CN113331826B - Limb joint function assessment rehabilitation training system and application method thereof - Google Patents
Limb joint function assessment rehabilitation training system and application method thereof Download PDFInfo
- Publication number
- CN113331826B CN113331826B CN202110607281.7A CN202110607281A CN113331826B CN 113331826 B CN113331826 B CN 113331826B CN 202110607281 A CN202110607281 A CN 202110607281A CN 113331826 B CN113331826 B CN 113331826B
- Authority
- CN
- China
- Prior art keywords
- limb
- user
- patient
- rehabilitation training
- patient limb
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012549 training Methods 0.000 title claims abstract description 244
- 230000008407 joint function Effects 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 230000033001 locomotion Effects 0.000 claims abstract description 60
- 230000008093 supporting effect Effects 0.000 claims abstract description 44
- 238000011156 evaluation Methods 0.000 claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims description 57
- 238000005259 measurement Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 12
- 230000001174 ascending effect Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 34
- 230000004064 dysfunction Effects 0.000 abstract description 8
- 208000006011 Stroke Diseases 0.000 abstract description 5
- 210000003414 extremity Anatomy 0.000 description 359
- 230000006870 function Effects 0.000 description 12
- 210000002683 foot Anatomy 0.000 description 9
- 230000003028 elevating effect Effects 0.000 description 7
- 210000003205 muscle Anatomy 0.000 description 6
- 210000000245 forearm Anatomy 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 210000001364 upper extremity Anatomy 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 206010023230 Joint stiffness Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 201000000585 muscular atrophy Diseases 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 208000006358 Hand Deformities Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
- A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
The invention discloses a limb joint function evaluation rehabilitation training system and a using method thereof, wherein the system comprises a frame, a rehabilitation training device and a control device, and the rehabilitation training device comprises a lifting mechanism, a telescopic mechanism, a rotating mechanism and a supporting mechanism; the method comprises the following steps: 1. deducing the motion parameters of the affected limb of the user in a normal state; 2. measuring the exercise parameters of the user before the rehabilitation training of the affected limb; 3. setting motion parameters in the rehabilitation training of the affected limbs of a user; 4. formulating a rehabilitation training scheme of the affected limbs of a user; 5. rehabilitation training of the affected limbs of a user; 6. measuring the exercise parameters of the patient after the rehabilitation training of the affected limbs; 7. and evaluating the exercise parameters of the user after the recovery training scheme of the affected limbs. The rehabilitation training system aims at guided rehabilitation training, can help recovery of dysfunction of the affected limb, is suitable for rehabilitation of the early-stage bedridden patient suffering from limb dysfunction due to cerebrovascular accidents and the like, and can be applied to limb rehabilitation training in clinical stages.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a limb joint function assessment rehabilitation training system and a use method thereof.
Background
In recent years, along with the progress of robots and software, rehabilitation medicine has new methods and knowledge, and the new methods are continuously introduced, but most of the methods are joint movements with single joints as axes or several single joints as axes, and the existing limb function rehabilitation equipment has the following defects: 1. the product has a plurality of components, is difficult to well meet the requirement of multidimensional movement under the natural physiological state of multiple joints, and clinically lacks a rehabilitation product aiming at bedridden patients to prevent early muscular atrophy and joint stiffness; 2. the rehabilitation of the wrist and the ankle joint mostly uses stretching and bending motions, and most of the rehabilitation devices are independent devices and lack the rehabilitation devices with the wrist and ankle joint rotating function inside and outside; it is therefore desirable to provide a guided limb joint function assessment based rehabilitation training system and method of use.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a limb joint function assessment rehabilitation training system and a using method thereof, which have simple structure and reasonable design, and under the supporting action of a supporting mechanism, a lifting mechanism, a telescopic mechanism and a rotating mechanism drive a patient limb to realize multi-joint and multi-dimensional joint movement, so that the recovery of dysfunction of the patient limb can be effectively assisted, the limb joint function assessment rehabilitation training system can be suitable for rehabilitation of early bedridden patients suffering from dysfunction caused by cerebrovascular accidents and the like, can be applied to limb rehabilitation training in clinical stages, reduces and relieves complications sequelae and promotes limb function rehabilitation.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a limbs joint function aassessment rehabilitation training system which characterized in that: including the frame, install rehabilitation training device in the frame and with the controlling means that rehabilitation training device is connected, rehabilitation training device is including installing be used for driving the elevating system of suffering from limb lifting, with elevating system is connected be used for driving the telescopic machanism of suffering from limb, with telescopic machanism is connected be used for driving suffering from limb pivoted rotary mechanism and with rotary mechanism is connected be used for supporting suffering from limb's supporting mechanism, elevating system is including vertically installing lead screw on the frame, suit are in silk seat on the lead screw and be used for driving lead screw pivoted first motor, telescopic machanism is including rotating the connecting piece of installing on the silk seat, with barrel and the suit that the connecting piece is in moving sleeve in the barrel, install in the barrel be used for driving in the barrel moving sleeve linear movement's linear motor, rotary mechanism is including the suit in moving sleeve with install be used for driving in the moving sleeve pivoted second motor, controlling means includes microcontroller, microcontroller's input is connected with and is used for detecting first displacement sensor, suffering from limb and suffering from limb length sensor, first displacement sensor and suffering from limb length sensor and real-time force sensor and the first displacement sensor.
Foretell a limbs joint function aassessment rehabilitation training system, its characterized in that: the wire seat is provided with an ear plate, the ear plate is provided with a fixed sleeve, the axis of the fixed sleeve is parallel to the axis of the screw rod, and the connecting piece is rotationally connected with the fixed sleeve through a pin shaft.
Foretell a limbs joint function aassessment rehabilitation training system, its characterized in that: the machine frame comprises a bottom plate, upright posts vertically arranged on the bottom plate and two fixing plates parallelly arranged on the upright posts, and two ends of the screw rod are respectively and rotatably arranged on the two fixing plates.
Foretell a limbs joint function aassessment rehabilitation training system, its characterized in that: the side of the upright post is provided with a clamping seat which is used for being connected with the fixing rod.
Foretell a limbs joint function aassessment rehabilitation training system, its characterized in that: the supporting mechanism comprises a telescopic rod arranged on the side face of the upright post, a supporting plate arranged on the movable sleeve, a binding belt suspended between the telescopic rod and the supporting plate, and a hand fixing support or a foot fixing support which is detachably arranged on the end face of the rotary sleeve.
Foretell a limbs joint function aassessment rehabilitation training system, its characterized in that: the microcontroller is internally stored with a rehabilitation training demonstration video, and the output end of the microcontroller is connected with a display for playing the rehabilitation training demonstration video.
The invention also provides a using method of the limb joint function evaluation rehabilitation training system, which is characterized in that: the application method comprises the following steps:
step one, deducing motion parameters of a user in a normal state of a patient limb:
step 101, utilizing the limb joint function to evaluate the motion parameters of the user's limb, wherein the motion parameters of the user's limb comprise a maximum value of the lifting height of the user's limb, a maximum value of the telescopic displacement of the user's limb, a maximum value of the rotation angle of the user's limb, a maximum value of the telescopic force of the user's limb and a maximum value of the torque of the user's limb;
step 102, making a dynamic linear statistical table or graph of the user's healthy limb according to the motion parameters of the user's healthy limb;
step 103, the dynamic linear statistical table or graph of the normal state of the patient limb of the user is consistent with the dynamic linear statistical table or graph of the healthy limb of the user, so that the dynamic linear statistical table or graph of the normal state of the patient limb of the user can be manufactured according to the dynamic linear statistical table or graph of the healthy limb of the user, thereby deducing the motion parameters of the normal state of the patient limb of the user, wherein the motion parameters of the normal state of the patient limb of the user comprise a maximum value of lifting height of the healthy limb of the user, a maximum value of telescopic displacement of the healthy limb of the user, a maximum value of rotation angle of the healthy limb of the user, a maximum value of telescopic strength of the healthy limb of the user and a maximum value of torque of the healthy limb of the user;
Step two, measuring the motion parameters of a user before the rehabilitation training of the affected limb:
step 201, determining movement parameters before the recovery training of the patient limb of a user by using a limb joint function evaluation recovery training system, wherein the movement parameters before the recovery training of the patient limb of the user comprise a maximum lifting height before the recovery training of the patient limb of the user, a maximum telescopic displacement before the recovery training of the patient limb of the user, a maximum rotation angle before the recovery training of the patient limb of the user, a maximum telescopic strength before the recovery training of the patient limb of the user and a maximum torque before the recovery training of the patient limb of the user;
step 202, making a dynamic linear statistical table or graph before the rehabilitation training of the patient limb according to the motion parameters before the rehabilitation training of the patient limb;
step three, setting motion parameters in the rehabilitation training of the affected limb of the user:
comparing the dynamic linear statistical table or graph before the recovery training of the patient limb of the user, which is manufactured in the step 202, with the dynamic linear statistical table or graph under the normal state of the patient limb of the user, which is manufactured in the step 103, and setting the motion parameters in the recovery training of the patient limb of the user, wherein the motion parameters in the recovery training of the patient limb of the user comprise a patient limb lifting height threshold value, a patient limb telescopic displacement threshold value and a patient limb rotation angle threshold value of the user;
Step four, formulating a rehabilitation training scheme of the affected limb of the user:
according to the motion parameters of the patient limb in the normal state and the motion parameters of the patient limb before rehabilitation training, which are measured in the step 201, inferred in the step 103, a rehabilitation training scheme of the patient limb is formulated, wherein the rehabilitation training scheme of the patient limb comprises single training parameters, training times and training duration of the patient limb, and the single training parameters comprise the lifting height of the patient limb, the extension length of the patient limb and the rotation angle of the patient limb, and the extension force value and the torque value of the patient limb;
step five, according to a rehabilitation training scheme of the patient limb of the user, performing rehabilitation training of the patient limb of the user by utilizing a limb joint function evaluation rehabilitation training system;
step six, measuring the motion parameters of the patient after the rehabilitation training of the patient limb:
step 601, measuring movement parameters of a patient limb after rehabilitation training by using a limb joint function evaluation rehabilitation training system, wherein the movement parameters of the patient limb after rehabilitation training comprise a maximum lifting height of the patient limb after rehabilitation training, a maximum telescopic displacement of the patient limb after rehabilitation training, a maximum rotation angle of the patient limb after rehabilitation training, a maximum telescopic strength of the patient limb after rehabilitation training and a maximum torque of the patient limb after rehabilitation training;
Step 602, making a dynamic linear statistical table or graph of the patient limb rehabilitation training according to the motion parameters of the patient limb rehabilitation training;
step seven, evaluating the exercise parameters of the user after the rehabilitation training scheme of the affected limbs:
and (3) comparing the dynamic linear statistical table or graph after the recovery training of the patient limb of the user, which is manufactured in the step 602, the dynamic linear statistical table or graph under the normal state of the patient limb of the user, which is manufactured in the step 103, with the dynamic linear statistical table or graph before the recovery training of the patient limb of the user, which is manufactured in the step 202, and evaluating the motion parameters after the recovery training scheme of the patient limb of the user.
The application method of the limb joint function assessment rehabilitation training system is characterized by comprising the following steps of: step five, according to the rehabilitation training scheme of the affected limbs of the user, the rehabilitation training system is used for carrying out rehabilitation training of the affected limbs of the user by utilizing the limb joint function evaluation rehabilitation training system, and the specific process is as follows:
step 501, fixing a patient limb of a user on a supporting mechanism;
step 502, the microcontroller controls the first motor, the linear motor and the second motor to rotate positively, the rotating sleeve drives the affected limb of the user to rotate positively, the moving sleeve drives the affected limb of the user to extend out, and the wire seat drives the affected limb of the user to lift;
In the process of forward rotation, extension and lifting of the patient limb of the user, the angle sensor detects the forward rotation angle of the patient limb of the user in real time, and transmits the obtained actual measurement value of the forward rotation angle of the patient limb of the user to the microcontroller; the first displacement sensor detects the lifting height of the patient limb of the user in real time, and transmits the obtained actual measurement value of the lifting height of the patient limb of the user to the microcontroller; the second displacement sensor detects the extension length of the patient limb in real time and transmits the obtained actual extension length measurement value of the patient limb to the microcontroller; executing step 503 when the measured value of the forward rotation angle of the patient limb of the user detected by the angle sensor is equal to the threshold value of the rotation angle of the patient limb of the user, and the measured value of the lifting height of the patient limb of the user detected by the first displacement sensor is equal to the threshold value of the lifting height of the patient limb of the user, and the measured value of the extension length of the patient limb of the user detected by the second displacement sensor is equal to the threshold value of the extension displacement of the patient limb of the user;
step 503, the microcontroller controls the first motor, the linear motor and the second motor to reversely rotate, the rotating sleeve drives the affected limb of the user to reversely rotate, the moving sleeve drives the affected limb of the user to retract, and the wire seat drives the affected limb of the user to descend;
In the process of reverse rotation, retraction and descent of the patient limb of the user, the angle sensor detects the reverse rotation angle of the patient limb of the user in real time, and transmits the obtained actual measurement value of the reverse rotation angle of the patient limb of the user to the microcontroller; the first displacement sensor detects the descending height of the patient limb in real time and transmits the obtained measured descending height value of the patient limb to the microcontroller; the second displacement sensor detects the retraction length of the patient limb in real time and transmits the obtained actual retraction length measurement value of the patient limb to the microcontroller; executing step 504 when the measured value of the reverse rotation angle of the patient limb of the user detected by the angle sensor is equal to the threshold value of the rotation angle of the patient limb of the user, and the measured value of the descending height of the patient limb of the user detected by the first displacement sensor is equal to the threshold value of the ascending and descending height of the patient limb of the user, and the measured value of the retraction length of the patient limb of the user detected by the second displacement sensor is equal to the threshold value of the telescopic displacement of the patient limb of the user;
step 504, repeating step 502 and step 503 until the training times and training duration in the rehabilitation training scheme are satisfied.
The application method of the limb joint function assessment rehabilitation training system is characterized by comprising the following steps of: in the first, second, fourth, fifth and sixth steps, the force sensor detects the stretching force of the affected limb of the user in real time, and transmits the obtained actual measurement value of the stretching force of the affected limb of the user to the microcontroller; the torque sensor detects the torque of the patient limb of the user in real time, and transmits the obtained actual torque measurement value of the patient limb of the user to the microcontroller, so that data acquisition of the stretching force of the patient limb of the user and the torque of the patient limb of the user is realized.
The application method of the limb joint function assessment rehabilitation training system is characterized by comprising the following steps of: in the fifth step, three training modes of rehabilitation training are used for carrying out rehabilitation training on the affected limbs of the user by using the limb joint function evaluation rehabilitation training system, the first training mode is a passive training mode, and the passive training mode refers to a training mode that the limb joint function evaluation rehabilitation training system provides all assistance, the affected limbs are in a static state, and the user cannot actively move the affected limbs; the second training mode is an active and passive training mode, wherein the active and passive training mode refers to a training mode that a limb joint function evaluation rehabilitation training system boosts a site where a patient limb cannot move, and gives resistance to the site where the patient limb can move, and the third training mode refers to an active training mode, wherein the active training mode refers to a training mode that the limb joint function evaluation rehabilitation training system gives total resistance to the patient limb;
and when a rehabilitation training scheme of the patient limb of the user is formulated in the step four, determining a training mode of the limb joint function evaluation rehabilitation training system according to the fact that the force sensor detects the telescopic force value of the patient limb of the user in real time and the torque sensor detects the torque value of the patient limb in real time.
Compared with the prior art, the invention has the following advantages:
1. according to the limb joint function rehabilitation training system, the rehabilitation training device is arranged on the frame, the rehabilitation training device comprises the lifting mechanism, the telescopic mechanism, the rotating mechanism and the supporting mechanism, the lifting mechanism comprises the screw rod and the screw seat, the screw rod is vertically arranged on the frame, the screw seat is sleeved on the screw rod, the telescopic mechanism comprises the connecting piece, the cylinder body and the movable sleeve, the cylinder body is connected with the connecting piece, the movable sleeve is sleeved in the cylinder body, the rotating mechanism comprises the rotating sleeve, and the connecting piece is rotatably arranged on the screw seat, so that the linkage relation between the lifting mechanism and the telescopic mechanism can be realized through the connecting piece, the linkage relation between the telescopic mechanism and the rotating mechanism can be realized through the rotating sleeve which is sleeved in the movable sleeve, the linkage structure is simple, the linkage relation is accurate, and the supporting mechanism can play a role of stably supporting an affected limb, so that the lifting mechanism, the telescopic mechanism and the rotating mechanism jointly drive the affected limb to realize multi-joint multi-dimensional joint movement under the supporting function of the supporting mechanism, and the recovery of the functional disorder of the affected limb can be effectively helped.
2. The rehabilitation training device of the limb joint function rehabilitation training system has few components and small volume, not only can be suitable for rehabilitation of early bedridden patients suffering from limb dysfunction due to cerebrovascular accidents and the like, but also can be applied to limb rehabilitation training in clinical each period, reduces and relieves complications and sequelae, and promotes limb function rehabilitation.
3. The microcontroller of the limb joint function rehabilitation training system automatically controls the first motor, the linear motor and the second motor according to the real-time feedback of the first displacement sensor, the second displacement sensor, the angle sensor, the force sensor and the torque sensor, can ensure the precision of joint movement of the lifting mechanism, the telescopic mechanism and the rotating mechanism together, and has good use effect.
4. The use method of the invention is a guided rehabilitation mode with hands or feet as starting points, the rehabilitation training process is simple and smooth, the limb joint function and the muscle strength after the rehabilitation training can be evaluated, and the popularization and the application are convenient.
In conclusion, the multifunctional limb rehabilitation device is simple in structure and reasonable in design, and under the supporting effect of the supporting mechanism, the lifting mechanism, the telescopic mechanism and the rotating mechanism drive the affected limb to realize multi-joint and multi-dimensional joint movement, so that the recovery of the dysfunction of the affected limb can be effectively facilitated, the multifunctional limb rehabilitation device can be suitable for the rehabilitation of the affected limb of early bedridden patients due to cerebrovascular accidents and the like, can be applied to limb rehabilitation training in clinical stages, reduces and relieves complications and sequelae, and promotes limb functional rehabilitation.
The invention is described in further detail below with reference to the drawings and examples.
Drawings
Fig. 1 is a schematic structural view of a rehabilitation training device when a hand fixing bracket is installed.
Fig. 2 is a schematic structural view of the rehabilitation training device of the present invention when the foot fixing bracket is installed.
Fig. 3 is a schematic block diagram of a control device according to the present invention.
FIG. 4 is a flow chart of a method of use of the present invention.
Reference numerals illustrate:
1-1, a bottom plate; 1-2-upright posts; 1-3-fixing plate;
2-a screw rod; 3-a wire holder; 3-1-ear plate;
3-2-fixing the sleeve; 4-a first motor; 5-a connecting piece;
6, a cylinder; 7, moving the sleeve; 8-a linear motor;
9, rotating the sleeve; 10-a second motor; 11-1, a telescopic rod;
11-2-a tie-down strap; 11-3-supporting plate; 12-1-hand fixing support;
12-2-foot fixation brackets; 13, a pin shaft; 14-a clamping seat;
15-a fixed rod; 16-a microcontroller; 17-a first displacement sensor;
18-a second displacement sensor; 19-an angle sensor; 20-force sensor;
21-a torque sensor; 22-display.
Detailed Description
As shown in fig. 1, 2 and 3, the limb joint function rehabilitation training system of the invention comprises a frame, a rehabilitation training device arranged on the frame and a control device connected with the rehabilitation training device, wherein the rehabilitation training device comprises a lifting mechanism arranged on the frame and used for driving a patient limb to lift, a telescopic mechanism connected with the lifting mechanism and used for driving the patient limb to stretch out and draw back, a rotating mechanism connected with the telescopic mechanism and used for driving the patient limb to rotate, and a supporting mechanism connected with the rotating mechanism and used for supporting the patient limb, the lifting mechanism comprises a screw rod 2 vertically arranged on the frame, a screw seat 3 sleeved on the screw rod 2 and a first motor 4 used for driving the screw rod 2 to rotate, the telescopic mechanism comprises a connecting piece 5 rotatably arranged on the wire seat 3, a cylinder 6 connected with the connecting piece 5 and a moving sleeve 7 sleeved in the cylinder 6, a linear motor 8 used for driving the moving sleeve 7 to linearly move is arranged in the cylinder 6, the rotary mechanism comprises a rotating sleeve 9 sleeved in the moving sleeve 7 and a second motor 10 installed in the moving sleeve 7 and used for driving the rotating sleeve 9 to rotate, the control device comprises a microcontroller 16, the input end of the microcontroller 16 is connected with a first displacement sensor 17 used for detecting the lifting height of a patient limb, a second displacement sensor 18 used for detecting the telescopic length of the patient limb and an angle sensor 19 used for detecting the rotation angle of the patient limb, a force sensor 20 used for detecting the telescopic force of the patient limb in real time and a torque sensor 21 used for detecting the torque of the patient limb in real time, and the first motor 4, both the linear motor 8 and the second motor 10 are controlled by a microcontroller 16.
In this embodiment, through installing rehabilitation training device on the frame, and rehabilitation training device includes elevating system, telescopic machanism, rotary mechanism and supporting mechanism, elevating system includes lead screw 2 and silk seat 3, the vertical installation of lead screw 2 is in the frame, silk seat 3 suit is on lead screw 2, telescopic machanism includes connecting piece 5, barrel 6 and removal cover 7, barrel 6 is connected with connecting piece 5, removal cover 7 suit is in barrel 6, rotary mechanism includes rotation cover 9, because connecting piece 5 rotates and installs on silk seat 3, consequently, can realize the linkage relation between elevating system and the telescopic machanism through connecting piece 5, can realize the linkage relation between telescopic machanism and the rotary mechanism because rotation cover 9 suit is in removal cover 7, linkage structure is simple, the linkage relation is accurate, supporting mechanism can play the effect of stable support suffering from the limb, consequently, under supporting mechanism's supporting effect, elevating system, telescopic machanism and rotary mechanism drive the limb jointly and realize the joint multidimensional joint and take the motion, can effectively help suffering from the dysfunctional recovery of limb.
In actual use, the affected limb can be either an upper limb or a lower limb;
when the affected limb is an upper limb, the lifting mechanism, the telescopic mechanism and the rotating mechanism drive the upper limb to carry out joint movement together, and the process is as follows: the palm is used as a starting point, the wrist joint can rotate inwards and outwards, the forearm can move in a telescopic mode, and at the moment, the elbow joint can be driven to bend and stretch, and the shoulder joint can bend and stretch, abduct and adduction.
When the affected limb is a lower limb, the lifting mechanism, the telescopic mechanism and the rotating mechanism drive the lower limb to carry out joint movement together, and the process is as follows: the heel is used as a starting point, the ankle joint can rotate inwards and outwards, the shank can move in a telescopic mode, and at the moment, the knee joint can be driven to bend and stretch, and the hip joint bends and stretches outwards and adductively.
In the embodiment, the rehabilitation training device has few components and small volume, not only can be suitable for rehabilitation of early bedridden patients suffering from limb dysfunction due to cerebrovascular accidents and the like, but also can be applied to limb rehabilitation training in clinical each period, reduces and relieves complications and sequelae, and promotes limb function rehabilitation.
As shown in fig. 1 and 2, in this embodiment, by providing a control device connected to the rehabilitation training device, the control device includes a microcontroller 16, an input end of the microcontroller 16 is connected with a first displacement sensor 17, a second displacement sensor 18, an angle sensor 19, a force sensor 20, and a torque sensor 21, the first motor 4, the linear motor 8, and the second motor 10 are controlled by the microcontroller 16, in actual use, the first displacement sensor 17 is mounted on the wire holder 3, the first displacement sensor 17 can detect a lifting height of a patient limb in real time and transmit the lifting height to the microcontroller 16, the second displacement sensor 18 is mounted on the moving sleeve 7, the second displacement sensor 18 can detect a telescopic length of the patient limb in real time and transmit the telescopic length to the microcontroller 16, the angle sensor 19 is mounted on the rotating sleeve 9, the angle sensor 19 can detect the rotation angle of the affected limb in real time and transmit the rotation angle to the microcontroller 16, the force sensor 20 is installed on the moving sleeve 7, the torque sensor 21 is installed on the rotating sleeve 9, the force sensor 20 can detect the telescopic force of the affected limb in real time and transmit the telescopic force to the microcontroller 16, the torque sensor 21 can detect the torque of the affected limb in real time and transmit the torque to the microcontroller 16, and the microcontroller 16 is controlled by the microcontroller 16 according to the first displacement sensor 17, the second displacement sensor 18, the angle sensor 19, the force sensor 20 and the real-time feedback of the torque sensor 21, so that the microcontroller 16 automatically controls the first motor 4, the linear motor 8 and the second motor 10, and the precision of joint belt motion of a lifting mechanism, a telescopic mechanism and a rotating mechanism can be ensured.
In this embodiment, the lug plate 3-1 is disposed on the wire holder 3, the fixed sleeve 3-2 is disposed on the lug plate 3-1, the axis of the fixed sleeve 3-2 is parallel to the axis of the screw rod 2, and the connecting piece 5 is rotatably connected with the fixed sleeve 3-2 through the pin shaft 13.
In this embodiment, the ear plate 3-1 and the sleeve 3-2 together form a connecting bracket, and the purpose of connecting the connecting piece 5 with the wire holder 3 can be achieved by using the connecting bracket and the pin shaft 13.
In this embodiment, the connecting piece 5 is a T-shaped connecting tube, and the vertical tube of the T-shaped connecting tube is coaxially installed with the fixing sleeve 3-2, so when the axis of the fixing sleeve 3-2 is parallel to the axis of the screw rod 2, the axis of the horizontal tube of the T-shaped connecting tube is perpendicular to the axis of the screw rod 2, and when in actual use, the direction of the patient limb moving up and down is perpendicular to the direction of the patient limb stretching, so that the forearm or lower leg of the patient limb is in a relatively horizontal state on the supporting mechanism.
In this embodiment, the connecting piece 5 is a T-shaped connecting tube, and the connecting piece 5 is rotatably connected with the fixed sleeve 3-2 through the pin shaft 13, so that the T-shaped connecting tube can rotate around the pin shaft 13, and the direction of the cylinder 6 and the moving sleeve 7 can be changed by adjusting the direction of the horizontal tube of the T-shaped connecting tube, so that the relative position between the affected limb of the user and the rehabilitation training device can be conveniently adjusted.
In this embodiment, the frame includes a base plate 1-1, an upright 1-2 vertically mounted on the base plate 1-1, and two fixing plates 1-3 mounted on the upright 1-2 in parallel, and two ends of the screw rod 2 are respectively rotatably mounted on the two fixing plates 1-3.
In this embodiment, a clamping seat 14 for connecting with a fixing rod 15 is installed on the side surface of the upright 1-2.
In this embodiment, the fixing rod 15 may be a special fixing rod, or may be a hospital bed handrail, and by installing the clamping seat 14 on the side surface of the upright 1-2, the fixing of the whole rehabilitation training device can be achieved through the connection between the clamping seat 14 and the fixing rod 15, when the fixing rod 15 is a special fixing rod in actual use, that is, the clamping seat 14 is installed on the fixing rod 15, the setting position of the fixing rod 15 is flexible, so that the rehabilitation use of the primary symptom user who does not need to lie in bed is facilitated; when the fixing rod 15 is a sickbed handrail, namely, the clamping seat 14 is arranged on the sickbed handrail, the rehabilitation use is convenient for the user with inconvenient bedridden movement.
In the embodiment, the bottom surface of the bottom plate 1-1 is provided with the travelling wheels and the travelling wheel braking mechanism, so that the whole rehabilitation training device can be conveniently moved and fixed.
In this embodiment, the supporting mechanism includes a telescopic rod 11-1 mounted on the side of the upright 1-2, a supporting plate 11-3 mounted on the moving sleeve 7, a binding belt 11-2 suspended between the telescopic rod 11-1 and the supporting plate 11-3, and a hand fixing bracket 12-1 or a foot fixing bracket 12-2 detachably mounted on the end face of the rotating sleeve 9.
In this embodiment, the telescopic rod 11-1 can serve as a restraint strap 11-2 to hang and provide stable and reliable support, the supporting plate 11-3 can play a role in supporting a patient limb, and because the supporting plate 11-3 is installed on the moving sleeve 7, the supporting plate 11-3 can move simultaneously along with the movement of the moving sleeve 7 and rotate simultaneously along with the rotation of the rotating sleeve 9, and the linkage among the supporting mechanism and the telescopic mechanism can realize the linkage among the supporting mechanism, the lifting mechanism, the telescopic mechanism and the rotating mechanism, so that the telescopic mechanism has a simple and ingenious structure, is convenient to disassemble and assemble, and is convenient to maintain and overhaul.
In this embodiment, since the hand fixing support 12-1 or the foot fixing support 12-2 is detachably mounted on the end face of the rotating sleeve 9, when the affected limb is an upper limb, the hand fixing support 12-1 is mounted on the end face of the rotating sleeve 9, the user only needs to grasp the hand fixing support 12-1 by hand, place the forearm of the affected limb on the supporting plate 11-3, remove the hand fixing support 12-1 when the affected limb is a lower limb, mount the foot fixing support 12-2 on the end face of the rotating sleeve 9, and fix the foot of the user on the foot fixing support 12-2, and place the lower leg of the affected limb on the supporting plate 11-3.
In practice, the restraint strap 11-2 may be hung directly on the forearm or lower leg of the affected limb.
In this embodiment, the microcontroller 16 internally stores a rehabilitation training demonstration video, and the output end of the microcontroller 16 is connected with a display 22 for playing the rehabilitation training demonstration video.
As shown in fig. 4, the invention further provides a use method of the limb joint function assessment rehabilitation training system, which comprises the following steps:
step one, deducing motion parameters of a user in a normal state of a patient limb:
step 101, utilizing the limb joint function to evaluate the motion parameters of the user's limb, wherein the motion parameters of the user's limb comprise a maximum value of the lifting height of the user's limb, a maximum value of the telescopic displacement of the user's limb, a maximum value of the rotation angle of the user's limb, a maximum value of the telescopic force of the user's limb and a maximum value of the torque of the user's limb;
step 102, making a dynamic linear statistical table or graph of the user's healthy limb according to the motion parameters of the user's healthy limb;
step 103, the dynamic linear statistical table or graph of the normal state of the patient limb of the user is consistent with the dynamic linear statistical table or graph of the healthy limb of the user, so that the dynamic linear statistical table or graph of the normal state of the patient limb of the user can be manufactured according to the dynamic linear statistical table or graph of the healthy limb of the user, thereby deducing the motion parameters of the normal state of the patient limb of the user;
In this embodiment, according to the paper published in Xuzhou medical college journal, it is disclosed that "the exercise function is an important function of the arm, wherein the wrist movement range and strength are two main aspects of the arm exercise function, and the examination can be performed by objective methods. The study conducted 6 wrist activities (dorsi-extension, palmar flexion, radial deviation, ulnar deviation, supination) and 3 arm forces (grip, thumb pinching force with index finger tip pinching force), and the results show that the normal bilateral limbs have no obvious difference in sensory movement, so that the dynamic linear statistical table or graph of the normal state of the affected limb of the user is consistent with the dynamic linear statistical table or graph of the healthy limb of the user.
Step two, measuring the motion parameters of a user before the rehabilitation training of the affected limb:
step 201, determining movement parameters before the recovery training of the patient limb of a user by using a limb joint function evaluation recovery training system, wherein the movement parameters before the recovery training of the patient limb of the user comprise a maximum lifting height before the recovery training of the patient limb of the user, a maximum telescopic displacement before the recovery training of the patient limb of the user, a maximum rotation angle before the recovery training of the patient limb of the user, a maximum telescopic strength before the recovery training of the patient limb of the user and a maximum torque before the recovery training of the patient limb of the user;
Step 202, making a dynamic linear statistical table or graph before the rehabilitation training of the patient limb according to the motion parameters before the rehabilitation training of the patient limb;
step three, setting motion parameters in the rehabilitation training of the affected limb of the user:
comparing the dynamic linear statistical table or graph before the recovery training of the patient limb of the user, which is manufactured in the step 202, with the dynamic linear statistical table or graph under the normal state of the patient limb of the user, which is manufactured in the step 103, and setting the motion parameters in the recovery training of the patient limb of the user, wherein the motion parameters in the recovery training of the patient limb of the user comprise a patient limb lifting height threshold value, a patient limb telescopic displacement threshold value and a patient limb rotation angle threshold value of the user;
step four, formulating a rehabilitation training scheme of the affected limb of the user:
according to the motion parameters of the patient limb in the normal state and the motion parameters of the patient limb before rehabilitation training, which are measured in the step 201, inferred in the step 103, a rehabilitation training scheme of the patient limb is formulated, wherein the rehabilitation training scheme of the patient limb comprises single training parameters, training times and training duration of the patient limb, and the single training parameters comprise the lifting height of the patient limb, the extension length of the patient limb and the rotation angle of the patient limb, and the extension force value and the torque value of the patient limb;
Step five, according to a rehabilitation training scheme of the patient limb of the user, performing rehabilitation training of the patient limb of the user by utilizing a limb joint function evaluation rehabilitation training system;
step six, measuring the motion parameters of the patient after the rehabilitation training of the patient limb:
step 601, measuring movement parameters of a patient limb after rehabilitation training by using a limb joint function evaluation rehabilitation training system, wherein the movement parameters of the patient limb after rehabilitation training comprise a maximum lifting height of the patient limb after rehabilitation training, a maximum telescopic displacement of the patient limb after rehabilitation training, a maximum rotation angle of the patient limb after rehabilitation training, a maximum telescopic strength of the patient limb after rehabilitation training and a maximum torque of the patient limb after rehabilitation training;
step 602, making a dynamic linear statistical table or graph of the patient limb rehabilitation training according to the motion parameters of the patient limb rehabilitation training;
step seven, evaluating the exercise parameters of the user after the rehabilitation training scheme of the affected limbs:
and (3) comparing the dynamic linear statistical table or graph after the recovery training of the patient limb of the user, which is manufactured in the step 602, the dynamic linear statistical table or graph under the normal state of the patient limb of the user, which is manufactured in the step 103, with the dynamic linear statistical table or graph before the recovery training of the patient limb of the user, which is manufactured in the step 202, and evaluating the motion parameters after the recovery training scheme of the patient limb of the user.
In the fifth embodiment, according to the rehabilitation training scheme of the patient's limb, the rehabilitation training system performs the rehabilitation training of the patient's limb by using the limb joint function evaluation rehabilitation training system, and the specific process is as follows:
step 501, fixing a patient limb of a user on a supporting mechanism;
step 502, the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate positively, the rotating sleeve 9 drives the patient limb of the user to rotate positively, the moving sleeve 7 drives the patient limb of the user to extend out, and the wire seat 3 drives the patient limb of the user to lift;
during the forward rotation, extension and lifting of the patient limb, the angle sensor 19 detects the forward rotation angle of the patient limb in real time, and transmits the obtained actual measurement value of the forward rotation angle of the patient limb to the microcontroller 16; the first displacement sensor 17 detects the lifting height of the patient limb in real time and transmits the obtained actual lifting height measurement value of the patient limb to the microcontroller 16; the second displacement sensor 18 detects the extension length of the patient's limb in real time and transmits the obtained actual extension length measurement value of the patient's limb to the microcontroller 16; when the measured value of the forward rotation angle of the patient limb detected by the angle sensor 19 is equal to the threshold value of the rotation angle of the patient limb, and the measured value of the lifting height of the patient limb detected by the first displacement sensor 17 is equal to the threshold value of the lifting height of the patient limb, and the measured value of the extension length of the patient limb detected by the second displacement sensor 18 is equal to the threshold value of the extension displacement of the patient limb, step 503 is executed;
Step 503, the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate reversely, the rotating sleeve 9 drives the affected limb of the user to rotate reversely, the moving sleeve 7 drives the affected limb of the user to retract, and the wire seat 3 drives the affected limb of the user to descend;
during the reverse rotation, retraction and descent of the patient's limb, the angle sensor 19 detects the reverse rotation angle of the patient's limb in real time and transmits the obtained actual measurement value of the reverse rotation angle of the patient's limb to the microcontroller 16; the first displacement sensor 17 detects the descending height of the patient limb in real time and transmits the obtained measured value of the descending height of the patient limb to the microcontroller 16; the second displacement sensor 18 detects the retracted length of the patient's limb in real time and transmits the obtained actual value of the retracted length of the patient's limb to the microcontroller 16; when the measured value of the reverse rotation angle of the patient limb detected by the angle sensor 19 is equal to the threshold value of the rotation angle of the patient limb, and the measured value of the descending height of the patient limb detected by the first displacement sensor 17 is equal to the threshold value of the ascending and descending height of the patient limb, and the measured value of the retraction length of the patient limb detected by the second displacement sensor 18 is equal to the threshold value of the telescopic displacement of the patient limb, step 504 is executed;
Step 504, repeating step 502 and step 503 until the training times and training duration in the rehabilitation training scheme are satisfied.
In this embodiment, in step 502 and step 503, the limb joint function evaluation rehabilitation training system not only can realize the combined training of the rotation of the inner and outer limbs of the patient, the extension and retraction of the patient and the lifting of the patient, but also can realize the elliptical motion track of the hands or feet under the condition of conforming to the natural physiological characteristics of the movement of the limbs of the human body and adapting to the dysfunction condition of the patient.
When in actual use, the rehabilitation training system can also implement single wrist and ankle rotation training, single elbow and shoulder linkage stretching and single knee hip joint stretching and banding training by utilizing the limb joint function evaluation.
In the present embodiment, in the first, second, fourth, fifth and sixth steps, the force sensor 20 detects the stretching force of the patient's limb in real time, and transmits the obtained actual measurement value of the stretching force of the patient's limb to the microcontroller 16; the torque sensor 21 detects the torque of the patient limb in real time, and transmits the obtained actual torque measurement value of the patient limb to the microcontroller 16, so as to realize data acquisition of the stretching force of the patient limb and the torque of the patient limb.
In the fifth embodiment, three training modes of performing rehabilitation training on the patient's limb by using the limb joint function evaluation rehabilitation training system are provided, wherein the first training mode is a passive training mode, and the passive training mode is a training mode in which the limb joint function evaluation rehabilitation training system provides all assistance, and the patient cannot actively move the patient's limb when the patient's limb is in a static state; the second training mode is an active and passive training mode, wherein the active and passive training mode refers to a training mode that a limb joint function evaluation rehabilitation training system boosts a site where a patient limb cannot move, and gives resistance to the site where the patient limb can move, and the third training mode refers to an active training mode, wherein the active training mode refers to a training mode that the limb joint function evaluation rehabilitation training system gives total resistance to the patient limb;
in the fourth step, when the rehabilitation training scheme of the patient's limb is formulated, the training mode of the limb joint function evaluation rehabilitation training system is determined according to the force sensor 20 detecting the telescopic force value of the patient's limb in real time and the torque sensor 21 detecting the torque value of the patient's limb in real time.
When the rehabilitation training system is actually used, the training mode of the limb joint function evaluation rehabilitation training system can be determined according to the Lovett muscle strength grading standard, when the muscle strength of the patient limb of a user is in a 0-2-level state, the rehabilitation training is performed by adopting the passive training mode, when the muscle strength of the patient limb of the user is in a 2-level or 3-level state, the rehabilitation training is performed by adopting the active and passive training mode, and when the muscle strength of the patient limb of the user is in a 4-level or 5-level state, the rehabilitation training is performed by adopting the active training mode.
In this embodiment, when the passive training mode is adopted for rehabilitation training, after the patient limb of the user is fixed on the supporting mechanism, the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate forward or backward, the patient limb of the user does not provide any force, the patient limb of the user is in a static state, and the passive training mode is mainly aimed at the early limb severely-disabled user, so as to reduce joint stiffness and muscular atrophy;
in this embodiment, when the active and passive training mode is adopted for rehabilitation training, after the patient limb of the user is fixed on the supporting mechanism, in the process that the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate forward or reversely, the patient limb of the user can provide a rotating force opposite to the rotating direction of the rotating sleeve 9, the patient limb of the user can provide a pushing force opposite to the moving direction of the moving sleeve 7, the patient limb of the user can provide a pressure opposite to the moving direction of the wire seat 3, and the active and passive training mode is suitable for the patient limb which has a slight limb function and still cannot independently complete single training, and the limb function of the patient limb of the user is helped to be improved through repeated training for a plurality of times.
In this embodiment, when the active training mode is adopted to perform rehabilitation training, after the patient limb of the user is fixed on the supporting mechanism, in the process that the microcontroller 16 controls the first motor 4, the linear motor 8 and the second motor 10 to rotate forward or reversely, the patient limb of the user provides a rotating force opposite to the rotating direction of the rotating sleeve 9, the magnitude of the rotating force is located between the maximum torque before the patient limb rehabilitation training and the maximum torque before the patient limb rehabilitation training measured in the step two, the patient limb of the user provides an pushing force opposite to the moving direction of the moving sleeve 7, the magnitude of the pushing force is located between the maximum telescopic force before the patient limb rehabilitation training and the maximum telescopic force of the patient limb measured in the step two, the patient limb of the user provides a pressure opposite to the moving direction of the wire seat 3, and under the combined action of the pressure and the first motor 4, the patient limb lifting height of the user set in the rehabilitation training can be realized, the active training mode is suitable for the patient limb of the user in a state requiring perfect function, and the patient limb muscle can be recovered gradually and autonomously.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (4)
1. The utility model provides a limbs joint function aassessment rehabilitation training system which characterized in that: the device comprises a frame, a rehabilitation training device arranged on the frame and a control device connected with the rehabilitation training device, wherein the rehabilitation training device comprises a lifting mechanism arranged on the frame and used for driving a patient to lift, a telescopic mechanism connected with the lifting mechanism and used for driving the patient to stretch out and draw back, a rotating mechanism connected with the telescopic mechanism and used for driving the patient to rotate, and a supporting mechanism connected with the rotating mechanism and used for supporting the patient, the lifting mechanism comprises a screw rod (2) vertically arranged on the frame, a screw seat (3) sleeved on the screw rod (2) and a first motor (4) used for driving the screw rod (2) to rotate, the telescopic mechanism comprises a connecting piece (5) rotatably arranged on the screw seat (3), a barrel (6) connected with the connecting piece (5) and a moving sleeve (7) sleeved in the barrel (6), a linear motor (8) used for driving the moving sleeve (7) to linearly move is arranged in the barrel (6), the rotating mechanism comprises a screw rod (2) vertically arranged in the moving sleeve (7) and a first motor (4) used for driving a microcontroller (16) to rotate, the microcontroller (16) is arranged in the microcontroller (16) is connected with the first microcontroller (17), and the microcontroller (16) is used for detecting the movement of the patient to move A second displacement sensor (18) for detecting the extension and retraction length of the affected limb and an angle sensor (19) for detecting the rotation angle of the affected limb, a force sensor (20) for detecting the extension and retraction force of the affected limb in real time and a torque sensor (21) for detecting the torque of the affected limb in real time, wherein the first motor (4), the linear motor (8) and the second motor (10) are controlled by a microcontroller (16);
The wire seat (3) is provided with an ear plate (3-1), the ear plate (3-1) is provided with a fixed sleeve (3-2), the axis of the fixed sleeve (3-2) is parallel to the axis of the screw rod (2), and the connecting piece (5) is rotationally connected with the fixed sleeve (3-2) through a pin roll (13);
the connecting piece (5) is a T-shaped connecting pipe, a vertical pipe of the T-shaped connecting pipe is coaxially arranged with the fixed sleeve (3-2), and when the axis of the fixed sleeve (3-2) is parallel to the axis of the screw rod (2), the axis of the horizontal pipe of the T-shaped connecting pipe is perpendicular to the axis of the screw rod (2);
the T-shaped connecting pipe can rotate around the pin shaft (13), and the direction of the cylinder (6) and the moving sleeve (7) can be changed by adjusting the direction of the horizontal pipe of the T-shaped connecting pipe;
the supporting mechanism comprises a telescopic rod (11-1) arranged on the side surface of the upright post (1-2), a supporting plate (11-3) arranged on the movable sleeve (7), a binding belt (11-2) hung between the telescopic rod (11-1) and the supporting plate (11-3), and a hand fixing bracket (12-1) or a foot fixing bracket (12-2) which is detachably arranged on the end surface of the rotary sleeve (9);
when in actual use, the specific process of using the limb joint function evaluation rehabilitation training system to perform the rehabilitation training of the affected limb of the user is as follows:
Firstly, the affected limb of a user is fixed on a supporting mechanism;
secondly, the microcontroller (16) controls the first motor (4), the linear motor (8) and the second motor (10) to rotate positively, the rotating sleeve (9) drives the affected limb of the user to rotate positively, the moving sleeve (7) drives the affected limb of the user to extend out, and the wire seat (3) drives the affected limb of the user to lift;
in the process of forward rotation, extension and lifting of the affected limb of the user, the angle sensor (19) detects the forward rotation angle of the affected limb of the user in real time, and transmits the obtained actual measurement value of the forward rotation angle of the affected limb of the user to the microcontroller (16); the first displacement sensor (17) detects the lifting height of the patient limb of the user in real time and transmits the obtained actual measurement value of the lifting height of the patient limb of the user to the microcontroller (16); the second displacement sensor (18) detects the extension length of the patient limb of the user in real time and transmits the obtained actual extension length measurement value of the patient limb of the user to the microcontroller (16); when the measured value of the forward rotation angle of the patient limb of the user detected by the angle sensor (19) is equal to the threshold value of the rotation angle of the patient limb of the user, the measured value of the lifting height of the patient limb of the user detected by the first displacement sensor (17) is equal to the threshold value of the lifting height of the patient limb of the user, and the measured value of the extension length of the patient limb of the user detected by the second displacement sensor (18) is equal to the threshold value of the extension displacement of the patient limb of the user, the microcontroller (16) controls the first motor (4), the linear motor (8) and the second motor (10) to reversely rotate, the rotating sleeve (9) drives the patient limb of the user to reversely rotate, the moving sleeve (7) drives the patient limb of the user to retract, and the wire seat (3) drives the patient limb of the user to descend;
In the process of reverse rotation, retraction and descent of the patient limb of the user, the angle sensor (19) detects the reverse rotation angle of the patient limb of the user in real time, and transmits the obtained actual measurement value of the reverse rotation angle of the patient limb of the user to the microcontroller (16); the first displacement sensor (17) detects the descending height of the patient limb of the user in real time and transmits the obtained measured value of the descending height of the patient limb of the user to the microcontroller (16); the second displacement sensor (18) detects the retraction length of the patient limb in real time and transmits the obtained actual retraction length measurement value of the patient limb to the microcontroller (16); when the measured value of the reverse rotation angle of the patient limb of the user detected by the angle sensor (19) is equal to a threshold value of the rotation angle of the patient limb of the user, the measured value of the descending height of the patient limb of the user detected by the first displacement sensor (17) is equal to a threshold value of the ascending and descending height of the patient limb of the user, and the measured value of the retraction length of the patient limb detected by the second displacement sensor (18) is equal to a threshold value of the telescopic displacement of the patient limb of the user, the microcontroller (16) controls the first motor (4), the linear motor (8) and the second motor (10) to rotate positively, the rotating sleeve (9) drives the patient limb of the user to rotate positively, the moving sleeve (7) drives the patient limb of the user to stretch out, and the wire seat (3) drives the patient limb of the user to ascend; the training is repeated for a plurality of times until the training times and the training time length in the rehabilitation training scheme are met.
2. A limb joint function assessment rehabilitation training system according to claim 1, wherein: the machine frame comprises a bottom plate (1-1), upright posts (1-2) vertically arranged on the bottom plate (1-1) and two fixing plates (1-3) parallelly arranged on the upright posts (1-2), and two ends of the screw rod (2) are respectively rotatably arranged on the two fixing plates (1-3).
3. A limb joint function assessment rehabilitation training system according to claim 1, wherein: the side surface of the upright post (1-2) is provided with a clamping seat (14) which is connected with a fixed rod (15).
4. A limb joint function assessment rehabilitation training system according to claim 1, wherein: the rehabilitation training demonstration video is stored in the microcontroller (16), and the output end of the microcontroller (16) is connected with a display (22) for playing the rehabilitation training demonstration video.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110607281.7A CN113331826B (en) | 2021-05-31 | 2021-05-31 | Limb joint function assessment rehabilitation training system and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110607281.7A CN113331826B (en) | 2021-05-31 | 2021-05-31 | Limb joint function assessment rehabilitation training system and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113331826A CN113331826A (en) | 2021-09-03 |
| CN113331826B true CN113331826B (en) | 2024-03-15 |
Family
ID=77473923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110607281.7A Active CN113331826B (en) | 2021-05-31 | 2021-05-31 | Limb joint function assessment rehabilitation training system and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113331826B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101301250A (en) * | 2008-07-08 | 2008-11-12 | 哈尔滨工业大学 | Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy |
| KR20130034896A (en) * | 2011-09-29 | 2013-04-08 | 연세대학교 원주산학협력단 | Emg feedback-based active training system for rehabilitation exercise |
| CN105105971A (en) * | 2015-09-16 | 2015-12-02 | 济南方宇文化传媒有限公司 | Medical limb rehabilitation exercise device |
| KR20160024110A (en) * | 2014-08-25 | 2016-03-04 | 주식회사 바로텍시너지 | Legs rehabilitation robot capable of movable gait training and stationary gait training |
| CN108187310A (en) * | 2017-12-21 | 2018-06-22 | 东南大学 | The limb motion for feeling information and attitude information based on power is intended to understand and upper-limbs rehabilitation training robot and its control method |
| CN110314064A (en) * | 2018-03-28 | 2019-10-11 | 北京蝶禾谊安信息技术有限公司 | Upper limb healing equipment |
| CN112472520A (en) * | 2020-11-26 | 2021-03-12 | 四川大学华西医院 | Upper limb rehabilitation training device |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
| CN112603764A (en) * | 2020-12-30 | 2021-04-06 | 中国医学科学院生物医学工程研究所 | Lower limb bedside movement rehabilitation device based on coupling driving mode |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI554262B (en) * | 2013-05-13 | 2016-10-21 | Univ Nat Taiwan | Limb rehabilitation and training system |
-
2021
- 2021-05-31 CN CN202110607281.7A patent/CN113331826B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101301250A (en) * | 2008-07-08 | 2008-11-12 | 哈尔滨工业大学 | Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy |
| KR20130034896A (en) * | 2011-09-29 | 2013-04-08 | 연세대학교 원주산학협력단 | Emg feedback-based active training system for rehabilitation exercise |
| KR20160024110A (en) * | 2014-08-25 | 2016-03-04 | 주식회사 바로텍시너지 | Legs rehabilitation robot capable of movable gait training and stationary gait training |
| CN105105971A (en) * | 2015-09-16 | 2015-12-02 | 济南方宇文化传媒有限公司 | Medical limb rehabilitation exercise device |
| CN108187310A (en) * | 2017-12-21 | 2018-06-22 | 东南大学 | The limb motion for feeling information and attitude information based on power is intended to understand and upper-limbs rehabilitation training robot and its control method |
| CN110314064A (en) * | 2018-03-28 | 2019-10-11 | 北京蝶禾谊安信息技术有限公司 | Upper limb healing equipment |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
| CN112472520A (en) * | 2020-11-26 | 2021-03-12 | 四川大学华西医院 | Upper limb rehabilitation training device |
| CN112603764A (en) * | 2020-12-30 | 2021-04-06 | 中国医学科学院生物医学工程研究所 | Lower limb bedside movement rehabilitation device based on coupling driving mode |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113331826A (en) | 2021-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110279557B (en) | Control system and control method for lower limb rehabilitation robot | |
| EP3643286A1 (en) | Lower limb training rehabilitation apparatus | |
| CN101357097B (en) | Five freedom degree ectoskeleton type upper limb rehabilitation robot | |
| CN110151496A (en) | A kind of multidigit appearance lower limb rehabilitation robot and its application method | |
| CN209203951U (en) | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CA2381887A1 (en) | Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like anexoskeleton drive system from a fixed base | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| JP2018518208A (en) | A device that drives walking in an upright position and lower limbs of a person in a supine or partially lying position | |
| CN106074071B (en) | A kind of patella ulnaris joint traction recovering robot and its traction angle adjustment mechanism | |
| CN211024993U (en) | Leg lifting training device for early rehabilitation after hip replacement | |
| CN109248408A (en) | A kind of whole body healing robot | |
| CN109124988A (en) | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CN201861910U (en) | Multi-body position lower limb exercise rehabilitation machine | |
| CN110522606A (en) | A kind of pedal gait rehabilitation training device | |
| CN107468483A (en) | A kind of upper limbs pendulous device and the walking rehabilitation training robot with the device | |
| CN106974797B (en) | A kind of gait rehabilitation training device | |
| CN210962908U (en) | Sitting type lower limb rehabilitation robot | |
| CN105534679B (en) | intelligent rehabilitation robot | |
| CN108771609A (en) | A kind of medical assistance lower limb rehabilitation robot | |
| CN215229848U (en) | Lower limb rehabilitation training device used beside bed | |
| CN113331826B (en) | Limb joint function assessment rehabilitation training system and application method thereof | |
| CN208910867U (en) | A kind of upper limb pendulous device | |
| CN103908393A (en) | Training apparatus for restoring leg movement ability | |
| CN212662592U (en) | Department of neurology low limbs rehabilitation training device | |
| CN105853044B (en) | A kind of patella ulnaris joint traction recovering robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |