CN111631905A - Unilateral upper limb rehabilitation robot under FMRI environment - Google Patents
Unilateral upper limb rehabilitation robot under FMRI environment Download PDFInfo
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Abstract
The invention discloses a unilateral upper limb rehabilitation robot in an FMRI environment, which comprises a unilateral upper limb movement recording device, a unilateral upper limb rehabilitation training device, a control box and a nuclear magnetic resonance spectrometer, wherein the unilateral movement recording device is worn on the upper limb on the healthy side of a patient and used for collecting the movement state of the upper limb on the healthy side of the patient; the unilateral upper limb rehabilitation training device is worn on the upper limb of the patient on the side needing training and used for performing varicosity training on the upper limb of the patient on the side needing training; the control box is used for feeding the motion state collected by the unilateral motion recording device back to the unilateral upper limb rehabilitation training device; the nuclear magnetic resonance apparatus is used for evaluating the upper limb function recovery index of the patient, thereby providing experimental data for clinical rehabilitation experiments of the patient. The invention can be used for the upper limb rehabilitation training device compatible with nuclear magnetic resonance after the operation of the stroke patient, greatly improves the accuracy of the strength determination of the rehabilitation training by matching with the nuclear magnetic resonance imaging technology, and can also obtain the effect of the rehabilitation training in real time.
Description
Technical Field
The invention belongs to the field of rehabilitation robots, and particularly relates to a unilateral upper limb rehabilitation robot in an FMRI environment.
Background
First, Bethe A et al proposed plasticity theory in 1930, who thought plasticity to be a general property of living bodies and an important ability to adapt to environmental changes and cope with dangers. In the late 1960 s, Luria AR et al perfected the functional reorganization theory after brain injury, i.e., the residual part can be functionally reorganized in a new way by functional training after brain injury, also called retraining theory. It is well known in the academic world that the structure and function of the mature brain tissue have plasticity.
Numerous clinical trials have shown that alterations in motor cortex function, in addition to being associated with impairment-related functional reorganization, also rely on the accumulation of "motor experience", i.e., long-term activity can remodel neural synapses and store this information in neural networks. Therefore, the action experience can obviously influence the recovery degree after the stroke, researches find that the machine-assisted activity training has great benefits compared with the traditional training method, and the limb functions can be effectively recombined through the function recovery training in the stroke rehabilitation stage. In recent years, the use of rehabilitation robots to provide assisted training for patients has become more and more widespread. The rehabilitation training of upper limbs rehabilitation robot has certain treatment to the hemiplegia patient, and after the nerve is impaired, the training of specific function is essential to the recovery of limbs function. In the traditional rehabilitation training, a plurality of experienced doctors are generally matched with each other to artificially assist the rehabilitation training and determine the training intensity, and the number of the experienced doctors is small, so that the requirements of the stroke patients with the number of the experienced doctors in China are far from being met. With the improvement and perfection of image technology, particularly the improvement of functional nuclear magnetic resonance imaging technology, the functional nuclear magnetic resonance (FMRI) technology is more and more widely applied in medical treatment, particularly in the diagnosis of stroke diseases, the combination of rehabilitation training and nuclear magnetic resonance imaging technology greatly improves the quality and efficiency of rehabilitation training, lightens the labor intensity of doctors, and doctors can obtain the feedback of rehabilitation training in real time and simultaneously provide experimental data for clinical application. However, the nmr has its own limitations, for example, the working space is narrow, and there are strong magnetic fields and radiations in the nmr environment, so that the metal device is easily magnetized, and general electronic components and mechanical members cannot normally work, so that the nmr is not widely applied in the medical technology, and therefore, the nmr is currently applied to rehabilitation training of upper limb hemiplegia caused by stroke and research of an upper limb rehabilitation robot compatible in the FMRI environment, and needs to be solved urgently.
The unilateral upper limb rehabilitation robot under the nuclear magnetic resonance environment has the advantage of nuclear magnetic compatibility, and can apply the nuclear magnetic imaging technology to the rehabilitation training of the upper limbs of stroke upper limb hemiplegia patients, so that the limb functions of the stroke patients are recombined. The nuclear magnetic resonance imaging technology is combined with upper limb rehabilitation training, and the effect of the upper limb rehabilitation training of a patient can be achieved in real time, so that the strength of the rehabilitation training is determined, the steps are performed gradually, and the quality of the rehabilitation training is improved efficiently.
Disclosure of Invention
The invention aims to solve the problems in the prior art, provides a unilateral upper limb rehabilitation robot in an FMRI environment, can be used for post-operation nuclear magnetic compatible upper limb rehabilitation training equipment for stroke patients, greatly improves the accuracy of rehabilitation training intensity determination by matching with a nuclear magnetic resonance imaging technology, and can also obtain the rehabilitation training effect in real time.
In order to achieve the above object, the present invention provides a unilateral upper limb rehabilitation robot in FMRI environment, comprising a unilateral upper limb movement recording device, a unilateral upper limb rehabilitation training device, a control box and a nuclear magnetic resonance apparatus, wherein,
the unilateral movement recording device is worn on the upper limb on the healthy side of the patient and used for collecting the movement state of the upper limb on the healthy side of the patient;
the unilateral upper limb rehabilitation training device is worn on the upper limb of the patient on the side needing training and used for performing varicosity training on the upper limb of the patient on the side needing training;
the control box is used for feeding the motion state collected by the unilateral motion recording device back to the unilateral upper limb rehabilitation training device;
the nuclear magnetic resonance apparatus is used for evaluating the upper limb function recovery index of the patient, thereby providing experimental data for clinical rehabilitation experiments of the patient.
Further, unilateral movement recording device includes first nylon rope and second nylon rope, first nylon rope with second nylon rope one end is connected in the control box, the first nylon rope other end is around on outside drive pulley, and the second nylon rope other end is around on inboard drive pulley, the one end of outside drive pulley, inboard drive pulley and forearm bandage backup pad is in proper order with axle center fixed connection on first transmission shaft, forearm bandage backup pad and big arm bandage backup pad are articulated, be equipped with forearm bandage and big arm bandage in forearm bandage backup pad and the big arm bandage backup pad respectively.
Furthermore, a driving pulley bracket is arranged between the inner side driving pulley and the small arm binding belt supporting plate, a through hole is formed in the middle of the driving pulley bracket, a bearing is arranged in the through hole, the first transmission shaft is installed in the bearing, and the upper end of the driving pulley bracket is fixed on the large arm binding belt supporting plate.
Further, a guide pipe bracket is arranged above the outer side driving pulley and the inner side driving pulley, two nylon rope guide pipes are arranged on the guide pipe bracket, the first nylon rope and the second nylon rope sequentially penetrate through the two nylon rope guide pipes and the guide pipe bracket and are fixed on the outer side driving pulley and the inner side driving pulley through nylon rope pressing blocks respectively, and the winding directions of the first nylon rope and the second nylon rope on the outer side driving pulley and the inner side driving pulley are opposite.
Furthermore, the unilateral upper limb rehabilitation training device and the unilateral movement recording device are symmetrically arranged left and right, and the nylon ropes in the unilateral upper limb rehabilitation training device are respectively a third nylon rope and a fourth nylon rope.
Further, the control box comprises a control box shell, a control box recording device with one side connected with the unilateral upper limb movement recording device and a control box driving device connected with the unilateral upper limb rehabilitation training device, the control box recording device comprises a first nylon wire coil and a second nylon wire coil, the other ends of the first nylon rope and the second nylon rope are respectively fixed with the first nylon wire coil and the second nylon wire coil through nylon rope pressing blocks, the first nylon wire coil and the second nylon wire coil are coaxially fixed on a second transmission shaft, two end parts of the second transmission shaft are respectively fixed between an inner support of the right nylon wire coil and an outer support of the right nylon wire coil through bearings, the second transmission shaft passes right side nylon wire coil inner support and coupling joint, the coupling joint is connected with the encoder, the encoder passes through the encoder fixed bolster to be fixed on the nylon wire coil inner support of right side.
Further, the control box driving device comprises a third nylon wire coil and a fourth nylon wire coil, the other ends of the third nylon rope and the fourth nylon rope are respectively fixed with the third nylon wire coil and the fourth nylon wire coil through nylon rope pressing blocks, the third nylon wire coil and the fourth nylon wire coil are coaxially fixed on a third transmission shaft, two end parts of the third transmission shaft are respectively fixed between the left nylon wire coil inner support and the left nylon wire coil outer support through bearings, the third transmission shaft penetrates through the left nylon wire disc inner support to be connected with a speed reducer, the speed reducer is connected with a servo motor, the third transmission shaft is also connected with a speed reducing crank, the bottom of the speed reducing crank is connected with a column type force sensor, the bottom of the column type force sensor is connected with a column type force sensor supporting block, and the column type force sensor supporting block is fixed on the fourth nylon wire coil and rotates together with the third nylon wire coil and the fourth nylon wire coil.
Further, still include control module, control module connects the encoder, will the pulse of the unilateral upper limbs motion recorder of encoder record passes through signal processing circuit and returns during DSP, and the storage comes down, DSP transfers the motion state data of the healthy one side upper limbs of patient of record from data storage back, then through opto-isolator circuit, through driver circuit control servo motor motion, column type force transducer returns data, return in DSP through signal processing circuit, form closed loop, overlap the brain anatomical image top that the number is average and get at the same time through the functional magnetic resonance imaging data of the patient that nuclear magnetic resonance appearance will gather, show the brain activation region when receiving external stimulus, thereby feedback department patient's recovered condition.
Further, the bearings in the unilateral upper limb movement recording device and the unilateral upper limb rehabilitation training device are made of ceramic materials, the large arm bandage, the small arm bandage, the large arm bandage supporting plate and the small arm bandage supporting plate are made of carbon fiber materials, and the driving pulley bracket, the nylon rope guide pipe bracket, the first transmission shaft, the inner side driving pulley and the outer side driving pulley are made of polyformaldehyde materials.
Furthermore, the control box shell is made of an H62 copper material, the servo motor is an ultrasonic motor, and the encoder is an optoelectronic encoder made of an H62 copper shell.
Compared with the prior art, the invention at least comprises the following beneficial effects:
1. the upper limb rehabilitation robot drives the lower arm of a patient to perform rehabilitation training, the nerve synapse can be modified through long-term training, the information is stored in the neural network, the FMRI technology can obtain the state of a training area of the patient, the activation state of a brain movement area of the patient can be obtained in real time, the feedback of the rehabilitation training can be obtained immediately, scientific research data are provided for researching cerebral apoplexy, and the upper limb rehabilitation effect is evaluated by adopting FMA (Fulg-Meyer upper limb evaluation) and MBI (improved Barthel index table), so that the clinical application is facilitated.
2. The invention provides a 'mirror image' rehabilitation training mode, which is characterized in that a unilateral movement recording device is used for collecting the movement state of an arm on the healthy side and feeding the movement state back to a unilateral upper limb rehabilitation training device, and the movement data of the arm on the healthy side is transmitted to the arm with dyskinesia. And taking the motion state of the healthy arm as a guide to perform rehabilitation training on the arm at the affected side. The rehabilitation training mode of mirror image of the arms on the two sides greatly improves the accuracy of rehabilitation training and reduces the difference of the upper limb movement dysfunction degrees of different patients. Under the mirror image method, the rehabilitation training is carried out for a long time, the stroke patient can slowly train the arm with dyskinesia to realize the rehabilitation transformation to the healthy arm, the treatment confidence of the stroke patient can be improved, and the stroke patient is helped to recover the movement state of the healthy upper limb and return to the normal life.
3. The invention designs a unilateral upper limb rehabilitation robot which can work in a nuclear magnetic resonance environment, and the device can work normally in a magnetic field by selecting a proper magnetic compatible material as a main structure material of the rehabilitation device. The device with a small design structure can be suitable for narrow and small nuclear magnetic resonance instruments. The driving mode can be normally used in the nuclear magnetic resonance environment by adopting the servo ultrasonic motor. 4. In the design of the invention, the change of pulses in the motion change of the upper limb can be obtained by utilizing the encoder, the pulse change is recorded by the sending control board, the servo motor is controlled, the servo ultrasonic motor drives the nylon rope, the arm is driven to move by the tail end execution pulley, and the force sensor is driven by the speed reducing crank to monitor the change of the rotating torque of the servo motor in real time, so that the safety of the rehabilitation robot is ensured.
5. In the design of the invention, the rehabilitation training device is connected with the control device through the nylon rope, the upper limb training device is arranged in the nuclear magnetic resonance instrument, and the control box is arranged in the remote control room, so that the influence of the nuclear magnetic resonance environment on the driving mode and the photoelectric encoder is greatly reduced.
6. Adopt H62 copper as the outer material shell of control box, rethread welding technique arranges motor encoder control panel force sensor in the control box, forms magnetic field shielding, can reach and prevent magnetic field interference, reduces the encoder simultaneously, and servo motor and control panel are to the interference of brain formation of image, and the main part material of terminal execution all chooses for use carbon fiber and plastic materials to reduce the interference of brain formation of image simultaneously.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a unilateral upper limb movement recording device of the present invention;
fig. 3 is a schematic structural view of the unilateral upper limb rehabilitation training device of the invention.
FIG. 4 is a schematic view of the overall structure of the control box of the present invention;
FIG. 5 is a schematic view of a control box recording apparatus of the present invention;
FIG. 6 is an exploded view of the control box recording device of the present invention;
FIG. 7 is a schematic view of the control box drive of the present invention;
FIG. 8 is an exploded view of the control box recording device of the present invention;
FIG. 9 is a schematic view of the present invention deceleration crank coupled to a column force sensor;
fig. 10 is a schematic view of the pulley configuration and rope compact block configuration of the present invention;
FIG. 11 is a flow chart of the control principle of the present invention;
in the figure: 1-a first nylon rope, 2-a second nylon rope, 3-a control box, 4-an outside driving pulley, 5-an inside driving pulley, 6-a lower arm band support plate, 7-a first transmission shaft, 8-a larger arm band support plate, 9-a lower arm band, 10-a larger arm band, 11-a driving pulley bracket, 12-a conduit bracket, 13-a nylon rope conduit, 14-a nylon rope press block, 15-a control box housing, 16-a first nylon wire coil, 17-a second nylon wire coil, 18-a second transmission shaft, 19-a bearing, 20-a right nylon wire coil inner support, 21-a right nylon wire coil outer support, 22-a coupler, 23-an encoder, 24-an encoder fixing support, 25-a third nylon wire coil, 26-a fourth nylon wire coil, 27-a third nylon rope, 28-a fourth nylon rope, 29-a third transmission shaft, 30-a left nylon wire coil inner support, 31-a left nylon wire coil outer support, 32-a speed reducer, 33-a servo motor, 34-a speed reducing crank, 35-a column type force sensor, 36-a column type force sensor support block and 37-a nuclear magnetic resonance instrument.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
As shown in fig. 1-10, the present application provides a unilateral upper limb rehabilitation robot in FMRI environment, comprising a unilateral upper limb movement recording device, a unilateral upper limb rehabilitation training device and control box 3, and a nuclear magnetic resonance apparatus 37, wherein,
the unilateral movement recording device is worn on the upper limb on the healthy side of the patient and used for collecting the movement state of the upper limb on the healthy side of the patient;
the unilateral upper limb rehabilitation training device is worn on the upper limb of the patient on the side needing training and used for performing varicosity training on the upper limb of the patient on the side needing training;
the control box 3 is used for feeding back the motion state collected by the unilateral motion recording device to the unilateral upper limb rehabilitation training device;
the nuclear magnetic resonance apparatus 37 is used for evaluating the upper limb function recovery index of the patient, thereby providing experimental data for clinical rehabilitation experiments of the patient.
In the above embodiment, the device of the present invention is applicable to: patients with upper limb movement disorder caused by stroke disease due to cerebral ischemia. Unilateral upper limbs movement recorder and unilateral upper limbs rehabilitation training device structure bilateral symmetry, this embodiment is applicable to the patient that unilateral upper limbs need rehabilitation training, when patient's one side upper limbs is healthy state, wear on healthy upper limbs with above-mentioned unilateral upper limbs movement recorder, healthy upper limbs carry out upper arm and lower arm and buckle, record in data transmission to control box 3, then drive the opposite side upper limbs through the drive arrangement in control box 3 and accomplish the motion the same with healthy one side upper limbs and carry out rehabilitation training, the patient lies in the 37 environment of nuclear magnetic resonance appearance simultaneously, arrange the control box in the control observation room, and the nylon rope is drawn forth through the control room aperture, connect unilateral upper limbs movement recorder and the unilateral upper limbs rehabilitation training device in the nuclear magnetic resonance environment respectively. The recovery state of the arm is checked in real time by combining with the FMRI technology, a doctor can check the activated state of the arm and brain region after the auxiliary training in real time, the recovery degree is judged by measuring and calculating the FMA index and the MBI index in clinical treatment, and the higher the general index is, the better the recovery is. The unilateral upper limb rehabilitation robot in the FMRI environment can be used for performing varicosity training on the forearm of a stroke patient, the nerve and brain functions of the stroke patient can be reconstructed through long-time training, the FMRI technology provides the activation state of a trained area, and then the evaluation is performed through the upper limb function recovery index, so that experimental data are provided for the rehabilitation clinical experiment of the stroke patient.
In a further preferred embodiment, the unilateral movement recording device comprises a first nylon rope 1 and a second nylon rope 2, one end of the first nylon rope 1 and one end of the second nylon rope 2 are connected into the control box 3, the other end of the first nylon rope 1 is wound on the outer side driving pulley 4, the other end of the second nylon rope 2 is wound on the inner side driving pulley 5, one ends of the outer side driving pulley 4, the inner side driving pulley 5 and the small arm binding band 9 supporting plate 6 are sequentially and coaxially fixedly connected onto the first transmission shaft 7, the small arm binding band 9 supporting plate 6 is hinged to the large arm binding band 10 supporting plate 8, and the small arm binding band 9 supporting plate 6 and the large arm binding band 10 supporting plate 8 are respectively provided with a small arm binding band 9 and a large arm binding band 10.
In the above embodiment, forearm bandage 9 and the 10 shape laminating people's of big arm bandage arm, and opened four group's notches altogether, can be used to the magic subsides to fix the arm on the bandage, forearm bandage 9 backup pad 6 and big arm bandage 10 backup pad 8 are articulated, when the patient forearm upwards lifted up, contained angle between forearm backup pad and the big arm backup pad changes, the forearm backup pad drives inboard drive pulley 5 and outside drive pulley 4 and takes place the rotation in step, a winding of first nylon rope 1 and second nylon rope 2 this moment, another unwrapping wire, 16 unwrapping wires of the inboard first nylon wire coil of encoder 23 that control box 3 corresponds, the winding of second nylon wire coil 17, the forearm is then opposite when opening.
In a further preferred embodiment, a driving pulley bracket 11 is arranged between the inner driving pulley 5 and the support plate 6 of the small arm strap 9, a through hole is arranged in the middle of the driving pulley bracket 11, a bearing 19 is arranged in the through hole, the first transmission shaft 7 is installed in the bearing 19, and the upper end of the driving pulley bracket 11 is fixed on the support plate 8 of the large arm strap 10.
In the above embodiment, the driving pulley bracket 11 is used to fix the driving pulley, so that the inner driving pulley 5 and the outer driving pulley 4 rotate synchronously with the support plate 6 of the small arm binding band 9, and the motion state between the small arm and the large arm is transmitted to the control box 3 through the nylon rope and recorded by the encoder 23.
In a further preferred embodiment, a guide pipe bracket 12 is arranged above the outer side driving pulley 4 and the inner side driving pulley 5, two nylon rope guide pipes 13 are arranged on the guide pipe bracket 12, the first nylon rope 1 and the second nylon rope 2 sequentially penetrate through the two nylon rope guide pipes 13 and the guide pipe bracket 12 and are fixed on the outer side driving pulley 4 and the inner side driving pulley 5 through nylon rope pressing blocks 14 respectively, and the winding directions of the first nylon rope 1 and the second nylon rope 2 on the outer side driving pulley 4 and the inner side driving pulley 5 are opposite.
In the above embodiment, the purpose of the nylon cord conduit 13 is to guide the first nylon cord 1 and the second nylon cord 2, and to avoid the first nylon cord 1 and the second nylon cord 2 from being twisted.
In a further preferred embodiment, the unilateral upper limb rehabilitation training device and the unilateral movement recording device are symmetrically arranged left and right, the emphatic nylon ropes of the unilateral upper limb rehabilitation training device are respectively a third nylon rope 27 and a fourth nylon rope 28, and the unilateral upper limb rehabilitation training device and the unilateral movement recording device have opposite movement directions.
In a further preferred embodiment, the control box 3 comprises a control box housing 15, a control box 3 recording device with one side connected with the unilateral upper limb movement recording device, and a control box 3 driving device connected with the unilateral upper limb rehabilitation training device, the control box 3 recording device comprises a first nylon wire coil 16 and a second nylon wire coil 17, the other ends of the first nylon rope 1 and the second nylon rope 2 are respectively fixed with the first nylon wire coil 16 and the second nylon wire coil 17 through nylon rope pressing blocks 14, the first nylon wire coil 16 and the second nylon wire coil 17 are coaxially fixed on a second transmission shaft 18, two end parts of the second transmission shaft 18 are respectively fixed between a right nylon wire coil inner support 20 and a right nylon wire coil outer support 21 through bearings 19, the second transmission shaft 18 passes through the right nylon wire coil inner support 20 and is connected with a coupler 22, the shaft coupling 22 is connected with an encoder 23, and the encoder 23 is fixed on the right nylon wire coil inner support 20 through an encoder fixing support 24.
The driving device of the control box 3 comprises a third nylon wire coil 25 and a fourth nylon wire coil 26, the other ends of the third nylon rope 27 and the fourth nylon rope 28 are respectively fixed with the third nylon wire coil 25 and the fourth nylon wire coil 26 through nylon rope pressing blocks 14, the third nylon wire coil 25 and the fourth nylon wire coil 26 are coaxially fixed on a third transmission shaft 29, two ends of the third transmission shaft 29 are respectively fixed between a left nylon wire coil inner support 30 and a left nylon wire coil outer support 31 through bearings 19, the third transmission shaft 29 passes through the left nylon wire coil inner support 30 to be connected with a speed reducer 32, the speed reducer 32 is connected with a servo motor 33, a speed reducing crank 34 is further connected on the third transmission shaft 29, the bottom of the speed reducing crank 34 is connected with a column type force sensor 35, and the bottom of the column type force sensor 35 is connected with a column type force sensor supporting block 36, and the column type force sensor supporting block is fixed on the fourth nylon wire coil and rotates along with the third nylon wire coil and the fourth nylon wire coil. Still include control module, control module connects encoder 23, will the pulse of the unilateral upper limbs motion recorder of encoder 23 record passes through signal processing circuit and returns during DSP, and the storage comes down, DSP transfers the motion state data of the healthy one side upper limbs of patient of record from data storage back, then through opto-isolator circuit, move through driver circuit control servo motor 33, column type force sensor 35 returns data, return in DSP through signal processing circuit, form closed loop, overlap the brain anatomical image top that the number is average and obtained at the people through nuclear magnetic resonance appearance 37 with the functional magnetic resonance imaging data of the patient who gathers simultaneously, show the brain activation region when receiving external stimulus, thereby feedback department patient's recovered condition.
In the above embodiments, the control box is placed in a control observation room, wherein the nylon rope is led out from the wall body through the small hole. Taking the right hand requiring rehabilitation training as an example, a single-side upper limb movement recording device and a single-side upper limb rehabilitation training device are respectively worn by the right hand and the left hand, then the left hand forearm and the upper arm perform a plurality of times of bending movements, when the left hand performs the bending movements, a first nylon rope 1 on an outer side driving pulley 4 is wound, a second nylon rope 2 on an inner side driving pulley 5 is unwound, a second nylon wire coil 17 on the inner side of an encoder 23 corresponding to a control box 3 is wound, and a first nylon wire coil 16 on the outer side is unwound; when the forearm stretches out, 1 unwrapping wire of first nylon rope on the outside drive pulley 4 and the first nylon rope 1 wire winding on the inboard drive pulley 5, the inboard second nylon drum 17 unwrapping wire of encoder 23 that corresponds of control box 3 and the first nylon drum 16 receipts line in the outside. Firstly, the pulse of the left-hand motion state is recorded by the encoder 23, and is transmitted back to the DSP through the signal processing circuit, and data is collected, recorded, calculated and analyzed and stored. When the right hand carries out the rehabilitation training, DSP transfers back the data of left hand motion state from data storage, then through opto-isolator circuit, through the motion of driver circuit control servo motor 33, force transducer passes back data, return in DSP through signal processing circuit, form closed loop, servo motor 33 drive third nylon drum 25 and fourth nylon drum 26 rotate, third nylon rope 27 and fourth nylon rope 28 drive outside driving pulley 4 and the rotation of inboard driving pulley 5 in the recovered training dress of unilateral upper limbs, thereby carry out the training of buckling between the forearm and the big arm of drive right hand. The upper computer software transmits data in the DSP to the upper computer software by adopting a USB communication method, the keyboard end can be used as input equipment to input the data into the DSP, the LCD is used as output equipment to display force sensor data and pulse data output in the DSP in real time, and the data storage is used for storing the data in the DSP. Column type force sensor saddle 36 is connected to column type force sensor 35 bottom, and the column type force sensor saddle is fixed follow on the fourth nylon drum third nylon drum rotates together with fourth nylon drum, therefore moment can be measured to column type force sensor, avoids servo motor abnormal conditions to appear.
In a further preferred embodiment, the subject is in the NMR spectrometer 37, and the nerve cells are activated to consume oxygen, which is transported via capillaries in the vicinity of the nerve cells as hemoglobin in red blood cells. Therefore, when a stroke patient is rehabilitated, the cranial nerves become activated and the blood flow in the vicinity of the brain nerve is increased to replenish the consumed oxygen. There is typically a 1-5 second delay from neural activation to initiation of hemodynamic changes, followed by a peak at 4-5 seconds and a return to baseline (usually with a slight undershoot). This results in changes not only in cerebral blood flow in the nerve activation region, but also in the local blood levels of deoxy-and oxyhemoglobin, and in cerebral blood volume. Functional magnetic resonance imaging data (yellow to orange) are superimposed on the brain anatomical image (gray scale) obtained by averaging several people, and the brain activation region is displayed when being stimulated by the outside. Therefore, when training is carried out, the encoder 23 in the left-hand recording device records the motion state of the left hand, the servo motor 33 outputs the speed reducer 32 to reduce the speed and then outputs the motion state which drives the right hand to move in the same motion state, the arm recovery state is checked in real time by combining the FMRI technology, a doctor can check the activated state of the arm and the brain region after auxiliary training in real time, the recovery degree is judged by measuring and calculating the FMA index and the MBI index in clinical treatment, and the higher the general index is, the better the recovery is. The unilateral upper limb rehabilitation robot in the FMRI environment can be used for performing varicosity training on the forearm of a stroke patient, the nerve and brain functions of the stroke patient can be reconstructed through long-time training, the FMRI technology provides the activation state of a trained area, and then the evaluation is performed through the upper limb function recovery index, so that experimental data are provided for the rehabilitation clinical experiment of the stroke patient.
In the above embodiment, all the nylon cords are made of polyamide material; the large arm binding band 10 supporting plate 8, the large arm binding band 10, the small arm binding band 9 and the small arm binding band 9 supporting plate 6 are made of carbon fiber materials, the bearing 19 is made of zirconia materials, the driving pulley, the pulley bracket, the guide pipe bracket 12, the rope bracket, the transmission shaft, the nylon rope pressing block 14, the inner and outer nylon wire disc supports, the driving pulley, the coupling 22, the force sensor supporting block, the reduction gear in the speed reducer, the outer servo motor 33 supports, the nylon rope winding disc, the reduction crank 34, the servo motor 33 and the connecting piece are made of polyformaldehyde; the shell of the encoder 23 and the shell of the speed reducer are made of H62 copper materials.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and the technical contents of the present invention are all described in the claims.
Claims (10)
1. The utility model provides a unilateral upper limbs rehabilitation robot under FMRI environment which characterized in that: comprises a unilateral upper limb movement recording device, a unilateral upper limb rehabilitation training device, a control box and a nuclear magnetic resonance instrument, wherein,
the unilateral movement recording device is worn on the upper limb on the healthy side of the patient and used for collecting the movement state of the upper limb on the healthy side of the patient;
the unilateral upper limb rehabilitation training device is worn on the upper limb of the patient on the side needing training and used for performing varicosity training on the upper limb of the patient on the side needing training;
the control box is used for feeding the motion state collected by the unilateral motion recording device back to the unilateral upper limb rehabilitation training device;
the nuclear magnetic resonance apparatus is used for evaluating the upper limb function recovery index of the patient, thereby providing experimental data for clinical rehabilitation experiments of the patient.
2. The unilateral upper limb rehabilitation robot in an FMRI environment as recited in claim 1, further comprising: unilateral movement recording device includes first nylon rope and second nylon rope, first nylon rope with second nylon rope one end is connected in the control box, the first nylon rope other end is around on outside drive pulley, and the second nylon rope other end is around on inboard drive pulley, the one end of outside drive pulley, inboard drive pulley and forearm bandage backup pad is in proper order with axle center fixed connection on first transmission shaft, forearm bandage backup pad and big arm bandage backup pad are articulated, be equipped with forearm bandage and big arm bandage in forearm bandage backup pad and the big arm bandage backup pad respectively.
3. The unilateral upper limb rehabilitation robot in an FMRI environment of claim 2, wherein: a driving pulley bracket is arranged between the inner side driving pulley and the small arm binding band supporting plate, a through hole is formed in the middle of the driving pulley bracket, a bearing is arranged in the through hole, the first transmission shaft is installed in the bearing, and the upper end of the driving pulley bracket is fixed on the large arm binding band supporting plate.
4. The unilateral upper limb rehabilitation robot in an FMRI environment of claim 2, wherein: outside drive pulley and inboard drive pulley top are equipped with the pipe bracket, be equipped with two nylon rope pipes on the pipe bracket, first nylon rope with the second nylon rope passes two in proper order nylon rope pipe and pipe bracket are fixed on outside drive pulley, inboard drive pulley through the nylon rope briquetting respectively, first nylon rope with the second nylon rope winds to opposite on outside drive pulley, the inboard drive pulley.
5. The unilateral upper limb rehabilitation robot in an FMRI environment of claim 4, wherein: the unilateral upper limb rehabilitation training device and the unilateral movement recording device are symmetrically arranged left and right, and the nylon ropes in the unilateral upper limb rehabilitation training device are respectively a third nylon rope and a fourth nylon rope.
6. The unilateral upper limb rehabilitation robot in an FMRI environment as recited in claim 1, further comprising: the control box comprises a control box shell, a control box recording device with one side connected with the unilateral upper limb movement recording device and a control box driving device connected with the unilateral upper limb rehabilitation training device, the control box recording device comprises a first nylon wire coil and a second nylon wire coil, the other ends of the first nylon rope and the second nylon rope are respectively fixed with the first nylon wire coil and the second nylon wire coil through nylon rope pressing blocks, the first nylon wire coil and the second nylon wire coil are coaxially fixed on a second transmission shaft, two end parts of the second transmission shaft are respectively fixed between an inner support of the right nylon wire coil and an outer support of the right nylon wire coil through bearings, the second transmission shaft passes right side nylon wire coil inner support and coupling joint, the coupling joint is connected with the encoder, the encoder passes through the encoder fixed bolster to be fixed on the nylon wire coil inner support of right side.
7. The unilateral upper limb rehabilitation robot in an FMRI environment of claim 6, wherein: the control box driving device comprises a third nylon wire coil and a fourth nylon wire coil, the other ends of the third nylon rope and the fourth nylon rope are respectively fixed with the third nylon wire coil and the fourth nylon wire coil through nylon rope pressing blocks, the third nylon wire coil and the fourth nylon wire coil are coaxially fixed on a third transmission shaft, two end parts of the third transmission shaft are respectively fixed between the left nylon wire coil inner support and the left nylon wire coil outer support through bearings, the third transmission shaft penetrates through the left nylon wire disc inner support to be connected with a speed reducer, the speed reducer is connected with a servo motor, the third transmission shaft is also connected with a speed reducing crank, the bottom of the speed reducing crank is connected with a column type force sensor, the bottom of the column type force sensor is connected with a column type force sensor supporting block, and the column type force sensor supporting block is fixed on the fourth nylon wire coil and rotates together with the third nylon wire coil and the fourth nylon wire coil.
8. The unilateral upper limb rehabilitation robot in an FMRI environment of claim 6, wherein: still include control module, control module connects the encoder, will the pulse of the unilateral upper limbs motion recorder of encoder record passes through signal processing circuit and returns during DSP, and the storage comes down, DSP transfers the motion state data of the healthy one side upper limbs of patient of record from data storage back, then through opto-isolator circuit, through driver circuit control servo motor motion, column type force transducer returns data, return in DSP through signal processing circuit, form closed loop, overlap the brain anatomical image top that the number is average and obtained through nuclear magnetic resonance appearance with the functional magnetic resonance imaging data of the patient who gathers simultaneously, show the brain activation region when receiving external stimulus, thereby feedback department patient's recovered condition.
9. The unilateral upper limb rehabilitation robot in an FMRI environment according to claims 1-8, wherein: the bearings in the unilateral upper limb movement recording device and the unilateral upper limb rehabilitation training device are made of ceramic materials, the large arm bandage, the small arm bandage, the large arm bandage supporting plate and the small arm bandage supporting plate are made of carbon fiber materials, and the driving pulley bracket, the nylon rope guide pipe bracket, the first transmission shaft, the inner side driving pulley and the outer side driving pulley are made of polyformaldehyde materials.
10. The unilateral upper limb rehabilitation robot in an FMRI environment according to claims 1-8, wherein: the control box shell is made of an H62 copper material, the servo motor is an ultrasonic motor, and the encoder is a photoelectric encoder made of an H62 copper shell.
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