the lower limb rehabilitation robot, the equipment sensor acquisition device, the cloud platform server, the doctor terminal and the patient terminal are connected in sequence;
the equipment sensor acquisition device is used for acquiring training data of a patient and sending the training data to the cloud platform server when the patient adopts the lower limb rehabilitation robot to perform lower limb rehabilitation training; the device sensor acquisition device of the lower limb rehabilitation robot is used for acquiring rehabilitation training data of pelvis and lower limb of a patient, and acquiring the training data of the patient through a force sensor tied on the waist of the patient and an inertial sensor tied on the leg of the patient, wherein the training data of the patient comprises real-time joint angle of the leg of the patient, waist rotation angle and left and right acting force of the waist;
The cloud platform server is used for generating rehabilitation training conditions of the patient according to the training data of the patient and sending the rehabilitation training conditions to the doctor terminal; the rehabilitation training condition of the patient comprises a rehabilitation curve and a training result of the patient; the rehabilitation curve of the patient refers to a history curve of the patient in the training process, the abscissa is time, and the ordinate is a unit of rehabilitation data of the patient; the training result comprises the extension condition of the legs of the patient, the sensitivity condition of the waist of the patient, the left and right acting force condition of the waist of the patient and pathological indexes, wherein the pathological indexes are obtained by comparing training data of the patient with a training data table corresponding to the medical training to finally obtain a similarity index;
the doctor terminal is used for making a rehabilitation training plan of the patient according to the rehabilitation training condition and sending the rehabilitation training plan to the patient terminal for display;
the patient adopts the lower limb rehabilitation robot to perform lower limb rehabilitation training according to the rehabilitation training program displayed by the patient terminal;
The doctor terminal and the patient terminal both have video and audio interaction functions, and the patient carries out video and audio communication with a far-end doctor through a camera of the patient terminal, so that the far-end doctor guides the patient to carry out corresponding training, and the patient and the doctor carry out rehabilitation therapy and remote rehabilitation guidance in a remote mode in a face-to-face manner; the cloud platform server stores video and audio call records of patients and doctors within a period of time, and text files of training contents and training results of the patients;
The cloud platform server is used for carrying out unified management on all users and rehabilitation robots under the cloud platform, and the cloud database is used for storing and grading the data; the specific process of grading the data is to adopt different data filtering means according to different users, namely, the data is graded 4, namely, a platform super manager, a general responsible person in a hospital, a doctor and a patient; the grading standard is the authority of the cloud platform data, and the higher the grade is, the larger the authority of the data which can be seen and processed is;
the operation flow of the rehabilitation training system based on the cloud platform and the lower limb rehabilitation robot comprises the following steps:
(1) Rehabilitation begins;
(2) The user registration and login system has four types of users which can log in, namely a patient, a doctor, a general responsible person of a hospital and a super platform manager can register and login respectively, and the user registration and login module is a registration and login function realized by a cloud platform server and displays different interfaces after logging in through IDs of different users;
(3) The doctor checks patient information of the patient at the doctor terminal, and whether a common doctor or a department doctor can check recent rehabilitation training content of the patient after registering and logging in, wherein the content comprises all recent training data and rehabilitation conditions of the patient, and the training data of the patient comprise: real-time joint angle of legs of a patient, rotation angle of waist of the patient, left and right acting force of the waist; the rehabilitation condition is to compare the pathological index, training result and rehabilitation curve of the patient of the medical pathological feature analysis;
(4) A doctor makes a rehabilitation training plan at a doctor terminal, the doctor makes different rehabilitation training plans aiming at pathological characteristics of each patient according to each patient, the rehabilitation training plan comprises sitting station training, walking training, resistance training and game training, and the doctor sets the difficulty level of training according to different rehabilitation conditions of the patient;
(5) The cloud platform server distributes the rehabilitation robots, and the rehabilitation robots are required to be utilized to the greatest extent because the rehabilitation robots are expensive in man-made cost and limited in quantity, and the cloud platform server distributes the rehabilitation robots according to the idle state of the rehabilitation robots and the community convenience of the patients;
(6) Executing a rehabilitation training plan by a patient, and implementing the rehabilitation training plan already formulated by a doctor after the patient arrives at a designated rehabilitation robot; a doctor guides the patient to perform rehabilitation training on line by adopting the lower limb rehabilitation machine according to the rehabilitation training plan through the video-audio interactive function of the doctor terminal; when the patient adopts the lower limb rehabilitation machine and performs rehabilitation training according to the rehabilitation training program, the equipment sensor acquisition device acquires training data of the patient and sends the training data to the cloud platform server;
(7) The cloud platform server generates the rehabilitation training situation of the patient according to the training data of the patient after the patient executes the rehabilitation training plan, and stores the patient information of the patient and the corresponding rehabilitation training plan, training data and rehabilitation training situation into a cloud database;
(8) The doctor analyzes rehabilitation data, and the real-time rehabilitation condition and training result of the patient are known through big data analysis, wherein the rehabilitation data comprise the extension condition of the legs of the patient, the sensitivity condition of the waist of the patient and the left and right acting force condition of the waist of the patient, are acquired by the sensor acquisition device of the lower limb rehabilitation robot equipment and are generated by the cloud platform server;
(9) The cloud platform writes in a database and updates a patient rehabilitation curve, wherein the patient rehabilitation curve refers to a history curve of a patient in a training process, the abscissa is time, and the ordinate is a unit of rehabilitation data of the patient; after the rehabilitation training curve of the patient is updated, the interface of the patient terminal, the interface of the doctor terminal and the cloud total interface are respectively displayed, and the interface acts on some rehabilitation incentives of the patient, so that a doctor can analyze and summarize rehabilitation data conveniently, and the specific rehabilitation condition of the patient can be judged;
(10) A doctor makes a next rehabilitation training plan according to the rehabilitation condition of a patient;
(11) The rehabilitation process is ended.
2. The rehabilitation training system according to claim 1, wherein the cloud platform server adopts TCP/IP protocol for data transmission with the doctor terminal and the patient terminal, respectively.
3. The rehabilitation training system according to claim 1, wherein the device sensor acquisition means is further configured to acquire an idle state of the lower limb rehabilitation robot and send the idle state to the cloud platform server; the cloud platform server is further used for distributing corresponding lower limb rehabilitation robots to the patient according to patient information of the patient and the idle state of the lower limb rehabilitation robots.
4. A rehabilitation training method based on a cloud platform and a lower limb rehabilitation robot, which is characterized in that the rehabilitation training method is based on the rehabilitation training system of claim 1; the rehabilitation training method comprises the following steps:
The doctor terminal obtains patient information of a patient currently in a diagnosis; the patient information includes basic information, resident information, and a disease condition of the patient;
The doctor terminal acquires recent training data and rehabilitation training conditions of the patient from a cloud platform server according to the patient information, and formulates a current rehabilitation training plan of the patient according to the training data and the rehabilitation training conditions;
the doctor terminal sends the rehabilitation training plan to the patient terminal and the cloud platform server respectively;
The cloud platform server distributes corresponding lower limb rehabilitation robots to the patient according to the patient information of the patient and the idle state of the lower limb rehabilitation robots;
After the patient arrives at the lower limb rehabilitation robot, the patient starts the video-audio interaction function of the patient terminal and performs video-audio interaction with the doctor terminal;
And the doctor guides the patient to perform rehabilitation training on line by adopting the lower limb rehabilitation machine according to the rehabilitation training plan through the video-audio interactive function of the doctor terminal.
5. The rehabilitation training method according to claim 4, characterized by further comprising, before the doctor terminal acquires patient information of a patient currently in visit:
the doctor logs in the doctor terminal according to the doctor registration information.
6. The rehabilitation training method according to claim 4, characterized in that before the patient turns on the video-audio interactive function of the patient terminal, further comprising:
the patient logs in the patient terminal according to the patient registration information.
7. The rehabilitation training method according to claim 4, characterized in that the rehabilitation training method further comprises:
The cloud platform server generates a rehabilitation curve of the patient according to training data and training results of the patient stored in a cloud database;
And the cloud platform server sends the rehabilitation curves to the doctor terminal and the patient terminal for display.
8. The rehabilitation training method according to claim 4, characterized in that the rehabilitation training method further comprises:
the method comprises the steps that a hospital general responsible person logs in the cloud platform server according to responsible person registration information, and data of all patients in the hospital are checked and edited on a cloud general interface of the cloud platform server;
And the platform super manager logs in the cloud platform server according to the registration information of the super manager, and views and edits all data in the cloud database on a cloud total interface of the cloud platform server.
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