CN111084707A - Spinal cord injury lower limb rehabilitation equipment - Google Patents
Spinal cord injury lower limb rehabilitation equipment Download PDFInfo
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- CN111084707A CN111084707A CN201911276076.6A CN201911276076A CN111084707A CN 111084707 A CN111084707 A CN 111084707A CN 201911276076 A CN201911276076 A CN 201911276076A CN 111084707 A CN111084707 A CN 111084707A
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- lower limb
- lifting
- support
- push rod
- lead screw
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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
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
- A61N1/3603—Control systems
- A61N1/36031—Control systems using physiological parameters for adjustment
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
Abstract
The invention relates to spinal cord injury lower limb rehabilitation equipment, which comprises an equipment bracket, a lifting device and a lower limb movement device, wherein the equipment bracket comprises a base and a pair of support legs, and the support legs are connected with the equipment bracket through a connecting rod: the equipment support has a bottom support and front and rear support mechanisms and forms a space for accommodating a patient and a wheelchair; the lifting device drives a lifting rope wound on the lifting pulley block to perform lifting motion through the electric push rod, and the lifting rope can be put down through a manual mechanism when the motor fails so as to ensure safety; the lower limb movement device is arranged at the top of the front support mechanism and is provided with two lower limb movement units which are symmetrically arranged, and the two lower limb movement units drive the sliding table on the screw rod to move through the stepping motor, so that the lower limb movement rope connected to the sliding table is driven to perform lifting movement. Compared with the prior art, the invention can adapt to various body types and spinal cord injury patients with different degrees, can train gait motions of various leg angles, is convenient to be matched with a wheelchair for use, and can combine electrical stimulation to ensure that the rehabilitation effect of the patients is better.
Description
Technical Field
The invention relates to a rehabilitation instrument for a patient with spinal cord injury, in particular to spinal cord injury lower limb rehabilitation equipment.
Background
Most spinal cord injury patients begin to lose motor ability and consciousness after injury, which causes great troubles to life and is difficult to independently live, and especially for some paraplegic patients, basic rehabilitation training cannot be completed. In order to restore a certain motor ability to a patient, gait simulation training is usually performed by some rehabilitation device, which trains muscles by simulating the walking posture, expecting to rebuild nerve connection.
Most of the rehabilitation equipment on the market at present has complex structures and complex operation, brings great burden to patients and doctors, has high requirements on the patients, and is not suitable for patients with spinal cord injury.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a spinal cord injury lower limb rehabilitation device.
The purpose of the invention can be realized by the following technical scheme:
an electrically stimulated lower limb rehabilitation device for spinal cord injury, comprising:
an equipment stand having a bottom support and a front support mechanism and a rear support mechanism arranged in tandem on the bottom support and forming a space for accommodating a patient and a wheelchair,
the lifting device is arranged at the top of the rear pillar mechanism and is provided with a manual mechanism, a lifting pulley block, two lifting ropes wound on the pulley block and synchronously acting, and an electric push rod acting on the pulley block to drive the two lifting ropes to synchronously lift, the initial ends of the two lifting ropes are connected to the manual mechanism and can be shifted under the driving of the manual mechanism to realize the lifting of the lifting ropes, the tail ends of the two lifting ropes droop,
the lower limb movement device is arranged at the top of the front support mechanism and is provided with two lower limb movement units which are symmetrically arranged left and right, each lower limb movement unit is provided with a stepping motor and a lead screw which are in transmission connection, a sliding table which is arranged on the lead screw in a penetrating way and can move along the axial direction of the lead screw, a steel wire rope sleeve arranged at the tail end of the lead screw, a lower limb movement pulley arranged between the steel wire rope sleeve and the lead screw and a lower limb movement rope wound on the lower limb movement pulley, the starting end of the lower limb movement rope is connected to the sliding table, and the tail end.
The device also comprises an electrical stimulation device, wherein the electrical stimulation device is provided with an electromyographic signal acquisition assembly and a functional electrical stimulation assembly, the electromyographic signal acquisition assembly is used for acquiring the electromyographic signal of the surface of the human body of the patient, and the functional electrical stimulation assembly is used for implementing functional electrical stimulation on the patient.
The device can be matched with an electrical stimulation device to give current with certain intensity to a patient to stimulate active muscles, and is matched with functional training of walking simulation.
Preferably, the bottom support is a semi-surrounding frame with an opening at the rear part and is used for conveniently pushing the wheelchair into the equipment support, and an adjusting support screw is arranged below the bottom support; the rear support mechanism is composed of a left rear support and a right rear support which are arranged on two side edges of the bottom support from left to right, and the front support mechanism is composed of a left front support and a right front support which are arranged on the front end edge of the bottom support from left to right.
Preferably:
the lifting device also comprises an upper cross beam and a lower cross beam which are arranged at the top end of the rear pillar mechanism, and two supporting beams which are used for connecting the two ends of the upper cross beam and the two ends of the lower cross beam, wherein a space between the upper cross beam and the lower cross beam forms a mounting space of the lifting device;
the electric push rod is positioned in the installation space of the lifting device and consists of an electric part and a push rod part, the electric part is fixed on one supporting beam, and the push rod part points to the other supporting beam;
the manual mechanism comprises a lead screw nut manual lead screw shaft and a manual handle connected to the manual lead screw shaft, the manual lead screw shaft is arranged on a supporting beam pointed by the push rod part in a penetrating mode, one end, located in the installation space of the lifting device, of the manual lead screw shaft is located above the electric push rod, points to the supporting beam fixed by the electric part and is connected with the lead screw nut, and the manual lead screw shaft can drive the lead screw nut to move along the length direction of the upper cross beam through rotation;
the lifting pulley block is positioned in the mounting space of the lifting device and comprises a first large pulley arranged at the tail end of the push rod part of the electric push rod, a second large pulley arranged on a support beam fixed by the electric part and positioned below the electric push rod, a third large pulley and a fourth large pulley which are arranged on the lower cross beam from left to right, and a first small pulley block and a second small pulley block which are arranged above and below the electric push rod;
the starting ends of the two lifting ropes are connected to the screw rod nut, the tail ends of the two lifting ropes sequentially pass through the first small pulley block, the first large pulley, the second small pulley block and the second large pulley, the tail end of one lifting rope passes through the third large pulley and penetrates through the lower cross beam to hang down, and the tail end of the other lifting rope passes through the fourth large pulley and penetrates through the lower cross beam to hang down.
Preferably, inverted L-shaped plates are symmetrically arranged on two sides of the push rod part of the electric push rod, the L-shaped plates are fixed on the upper cross beam, and the first small pulley block and the second small pulley block are arranged between the two L-shaped plates one above the other;
the first small pulley block and the second small pulley block are composed of bolts penetrating through the two L-shaped plates, and small pulleys A and small pulleys B sleeved on the bolts through the bearings A and the bearings B respectively, the bolts are fixed on the two L-shaped plates through nuts, shaft end check rings A and shaft end check rings B are arranged on two sides of each of the small pulleys A and the small pulleys B respectively, a middle shaft end check ring is arranged between each of the bearings A and the corresponding bearing B, and the small pulleys A and the small pulleys B are used for winding the two lifting ropes respectively.
Preferably, the two sides of the lifting device are covered with cover plates.
Preferably, the lower limb movement device further comprises a support profile, and the two lower limb movement units are mounted on the support profile.
Preferably, the preparation support further comprises a center console arranged at the top end of the front support mechanism, and the center console is electrically connected with the lifting device and the lower limb movement device.
Preferably, the lead screw is provided with a sliding table limit limiter. The limit position is limited by the sliding table limit limiter, the motion amplitude of the legs of the patient is guaranteed within a certain range, and the safety is improved.
When the invention is used, the patient wears the safety bandage and the leg protector. The end of the lifting rope is used for being connected to a safety harness worn by a patient, and during electric driving, the lifting rope is acted on the lifting pulley block through the electric push rod to drive the lifting rope to lift, so that the lifting action of the patient is completed, and when the electric push rod breaks down, the patient can be put down through the manual mechanism. The tail end of the lower limb movement rope is connected with a leg protector worn by a patient, when the stepping motor rotates, the lower limb movement rope is driven to stretch back and forth, and meanwhile, the leg is driven to gently complete the gait simulation action of stretching and bending the leg, so that the single-leg and double-leg training and passive bilateral synchronous/alternate bending and stretching coordinated movement can be realized.
The electrical stimulation device comprises an electromyographic signal acquisition component and a functional electrical stimulation component: the electromyographic signal acquisition assembly comprises a front-level amplification circuit, a middle-level amplification circuit and a rear-level amplification circuit, and is used for only retaining signals within a basic range by combining with a filter circuit and removing power frequency interference by using a band elimination filter so as to amplify the surface electromyographic signals by tens of thousands of times in order to reduce interference of other physiological signals; the functional electrical stimulation component adopts current stimulation, and the electromyographic feedback electrical stimulation algorithm dynamically adjusts the output size of electrical stimulation in real time by comparing the size of an electromyographic signal with a threshold value in real time. The dynamic adjustment determines the appropriate electrical stimulation intensity for the patient based on individual patient differences.
Compared with the prior art, the invention has the following advantages:
(1) the lifting device is suitable for patients of various body types.
(2) Gait motions of various leg angles can be trained through the lower limb movement device.
(3) Is suitable for patients with spinal cord injuries of different degrees, can be used in cooperation with a wheelchair, and is convenient to operate and use.
(4) The mode of combining electrical stimulation and lower limb training can be adopted, so that the rehabilitation effect of the patient is better.
(5) The electrical stimulation device is non-invasive, and risks and cost are greatly reduced.
Drawings
FIG. 1 is a schematic structural diagram of a spinal cord injury lower limb rehabilitation device of the present invention;
fig. 2 is a schematic structural view of an apparatus bracket of the spinal cord injury lower limb rehabilitation apparatus of the present invention;
fig. 3 is a schematic structural view of the lifting device of the spinal cord injury lower limb rehabilitation apparatus of the present invention;
fig. 4 is an exploded schematic view of a first pulley block and a second pulley block of the spinal cord injury lower limb rehabilitation apparatus of the present invention;
fig. 5 is a schematic connection diagram of a first small pulley block and a second small pulley block of the spinal cord injury lower limb rehabilitation device of the invention;
fig. 6 is an external structural view of a lower limb movement device of the spinal cord injury lower limb rehabilitation apparatus of the present invention;
FIG. 7 is a schematic structural view of a spinal cord injury lower limb rehabilitation apparatus of the present invention;
FIG. 8 is a schematic view of the operation mode of the spinal cord injury lower limb rehabilitation device of the present invention;
fig. 9 is a schematic block diagram of the circuit connection of the electrical stimulation device of the spinal cord injury lower limb rehabilitation apparatus of the present invention.
In the figure, 1 is a bottom support, 2 is a right front pillar, 3 is a left front pillar, 4 is an adjusting support screw, 5 is a reinforcing rib, 6 is a center console, 7 is a support profile, 8 is a right rear pillar, 9 is a left rear pillar, 10 is a screw nut, 11 is an electric push rod, 12 is a second large pulley, 13 is a third large pulley, 14 is an L-shaped plate, 15 is a first small pulley, 16 is a second small pulley block, 17 is a first large pulley, 18 is a fourth large pulley, 19 is an upper beam, 20 is a lower beam, 21 is a support beam, 22 is a cover plate, 23 is a manual screw shaft, 24 is a manual handle, 25 is a nut, 26 is a bolt, 27 is an end retainer A, 28 is a small pulley A, 29 is a bearing A, 30 is a middle end retainer, 31 is a bearing B, 32 is a small pulley B, 33 is a retainer B, 34 is an integrated display, 35 is a bracket, 36 is a cover plate, 37 is a stepping motor, 38 is a lead screw, 39 is a sliding table, 40 is a pulley, 41 is a steel wire rope sleeve, 42 is a lower limb movement unit, 43 is a lifting rope, and 44 is a lower limb movement rope;
i is an equipment bracket, II is a lifting device, and III is a lower limb movement device.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Example 1
An electrical stimulation lower limb rehabilitation device for spinal cord injury, as shown in fig. 1-7, comprises a device bracket I, a lifting device II and a lower limb movement device III, wherein: the equipment support I is provided with a bottom support 1, a front support mechanism and a rear support mechanism which are arranged on the bottom support 1 in tandem, and forms a space for accommodating a patient and a wheelchair; the lifting device II is arranged at the top of the rear pillar mechanism and is provided with a manual mechanism, a lifting pulley block, two lifting ropes 43 wound on the pulley block and synchronously acting, and an electric push rod 11 acting on the pulley block to drive the two lifting ropes 43 to synchronously lift, wherein the starting ends of the two lifting ropes 43 are connected to the manual mechanism and can be driven by the manual mechanism to move, so that the lifting of the lifting ropes 43 is realized, and the tail ends of the two lifting ropes 43 droop; the lower limb movement device III is arranged at the top of the front support mechanism and is provided with two lower limb movement units which are symmetrically arranged left and right, each lower limb movement unit is provided with a stepping motor 37 and a lead screw 38 which are in transmission connection, a sliding table 39 which is arranged on the lead screw 38 in a penetrating way and can move along the axial direction of the lead screw 38, a steel wire rope sleeve 41 arranged at the tail end of the lead screw 38, a lower limb movement pulley 40 arranged between the steel wire rope sleeve 41 and the lead screw 38 and a lower limb movement rope 44 wound on the lower limb movement pulley 40, the starting end of the lower limb movement rope 44 is connected to the sliding table 39, and the tail end.
When the spinal cord injury electrical stimulation lower limb rehabilitation equipment is used, a patient wears the safety bandage and the leg protector firstly. The end of the lifting rope 43 is used for being connected to a safety belt worn by a patient, and during electric driving, the lifting rope 43 is driven to lift through the action of the electric push rod 11 on the lifting pulley block, so that the lifting action of the patient is completed, and when the electric push rod 11 breaks down, the patient can be put down through a manual mechanism. The tail end of the lower limb movement rope 44 is connected with a leg protector worn by the patient, when the stepping motor 37 rotates, the lower limb movement rope 44 is driven to stretch back and forth, and meanwhile, the leg is driven to gently complete the gait simulation action of stretching and bending the leg, so that the single-leg and double-leg training and passive bilateral synchronous/alternate bending and stretching coordinated movement can be realized.
The device can also comprise an electrical stimulation device which comprises an electromyographic signal acquisition component and a functional electrical stimulation component. Preferably, the electromyographic signal acquisition assembly is provided with a front-level amplification circuit, a middle-level amplification circuit and a rear-level amplification circuit, in order to reduce interference of other physiological signals, only signals in a basic range are reserved by combining a filter circuit, and power frequency interference is removed by a band elimination filter, so that the surface electromyographic signals are amplified by tens of thousands of times; the functional electrical stimulation component adopts current stimulation, and the electromyographic feedback electrical stimulation algorithm dynamically adjusts the output size of electrical stimulation in real time by comparing the size of an electromyographic signal with a threshold value in real time. The dynamic adjustment determines the appropriate electrical stimulation intensity for the patient based on individual patient differences. The electric stimulation device is further preferably controlled by a single chip microcomputer, the single chip microcomputer preferably adopts an stm32 chip, the stm32 chip is powered by 3.3V voltage, and other integrated chips are powered by +/-5V double power supplies, so that the power supply mainly comprises three stabilized voltage power supply modules; the serial port communication module realizes connection communication with an upper computer; the electromyographic acquisition component is used for acquiring the electromyographic signals of the surface of a human body, the root mean square acquisition chip is used for converting the acquired electromyographic signal values into root mean square values which are easy to analyze, and the electrical stimulation component is used for implementing functional electrical stimulation on a patient by comparing the size of the electromyographic signals with a threshold value. As shown in fig. 9. The root mean square acquisition chip and the like in the embodiment adopt chips in the prior art.
Preferably, the bottom support 1 in this embodiment is a semi-surrounding frame with an open rear (see fig. 1 and 2) for conveniently pushing the wheelchair into the equipment support, and an adjusting support screw 4 is arranged below the bottom support 1; the rear strut mechanism is composed of a left rear strut 9 and a right rear strut 8 which are arranged on two side edges of the bottom support 1 from left to right, and the front strut mechanism is composed of a left front strut 3 and a right front strut 2 which are arranged on the front end edge of the bottom support 1 from left to right. And preferably the height of the front pillar mechanism is lower than the height of the rear pillar mechanism. Further preferably, the left rear pillar 9 and the right rear pillar 8 are welded and fixed by the reinforcing ribs 5 and installed on both side edges of the base support 1. The reinforcing ribs 5 are connected through bolts, and the safety and stability of the equipment support are guaranteed. Further preferably, the bottom support 1, the left rear support 9, the right rear support 8, the left front support 3 and the right front support 2 are hollow square tubes to prevent shaking.
As shown in fig. 3, the lifting device preferably further includes an upper cross beam 19 and a lower cross beam 20 disposed at the top end of the rear pillar mechanism, and two support beams 21 connecting the two ends of the upper cross beam 19 and the lower cross beam 20 (preferably, the support beams 21 pass through the openings of the upper cross beam 19 and the lower cross beam 20 and are fixed by screws at two sides), and the space between the upper cross beam 19 and the lower cross beam 20 forms a mounting space of the lifting device; the electric push rod 11 is positioned in the installation space of the lifting device and consists of an electric part and a push rod part, wherein the electric part is fixed on one support beam 21 (the left support beam 21 in figure 3), and the push rod part points to the other support beam 21 (the right support beam 21 in figure 3); the manual mechanism comprises a manual screw rod shaft 23 of the screw nut 10 and a manual handle 24 connected to the manual screw rod shaft 23, the manual screw rod shaft 23 is arranged on a support beam 21 (the support beam 21 on the right side in fig. 3) to which the push rod part points in a penetrating manner, one end of the manual screw rod shaft 23, which is positioned in the installation space of the lifting device, is positioned above the electric push rod 11, points to the support beam fixed by the electric part and is connected with the screw nut 10 (preferably, the screw nut 10 is slidably connected with the lower end face of the upper cross beam 19), and the manual screw rod shaft 23 can move along the length direction of the upper cross beam 19 by rotating the screw nut; the lifting pulley block is positioned in the mounting space of the lifting device and comprises a first large pulley 17 arranged at the tail end of the push rod part of the electric push rod 11, a second large pulley 12 arranged on a support beam 21 fixed on the electric part and positioned below the electric push rod 11, a third large pulley 13 and a fourth large pulley 18 which are arranged on a lower cross beam 20 in a left-right mode, and a first small pulley block 15 and a second small pulley block 16 which are arranged above and below the electric push rod 11; the beginning ends of the two lifting ropes 43 are connected to the feed screw nut 10, the tail ends of the two lifting ropes 43 pass through the first small pulley block 15, the first large pulley 17, the second small pulley block 16 and the second large pulley 12 in sequence, the tail end of one lifting rope 43 passes through the third large pulley 13 and is hung down through the lower beam 20, and the tail end of the other lifting rope 43 passes through the fourth large pulley 18 and is hung down through the lower beam 20. Furthermore, for safety and aesthetic reasons, it is preferred that the lifting device is covered on both sides with a cover plate 22.
As shown in fig. 4 and 5, preferably, inverted L-shaped plates 14 are symmetrically arranged on both sides of the push rod portion of the electric push rod 11, the L-shaped plates 14 are fixed on the upper cross beam 19, and the first small pulley block 15 and the second small pulley block 16 are arranged between the two L-shaped plates 14 one above the other; the first small pulley block 15 and the second small pulley block 16 are composed of bolts 26 (the bolts 26 are fixed on the two L-shaped plates 14 through nuts 25) arranged on the two L-shaped plates 14 in a penetrating manner, and a small pulley a28 and a small pulley B32 respectively sleeved on the bolts through a bearing a29 and a bearing B31, the bolts 26 are fixed on the two L-shaped plates 14 through the nuts 25, two sides of the small pulley a28 and two sides of the small pulley B32 are respectively provided with an axial end check ring a27 and an axial end check ring B33, a middle axial end check ring 30 is arranged between the bearing a29 and the bearing B32, and the small pulley a28 and the small pulley B32 are respectively used for winding the two lifting ropes 43.
Preferably, as shown in fig. 6 and 7, the lower limb movement device further includes a support section bar 7 (the support section bar 7 is fixed to the top end of the front pillar mechanism), and the two lower limb movement units are mounted on the support section bar 7. Be equipped with slip table limit stop on the lead screw 38, slip table limit stop cover is located on lead screw 38 to have two limiting plates, limited extreme position through slip table limit stop, guaranteed that the range of motion of patient's shank is in certain extent, improved the security.
Preferably, as shown in fig. 6, the preparation support I further includes a center console 6 (preferably fixed by screws) disposed at the top end of the front pillar mechanism, and the center console 6 is electrically connected to the lifting device II and the lower limb movement device III. The central console 6 is also provided with a bracket 35, a cover plate 36 and an all-in-one machine display 34, a control device which comprises a 24V power supply, a motor driver and a motion control card can be stored in the space below the cover plate, the USB bus is connected to a host computer, and the control device is controlled by an industrial personal computer, so that convenience is provided for patients and operators.
As shown in fig. 8, the present invention controls the operation of each device by the host computer. The upper computer can independently control the work of each device, can only help the patient to simulate gait with mechanical training device alone, also can carry out corresponding electric current stimulation to the patient position through the electro photoluminescence alone. The electric stimulation and the mechanical walking device are matched to carry out, namely, the action potentials inside and outside the cell membrane on the surface of the skin of a human body are changed alternately in the process of muscle contraction, and the amplitude of the action potentials is in direct proportion to the muscle contraction. Therefore, when the gait training of the patient is carried out, the magnitude of the current stimulation can be adjusted by comparing the collected electromyographic signals with the set threshold value, so that the training recovery of the patient is quicker and more effective.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (9)
1. A spinal cord injury lower limb rehabilitation device, comprising:
an equipment stand (I) having a bottom support (1) and a front and a rear support mechanism arranged in tandem on the bottom support (1) and forming a space for accommodating a patient and a wheelchair,
the lifting device (II) is arranged at the top of the rear pillar mechanism and is provided with a manual mechanism, a lifting pulley block, two lifting ropes (43) wound on the pulley block and synchronously acting, and an electric push rod (11) acting on the pulley block to drive the two lifting ropes (43) to synchronously lift, the starting ends of the two lifting ropes (43) are connected to the manual mechanism and can be shifted under the driving of the manual mechanism to realize the lifting of the lifting ropes (43), the tail ends of the two lifting ropes (43) droop,
the lower limb movement device (III) is arranged at the top of the front support mechanism and is provided with two lower limb movement units (42) which are symmetrically arranged left and right, each lower limb movement unit (42) is provided with a stepping motor (37) and a lead screw (38) which are in transmission connection, a sliding table (39) which is arranged on the lead screw (38) in a penetrating mode and can move axially along the lead screw (38), a steel wire rope sleeve (41) arranged at the tail end of the lead screw (38), a lower limb movement pulley (40) arranged between the steel wire rope sleeve (41) and the lead screw (38) and a lower limb movement rope (44) wound on the lower limb movement pulley (40), the initial end of the lower limb movement rope (44) is connected to the sliding table (39), and the tail end of the lower.
2. The spinal cord injury lower limb rehabilitation device according to claim 1, further comprising an electrical stimulation device having an electromyographic signal acquisition component for acquiring an electromyographic signal of a surface of a patient and a functional electrical stimulation component for performing functional electrical stimulation on the patient.
3. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein the bottom support (1) is a semi-surrounding frame with an open rear part for conveniently pushing the wheelchair into the device bracket directly, and an adjusting support screw (4) is arranged below the bottom support (1); the rear support mechanism is composed of a left rear support (9) and a right rear support (8) which are arranged on two side edges of the bottom support (1) from left to right, and the front support mechanism is composed of a left front support (3) and a right front support (2) which are arranged on the front end edge of the bottom support (1) from left to right.
4. The spinal cord injury lower limb rehabilitation device according to claim 1, characterized in that:
the lifting device also comprises an upper cross beam (19) and a lower cross beam (20) which are arranged at the top end of the rear pillar mechanism, and two supporting beams (21) which are used for connecting the two ends of the upper cross beam (19) and the two ends of the lower cross beam (20), wherein a space between the upper cross beam (19) and the lower cross beam (20) forms a mounting space of the lifting device;
the electric push rod (11) is positioned in the installation space of the lifting device and consists of an electric part and a push rod part, the electric part is fixed on one supporting beam (21), and the push rod part points to the other supporting beam (21);
the manual mechanism comprises a lead screw nut (10), a manual lead screw (23) and a manual handle (24) connected to the manual lead screw shaft (23), the manual lead screw shaft (23) penetrates through a support beam (21) pointed by the push rod part, one end, located in the installation space of the lifting device, of the manual lead screw shaft (23) is located above the electric push rod (11), points to the support beam fixed by the electric part and is connected with the lead screw nut (10), and the manual lead screw shaft (23) can drive the lead screw nut (10) to move along the length direction of the upper cross beam (19) through rotation;
the lifting pulley block is positioned in the mounting space of the lifting device and comprises a first large pulley (17) arranged at the tail end of a push rod part of the electric push rod (11), a second large pulley (12) arranged on a supporting beam (21) fixed by the electric part and positioned below the electric push rod (11), a third large pulley (13) and a fourth large pulley (18) which are arranged on a lower cross beam (20) from left to right, and a first small pulley block (15) and a second small pulley block (16) which are arranged above and below the electric push rod (11);
the starting ends of two lifting ropes (43) are connected to the feed screw nut (10), the tail ends of the two lifting ropes (43) sequentially pass through the first small pulley block (15), the first large pulley (17), the second small pulley block (16) and the second large pulley (12), the tail end of one lifting rope (43) passes through the third large pulley (13) and penetrates through the lower cross beam (20) to hang down, and the tail end of the other lifting rope (43) passes through the fourth large pulley (18) and penetrates through the lower cross beam (20) to hang down.
5. The spinal cord injury lower limb rehabilitation device according to claim 4, characterized in that inverted L-shaped plates (14) are symmetrically arranged on both sides of the push rod part of the electric push rod (11), the L-shaped plates (14) are fixed on the upper cross beam (19), and the first small pulley block (15) and the second small pulley block (16) are arranged between the two L-shaped plates (14) one above the other;
the first small pulley block (15) and the second small pulley block (16) are composed of bolts (26) penetrating through two L-shaped plates (14) and small pulleys A (28) and B (32) sleeved on the bolts through bearings A (29) and B (31) respectively, the bolts (26) are fixed on the two L-shaped plates (14) through nuts (25), shaft end check rings A (27) and B (33) are arranged on two sides of the small pulleys A (28) and B (32) respectively, a middle shaft end check ring (30) is arranged between the bearings A (29) and B (32), and the small pulleys A (28) and B (32) are used for winding two lifting ropes (43) respectively.
6. The spinal cord injury lower limb rehabilitation device according to claim 1 or 4, wherein the lifting device is covered with cover plates (22) on both sides.
7. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein the lower limb movement means further comprises a support section bar (7), and the two lower limb movement units (42) are mounted on the support section bar (7).
8. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein the preparation bracket (I) further comprises a central console (6) arranged at the top end of the front support mechanism, and the central console is electrically connected with the lifting device (II) and the lower limb movement device (III).
9. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein a sliding table limit stopper is arranged on the screw rod (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276076.6A CN111084707A (en) | 2019-12-12 | 2019-12-12 | Spinal cord injury lower limb rehabilitation equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276076.6A CN111084707A (en) | 2019-12-12 | 2019-12-12 | Spinal cord injury lower limb rehabilitation equipment |
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| CN111084707A true CN111084707A (en) | 2020-05-01 |
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| CN201911276076.6A Pending CN111084707A (en) | 2019-12-12 | 2019-12-12 | Spinal cord injury lower limb rehabilitation equipment |
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