CN115154212A - Robot training system for remote rehabilitation - Google Patents
Robot training system for remote rehabilitation Download PDFInfo
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Abstract
The invention discloses a robot training system for remote rehabilitation, which comprises: a doctor server computer, a rehabilitation robot client computer, a lower limb rehabilitation robot and a computer network; a professional doctor sets a rehabilitation training task on a doctor server computer according to rehabilitation training data of a patient, and remotely distributes the rehabilitation training task to a rehabilitation robot client computer through a computer network; the rehabilitation robot client computer is used for receiving the rehabilitation training task, analyzing the rehabilitation training task, and setting various parameters of the lower limb rehabilitation robot so as to realize the motion control of the lower limb rehabilitation robot; the lower limb rehabilitation robot is used for performing rehabilitation training on a patient under the control of the rehabilitation robot client computer and feeding the rehabilitation training data back to the rehabilitation robot client computer. The invention can provide auxiliary rehabilitation training equipment for stroke hemiplegia patients, and realizes remote rehabilitation interactive control based on the network.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a robot training system for remote rehabilitation.
Background
Aiming at the patients with the cerebral apoplexy sequelae, the rehabilitation training of the hemiplegic parts of the patients is a main medical means, and the rehabilitation training is carried out as early as possible, which is beneficial to reducing the probability of causing disabilities. The traditional rehabilitation training needs therapists to assist patients to carry out manual rehabilitation, the method is time-consuming and laborious for the therapists, meanwhile, the method has great economic burden on the patients, objective data for scientifically evaluating training parameters and rehabilitation effects are lacked, and the training parameters are difficult to optimize so as to obtain the optimal treatment effect. The development of medical technology improves the survival rate of the stroke patients and enlarges the number of the hemiplegia patients, so that the rehabilitation of the stroke patients becomes important. What should home patients need to rehabilitate? The remote rehabilitation medical treatment has profound significance for meeting the rehabilitation requirements of the patients at home and improving the medical quality. Remote rehabilitation refers to the fact that electronic rehabilitation training data are transmitted in different places by applying an internet technology and a communication technology, and has the advantages of being convenient and fast, free of space-time boundaries and the like. There are a number of different factors for remote rehabilitation and offline rehabilitation: different rehabilitation environments, different rehabilitation devices, different rehabilitation processes, different guidance modes, different guidance objects and the like. Remote rehabilitation has the advantages of high efficiency, convenience, economy and practicality, and can enjoy the same quality of remote rehabilitation service no matter where you are, far away from the marginal small town at the remote border, or near the luxurious city.
The human-based robot has better affinity to human, can be more easily integrated into the daily life of a patient in a family or hospital environment, can effectively prevent the phenomena of senile dementia and the decline of the dynamic capacity of the daily life by combining with interactive entertainment, but is not enough to be competent in the aspect of assisting the service type robot in recovering the lower limb motion function of the patient and realizing the self-care of the daily life in the lower limb rehabilitation training aiming at the hemiplegic patient. The elderly are most in need of remote rehabilitation in a daily living environment, rather than in a regular rehabilitation center or hospital. It would be advantageous to deliver remote rehabilitation services to the patient's home for rehabilitation. The remote rehabilitation service can overcome geographical, physical and cognitive disorders, so that doctors can realize monitoring, education and treatment on patients in own environment, and strengthen or even replace the traditional rehabilitation treatment form. Current telemedicine and remote monitoring attempts to build an efficient and sustainable system and enable the collection and analysis of data. Although home remote rehabilitation has progressed, several obstacles still exist.
In the research and development process, the existing rehabilitation robot training device has the following defects:
1. at present, intelligent rehabilitation robot training equipment on the market is large in size generally and is usually placed in fixed places such as hospitals and rehabilitation centers, the large rehabilitation equipment does not support remote rehabilitation training, the use of the fixed places can limit the use groups of patients, and a plurality of patients are not suitable for going to and from the fixed places to perform rehabilitation training.
2. The small-sized rehabilitation equipment purchased by the patient has lower performance and simple function, and the patient can use the rehabilitation equipment to train in places such as home or community, but has no quantitative data and guidance of doctors, so the rehabilitation effect is not good enough.
3. In rehabilitation training, the small rehabilitation equipment cannot feed back data, and the lower limb rehabilitation effect of a patient is objectively and quantitatively evaluated.
4. Most rehabilitation equipment cannot acquire rehabilitation training data of a patient, and doctors are difficult to quantitatively and objectively evaluate the rehabilitation effect of the patient by means of feedback data of the robot.
5. In the rehabilitation training guidance, a therapist can only adjust the training parameters of the rehabilitation device according to the self experience and the physical condition of the patient or the quantitative data of the rehabilitation device, so that the patient can keep a better training state.
6. Most rehabilitation equipment cannot realize the rehabilitation idea centered on human, enhances the autonomy of human intention in rehabilitation training, and improves the self-confidence and active rehabilitation willingness of patients in the rehabilitation process.
7. A large number of rehabilitation robot training devices adopt complex control algorithms to make robots increasingly intelligent, so that robot operators can use the training and guiding methods, relevant data, graphs and charts can be analyzed only by learning, and great burden is caused to the operators.
8. A large number of rehabilitation robots adopt complex structures and control algorithms, the design, research and development and production costs of the robots are greatly improved, the robots are difficult to accept by common hospitals or common families and are difficult to popularize, so that a large number of patients are difficult to enjoy rehabilitation therapy, the use population of the patients is reduced, and the patients are difficult to obtain the rehabilitation therapy.
Disclosure of Invention
In view of this, the invention provides a robot training system for remote rehabilitation, which can provide auxiliary rehabilitation training equipment for stroke hemiplegic patients, and realize network-based remote rehabilitation interactive control.
The invention is realized by the following technical scheme:
a robotic training system for remote rehabilitation, comprising: a doctor server computer, a rehabilitation robot client computer, a lower limb rehabilitation robot and a computer network;
the doctor server computer is positioned in a hospital or a rehabilitation center, and the rehabilitation robot client computer and the lower limb rehabilitation robot are positioned in the patient home or the patient community;
a professional doctor sets a rehabilitation training task on a doctor server computer according to rehabilitation training data of a patient, and remotely distributes the rehabilitation training task to a rehabilitation robot client computer through a computer network;
the rehabilitation robot client computer is used for receiving the rehabilitation training task, analyzing the rehabilitation training task, and setting various parameters of the lower limb rehabilitation robot so as to realize the motion control of the lower limb rehabilitation robot; the system is also used for feeding back the rehabilitation training data of the patient to a computer at a doctor server end for real-time display;
the lower limb rehabilitation robot is used for performing rehabilitation training on a patient under the control of the rehabilitation robot client computer and feeding the rehabilitation training data back to the rehabilitation robot client computer.
Further, the lower limb rehabilitation robot includes: the robot comprises a robot body and a control module;
the robot body includes: the device comprises an integral frame, two motion units and two weight supporting units;
the integral frame comprises a U-shaped frame and two parallel movable bases; two ends of the inverted U-shaped frame are fixed on the two bases; the front side surfaces of the two vertical parts of the U-shaped frame are respectively provided with a guide rail in the vertical direction and a sliding block A in sliding fit with the guide rail, and the outer side surfaces of the two vertical parts of the U-shaped frame are respectively provided with a linear slide rail in the vertical direction and a sliding block B in sliding fit with the linear slide rail;
the two motion units are symmetrically arranged on the two bases respectively, and each motion unit comprises a driving wheel, a hub motor and a hub driver; the driving wheel is arranged in the middle of the base and supported on the ground, the hub motor is arranged on the base, an output shaft of the hub motor is correspondingly and coaxially connected with the driving wheel, the hub driver is electrically connected with the hub motor, and the hub driver is used for driving the output shaft of the hub motor to rotate;
the two weight support units are respectively and symmetrically arranged on two vertical parts of the U-shaped frame, and each weight support unit comprises a weight reduction motor, a weight reduction driver, a speed reducer, a spring group, a traction rope, a traction arm, two guide wheels A and two guide wheels B; the traction arm is of an L-shaped structure, the vertical part of the traction arm is fixed on a sliding block A of the integral frame, and the horizontal part of the traction arm is parallel to a base of the integral frame; the two guide wheels A are fixed at the top of the vertical part of the U-shaped frame; the weight reduction motor, the weight reduction driver and the speed reducer are all fixed at the bottom of the vertical part of the U-shaped frame, the weight reduction driver is electrically connected with the weight reduction motor, the weight reduction driver is used for driving an output shaft of the weight reduction motor to rotate, an output shaft of the weight reduction motor is connected with an input shaft of the speed reducer, and a winder is fixed on the output shaft of the speed reducer; the spring group is positioned between the guide wheel A and the speed reducer, the bottom of the spring group is fixed on the vertical part of the U-shaped frame, the top of the spring group is fixedly connected with the sliding block B, and the top of the spring group is provided with two guide wheels B; one end of the traction rope is wound on the winder, the other end of the traction rope winds up one guide wheel A, then winds down two guide wheels B at the top of the spring group in sequence, and then winds up the other guide wheel A again, and then is connected with the traction arm again;
a traction garment is connected between the two traction arms of the two weight supporting units, and when a patient carries out rehabilitation training, the patient is positioned between the two bases of the integral frame and wears the traction garment;
the control module is used for controlling the rotation of the hub motor through the hub driver and controlling the rotation of the weight reduction motor through the weight reduction driver.
Further, the control module includes: the system comprises an MCU, a force and position information sampling module, a displacement transmitter, a force transmitter, a communication module and a lithium battery;
the force and position information sampling module comprises a force sensor and a displacement sensor, wherein the force sensor is used for collecting auxiliary force information, namely weight support adjustment parameters, provided by the weight support unit for the patient and transmitting the auxiliary force information to the force transmitter; the displacement sensor is used for acquiring motion information of a patient under the assistance of the lower limb rehabilitation robot and transmitting the motion information to the displacement transmitter;
the force transmitter and the displacement transmitter respectively perform digital-analog conversion on the received auxiliary force information and the received motion information, and then send digital signals of the auxiliary force information and the motion information obtained after conversion to the MCU;
the MCU is used for forming the received digital signals of the auxiliary force information and the motion information into rehabilitation training data and sending the rehabilitation training data to the rehabilitation robot client computer through the communication module for displaying; the rehabilitation robot client computer simultaneously sends the rehabilitation training data to a doctor server computer through a computer network, a professional doctor generates rehabilitation parameters according to the rehabilitation training data, the rehabilitation parameters comprise weight support adjusting parameters of the robot body, the movement time of the robot body and the movement speed of the robot body, the rehabilitation parameters are sent to the rehabilitation robot client computer through the computer network, the rehabilitation robot client computer generates task instructions according to the rehabilitation parameters and sends the task instructions to the MCU through a communication module, the MCU analyzes the task instructions to obtain adjusting parameters of a weight reduction driver and a hub driver of the robot body, and the weight reduction and the movement speed of the robot body are adjusted according to the parameter adjusting parameters;
the lithium battery is used for supplying power to the MCU, the force and position information sampling module, the transmitter, the communication module and a weight reduction motor, a weight reduction driver, a hub motor and a hub driver of the robot body.
Furthermore, the control module also comprises an electric quantity/voltage detection display module;
the electric quantity/voltage detection display module is used for collecting the electric quantity and the voltage of the lithium battery and sending signals of the detected electric quantity and the detected voltage to the MCU; the MCU sends the electric quantity and the voltage signal to a rehabilitation robot client computer through a communication module for display; the rehabilitation robot client computer simultaneously sends the electric quantity and the voltage signal to the doctor server computer through a computer network.
Furthermore, the control module also comprises a power supply branching unit, a power supply switch and an emergency stop button;
the lithium batteries are respectively used for supplying power to power utilization components after being branched by the power supply branching unit; the power switch is arranged between the lithium battery and the power utilization component and used for controlling whether the lithium battery supplies power to the power utilization component; the emergency stop button is arranged between the lithium battery and the hub driver and used for controlling whether the hub driver is powered off or not.
Furthermore, the control module also comprises an audible and visual alarm unit;
when the patient carelessly falls down, the auxiliary force information acquired by the force sensor changes suddenly, the MCU controls the acousto-optic alarm unit to give an acousto-optic alarm after detecting that the auxiliary force information changes suddenly, and simultaneously controls the hub motor to stop working through the hub driver and controls the weight reduction motor to stop working through the weight reduction driver.
Further, the control module also comprises a travel limit switch;
the travel limit switch is arranged at the top of the linear slide rail of the robot body, when the traction arm moves downwards to pull the top of the spring group to rise and the top of the spring group rises to the travel limit switch, the travel limit switch is triggered, the travel limit switch sends a trigger signal to the MCU, and the MCU controls the weight reduction motor to stop working through the weight reduction driver after receiving the trigger signal.
Further, the lower limb rehabilitation robot also comprises a visual information acquisition module;
the visual information acquisition module is used for acquiring audio and video data of the robot body and the patient and sending the audio and video data to the rehabilitation robot client computer, and the rehabilitation robot client computer sends the audio and video data to the doctor server computer through a computer network.
Further, the lower limb rehabilitation robot also comprises a body panel man-machine interaction input module;
the body panel human-computer interaction input module adopts a remote controller with a display screen, and the MCU can also send the rehabilitation training data to the remote controller for display; the patient or family members of the patient hold the remote controller by hand, set up rehabilitation parameters according to rehabilitation training data displayed by the remote controller, and wirelessly transmit the rehabilitation parameters to the rehabilitation robot client computer, the rehabilitation robot client computer generates a task instruction according to the rehabilitation parameters, and transmits the task instruction to the MCU through the communication module, the MCU analyzes the task instruction to obtain adjustment parameters of a weight reduction driver and a hub driver of the robot body, and the weight reduction and the movement speed of the robot body are adjusted according to the parameter adjustment.
Has the advantages that:
(1) The invention provides a robot training system for remote rehabilitation, which is formed by two computers through the analysis of functions and requirements of a lower limb rehabilitation robot system, wherein one computer at a doctor server end connected with a network is used by a doctor, one computer at a rehabilitation robot client end connected with a lower limb rehabilitation robot and the network is used by a client, the computer network is used as a data transmission channel between the computer at the doctor server end and the computer at the rehabilitation robot client end, the computer at the rehabilitation robot client end and the lower limb rehabilitation robot can be placed in a patient home or a patient community, the computer at the doctor server end is positioned in a hospital or a rehabilitation center, and the doctor can guide and supervise a stroke patient to carry out remote rehabilitation training, so that the inconvenience that the patient needs to go to and return to a fixed place to carry out rehabilitation training is avoided; and the professional doctor analyzes the rehabilitation training data of the patient according to the rehabilitation training data fed back by the patient, the lower limb rehabilitation effect of the patient is objectively and quantitatively evaluated, the training parameters of the lower limb rehabilitation robot are adjusted according to the physical condition of the patient or the quantitative data of the rehabilitation equipment, the patient is enabled to keep a better training state, the rehabilitation effect of the patient is better under the guidance of the quantitative data and the doctor, the lower limb rehabilitation robot can move along with the patient through the interaction of the patient and the professional doctor, the autonomy of artificial intention in the lower limb rehabilitation training is enhanced, and the confidence and the active rehabilitation willingness of the patient in the rehabilitation process are improved.
(2) The invention provides a lower limb rehabilitation training robot for a patient, which can provide weight balance support and mobile walking for the patient, provides rehabilitation training treatment for the patient with stroke or lower limb walking dysfunction, and comprises: the robot comprises a robot body and a control module; under the condition of realizing self weight reduction balance by depending on the lower limb rehabilitation robot, a patient can control the robot to move according to the expected movement direction, and personalized rehabilitation training can help the patient to gradually recover the lower limb movement function and adapt to a walking state; all components of the lower limb rehabilitation robot are concentrated in a mechanical structure of the equipment, so that the robot body becomes an independent training platform which is compact, small and convenient to operate and move, and can be used in places with wide environments and flat ground, such as living rooms, courtyards and parks.
(3) The control module comprises an MCU and a force and position information sampling module; a professional doctor can quantitatively and objectively evaluate the rehabilitation effect of a patient according to sensor feedback data of the robot body, the patient uses the lower limb rehabilitation robot to train at home or in places such as communities and the like, and the professional doctor adjusts weight support adjusting parameters of the robot according to the physical condition of the patient, so that the patient keeps a balanced and standing state, and the patient is helped to reduce the walking burden of lower limb muscles and gradually recover the lower limb movement force; the force sensor monitors the force change of the lower limb of the patient in the rehabilitation training all the time, the force of the lower limb of the patient is gradually enhanced along with the improvement of the rehabilitation treatment effect, the feedback data value of the force sensor shows a decreasing trend, and the feedback data can objectively and quantitatively evaluate the rehabilitation effect of the lower limb of the patient.
(4) The control module of the invention also comprises an acousto-optic alarm unit, when the patient falls down due to insufficient lower limb strength, the data of the force sensor is instantly increased to trigger the emergency stop protection state of the robot body, so as to protect the patient from being hurt, and meanwhile, the acousto-optic alarm unit carries out acousto-optic alarm to remind the family members near the patient.
(5) The control module also comprises a travel limit switch, when the traction arm moves downwards to pull the top of the spring group to rise and the top of the spring group rises to the travel limit switch, the travel limit switch is triggered, the travel limit switch sends a trigger signal to the MCU, and the MCU controls the weight reduction motor to stop working through the weight reduction driver after receiving the trigger signal, so that excessive weight reduction of a patient is prevented.
In summary, compared with the training robot used for rehabilitation in the current hospital, the robot training system for remote rehabilitation of the present invention has three main functions: (1) a weight support function to assist patient balance; (2) a multi-sensor information feedback function; (3) the human-computer interaction actively follows the motion function.
Compared with the prior art that the training robot used for the rehabilitation in hospitals needs to be used by a professional-trained doctor, the workload of the doctor can be greatly increased by each patient depending on the operation and supervision of the doctor, in the robot training system for the remote rehabilitation, the professional doctor can take multiple rehabilitation robots into consideration at the server end through the system and distribute rehabilitation training tasks to different patients, the patient or family members can complete the training by clicking to confirm the rehabilitation training tasks at the rehabilitation robot end, and the working intensity of the doctor is reduced.
Compared with the prior art that the training robot for the rehabilitation in the hospital is mainly fixed, the lower limb rehabilitation robot of the robot training system for the remote rehabilitation is simple in structure, low in cost, convenient to popularize and use in the hospital and the family, capable of expanding the using population of patients and beneficial to the rehabilitation of the patients by sending the remote rehabilitation service to the families of the patients; and the remote rehabilitation service can overcome geographical, physical and cognitive obstacles, so that doctors can realize monitoring, education and treatment on patients in own environment, and the traditional rehabilitation treatment form is enhanced and even replaced. The robot training system overcomes the defects of the training robot or the assistive device used for the rehabilitation in the current hospital, so that the robot training system for the remote rehabilitation has stronger market competitiveness.
Drawings
FIG. 1 is a system composition diagram of the present invention;
FIG. 2 is a structural composition diagram of a lower limb rehabilitation robot;
fig. 3 is a diagram showing an assembly relationship between a robot body and a control module of the lower limb rehabilitation robot;
FIG. 4 is a functional diagram of the control module;
FIG. 5 is a flow chart of the present invention;
FIG. 6 is a diagram of a human-computer interaction interface of a physician server computer and a rehabilitation robot client computer;
the system comprises a patient 1, a 2-MCU, a 3-force and position information sampling module, a 4-motion unit, a 5-weight supporting unit, a 6-force sensor, a 7-displacement sensor, an 8-displacement transmitter, a 9-force transmitter, a 10-hub motor, an 11-hub driver, a 12-weight losing motor, a 13-weight losing driver and a 14-stroke limit switch.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The present embodiment provides a robot training system for remote rehabilitation, referring to fig. 1, including: a doctor server computer, a rehabilitation robot client computer, a lower limb rehabilitation robot and a computer network;
the doctor server computer is positioned in a hospital or a rehabilitation center, and the rehabilitation robot client computer and the lower limb rehabilitation robot are positioned in the patient home or the patient community;
the doctor server computer is used for a professional doctor to guide the patient to perform rehabilitation training and manage the patient's rehabilitation log, and specifically comprises the following steps: a professional doctor sets a rehabilitation training task on a doctor server computer according to rehabilitation training data of a patient, and the doctor server computer remotely dispatches the rehabilitation training task to a rehabilitation robot client computer so that the professional doctor can guide the patient to perform rehabilitation training; the contents of the rehabilitation training task comprise information such as the number of the lower limb rehabilitation robot, patient information, training amplitude, training speed, training time and the like, and a professional sets the rehabilitation training task remotely so as to achieve the purpose of simplifying the operation difficulty of the rehabilitation robot; the doctor server computer is also used for receiving the rehabilitation training data of the patient sent by the rehabilitation robot client computer, displaying the rehabilitation training data of the patient in real time and helping professional doctors to know the rehabilitation training state of the patient so as to manage the rehabilitation logs of the patient;
the rehabilitation robot client computer is used for receiving the rehabilitation training task, analyzing the rehabilitation training task, and setting various parameters of the lower limb rehabilitation robot so as to realize the motion control of the lower limb rehabilitation robot; the medical equipment is also used for feeding back the rehabilitation training data of the patient to the computer at the server end of the doctor;
the computer network is a bridge for information transmission between a doctor server-side computer and a rehabilitation robot client-side computer, the lower limb rehabilitation robot stores rehabilitation training data in a local database of the rehabilitation robot client-side computer, and both a professional doctor and a patient family member can access the local database of the rehabilitation robot client-side computer through the computer network to check the rehabilitation training data from the patient;
the lower limb rehabilitation robot is used for performing rehabilitation training on a patient under the control of the rehabilitation robot client computer and feeding the rehabilitation training data back to the rehabilitation robot client computer;
referring to fig. 2, the lower limb rehabilitation robot includes: the robot comprises a robot body, a control module, a visual information acquisition module and a body panel man-machine interaction input module;
the robot body includes: the device comprises an integral frame, two motion units 4 and two weight support units 5;
the integral frame comprises a U-shaped frame and two parallel bases; two ends of the inverted U-shaped frame are fixed on the two parallel bases; universal wheels are respectively arranged at four corners of the base; the front side surfaces of the two vertical parts of the U-shaped frame are respectively provided with a guide rail in the vertical direction and a sliding block A in sliding fit with the guide rail, and the outer side surfaces of the two vertical parts of the U-shaped frame are respectively provided with a linear slide rail in the vertical direction and a sliding block B in sliding fit with the linear slide rail;
the two motion units 4 are respectively and symmetrically arranged on the two bases, and each motion unit 4 comprises a driving wheel, a hub motor 10 and a hub driver 11; the driving wheel is arranged in the middle of the base and supported on the ground, the hub motor 10 is arranged on the base, an output shaft of the hub motor 10 is correspondingly and coaxially connected with the driving wheel, the hub driver 11 is electrically connected with the hub motor 10, and the hub driver 11 is used for driving the output shaft of the hub motor 10 to rotate so as to drive the driving wheel to rotate and finally drive the whole frame to move;
the two weight support units 5 are respectively and symmetrically arranged on two vertical parts of the U-shaped frame, and each weight support unit 5 comprises a weight reduction motor 12, a weight reduction driver 13, a speed reducer, a spring group, a traction rope, a traction arm, two guide wheels A and two guide wheels B; the traction arm is of an L-shaped structure, the vertical part of the traction arm is fixed on a sliding block A of the integral frame, and the horizontal part of the traction arm is parallel to a base of the integral frame; the two guide wheels A are fixed on the top of the vertical part of the U-shaped frame; the weight reducing motor 12, the weight reducing driver 13 and the speed reducer are all fixed at the bottom of the vertical part of the U-shaped frame, the weight reducing driver 13 is electrically connected with the weight reducing motor 12, the weight reducing driver 13 is used for driving an output shaft of the weight reducing motor 12 to rotate, an output shaft of the weight reducing motor 12 is connected with an input shaft of the speed reducer, and the speed reducer is used for reducing the speed of the output of the weight reducing motor 12; a winder is fixed on an output shaft of the speed reducer; the spring group is positioned between the guide wheel A and the speed reducer, the bottom of the spring group is fixed on the vertical part of the U-shaped frame, the top of the spring group is fixedly connected with the sliding block B, and the top of the spring group is provided with two guide wheels B; one end of the traction rope is wound on the winder, the other end of the traction rope winds one guide wheel A upwards and then winds two guide wheels B at the top of the spring group downwards in sequence, and then the other end of the traction rope winds the other guide wheel A upwards again and then is connected with the traction arm downwards again;
a traction garment is connected between the two traction arms of the two weight support units 5, and when the patient 1 carries out rehabilitation training, the traction garment is positioned between the two bases of the integral frame and worn; the weight reduction driver 13 controls the weight reduction motor 12 to rotate, so that when the traction rope is tightened, the spring set is stretched, and the traction arm is lifted upwards at the same time, so that the patient 1 is supported in an auxiliary manner, and meanwhile, under the action of the elastic force of the spring set, the patient 1 is further supported in an auxiliary manner; when the patient 1 walks, the wheel hub motor 10 drives the driving wheel to rotate, so as to drive the whole frame to move, assist the patient 1 to walk, and realize the rehabilitation training of the patient 1.
Referring to fig. 3-4, the control module includes: the device comprises a core control panel (MCU 2 for short), a force and position information sampling module 3, a displacement transmitter 8, a force transmitter 9, a communication module, an electric quantity/voltage detection display module, a 24V lithium battery, a power supply branching unit, a power supply switch, an audible and visual alarm unit, an emergency stop button and a travel limit switch 14;
the force and position information sampling module 3 comprises a force sensor 6 and a displacement sensor 7, wherein the force sensor 6 is used for collecting auxiliary force information (namely weight support adjustment parameters) provided by the weight support unit 5 for the patient and transmitting the auxiliary force information to a force transmitter 9; the displacement sensor 7 is used for collecting the motion information of the patient under the assistance of the lower limb rehabilitation robot and transmitting the motion information to the displacement transmitter 8;
the force transmitter 9 and the displacement transmitter 8 respectively perform digital-to-analog conversion (i.e., convert analog signals into digital signals) on the received auxiliary force information and the received motion information, and then send the converted digital signals of the auxiliary force information and the motion information to the MCU2;
the MCU2 is arranged at the top of the horizontal part of the U-shaped frame of the whole framework of the robot body, the MCU2 with a Cortex-M7 as an inner core is adopted, the main frequency 400MHz and the MCU2 are used for forming the received digital signals of the auxiliary force information and the motion information into rehabilitation training data (namely rehabilitation daily information in the figure), and the rehabilitation training data are sent to a rehabilitation robot client computer through a communication module to be displayed; the rehabilitation robot client computer simultaneously sends the rehabilitation training data to a doctor server computer through a computer network, feeds the rehabilitation training data back to a professional doctor for checking, the professional doctor generates rehabilitation parameters (namely rehabilitation training tasks) according to the rehabilitation training data, the rehabilitation parameters comprise weight support adjusting parameters (namely training amplitude) of the robot body, movement time (namely training time) of the robot body and movement speed (namely training speed) of the robot body, the rehabilitation parameters are sent to the rehabilitation robot client computer through the computer network, the rehabilitation robot client computer generates task instructions according to the rehabilitation parameters and sends the task instructions to the MCU2 through a communication module, the MCU2 analyzes the task instructions to obtain adjusting parameters of a weight reducing driver 13 and a hub driver 11 of the robot body, and adjusts the weight reducing and the movement speed of the robot body according to the adjusting parameters to adapt to the weight reducing and the walking speed of a patient;
the 24V lithium battery is respectively used for supplying power to the MCU2, the force and position information sampling module 3, the displacement transducer, the force transducer, the communication module, the sound and light alarm unit and a weight reduction motor 12, a weight reduction driver 13, a hub motor 10 and a hub driver 11 (which are collectively called as power utilization parts) of the robot body after being subjected to wire splitting by the power source wire splitting unit;
the electric quantity/voltage detection display module is used for collecting the electric quantity and the voltage of the 24V lithium battery and sending signals of the detected electric quantity and the detected voltage to the MCU2; the MCU2 sends the electric quantity and the voltage signal to a rehabilitation robot client computer through a communication module for display; the rehabilitation robot client computer simultaneously sends the electric quantity and the voltage signal to a doctor server computer through a computer network, and feeds the electric quantity and the voltage signal back to a professional doctor for checking;
the power switch is arranged between the 24V lithium battery and the power utilization component and is used for controlling whether the 24V lithium battery supplies power to the power utilization component; the emergency stop button is arranged between the 24V lithium battery and the hub driver 11 and used for controlling whether the hub driver 11 is powered off or not;
the stroke limit switch 14 is arranged at the top of a linear slide rail of the robot body, when the traction arm moves downwards to pull the top of the spring set to rise, and the top of the spring set rises to the stroke limit switch 14, the stroke limit switch 14 is triggered, the stroke limit switch 14 sends a trigger signal to the MCU2, and after receiving the trigger signal, the MCU2 controls the weight reduction motor 12 to stop working through the weight reduction driver 13, so that excessive weight reduction on a patient is prevented;
the acousto-optic alarm unit is arranged at the top of the horizontal part of the U-shaped frame of the whole frame of the robot body, when a patient falls down carelessly, the auxiliary force information acquired by the force sensor 6 changes suddenly, after the MCU2 detects that the auxiliary force information changes suddenly, the acousto-optic alarm unit is controlled to give an acousto-optic alarm, and meanwhile, the hub motor 10 is controlled to stop working through the hub driver 11, and the weight reduction motor 12 is controlled to stop working through the weight reduction driver 13.
The visual information acquisition module is used for acquiring audio and video data of the robot body and the patient and sending the audio and video data to the rehabilitation robot client computer, and the rehabilitation robot client computer sends the audio and video data to the doctor server computer through a computer network so as to be checked by a professional doctor.
The body panel man-machine interaction input module adopts a remote controller with a display screen, and the MCU2 can also transmit the rehabilitation training data (namely the rehabilitation daily information in the diagram) to the remote controller for displaying; the patient or family members of the patient hold the remote controller by hand, set up the rehabilitation parameter according to the rehabilitation training data displayed by the remote controller, and send the rehabilitation parameter to the rehabilitation robot client computer through wireless transmission, the rehabilitation robot client computer generates a task instruction according to the rehabilitation parameter, and sends the task instruction to the MCU2 through the communication module, the MCU2 analyzes the task instruction to obtain the adjustment parameters of the weight reduction driver 13 and the hub driver 11 of the robot body, and adjusts the weight reduction and the movement speed of the robot body according to the adjustment parameters to adapt to the weight reduction and the walking speed of the patient.
Referring to fig. 5, the work flow of the robot training system is as follows: a professional doctor formulates a rehabilitation scheme aiming at the lower limb clinical condition of a patient, and remotely sets rehabilitation parameters of the robot body, such as weight support values, rehabilitation training time, robot movement speed and the like, through a doctor server computer; the specific numerical value of the weight support is transmitted and fed back to a computer at a doctor server end through a network by a force sensor 6, so that a professional doctor can notice the change of the weight loss value in real time and make proper adjustment according to the lower limb strength of a patient; the patient is in the recovered process of motion, patient's low limbs strength change data and health motion state data can be gathered to the force transducer 6 and the displacement sensor 7 of robot body to with data transmission to MCU2 to handle, and show at recovered robot client computer and doctor server end computer interface, the doctor carries out the analysis to patient's recovered data through doctor server end computer, the recovered effect of patient can be evaluateed to data in view of the above, and make a new round of recovered scheme for the patient.
In the interaction between the weight support unit 5 and the control module, data bidirectional communication is established between the RS-422 and the MCU2; the weight support adjusting parameters are set by operating a remote controller or a doctor server computer, real-time values of the force sensors 6 are sent to the MCU2 through an A/D module for processing, and are displayed on a display screen of the remote controller or the doctor server computer through serial port communication, professional doctors know specific values of the current weight support adjusting parameters, CAN make proper fine adjustment on the weight support adjusting parameters by using the doctor server computer according to the comfort requirement of a patient, or the MCU2 receives instructions sent by the remote controller and sends instructions to the two weight losing drivers 13 through a CAN1 bus, and the two weight losing motors 12 realize weight support for the patient and adjust the balance of the body of the patient according to the instructions; auxiliary force information acquired by the force sensor 6 needs to be sent to the MCU2 through the A/D module; if the data (i.e. the auxiliary force information) fed back by the force sensor 6 is close to the set value and fluctuates in a small range around the set value, the lower limb strength recovery of the patient is better; if the data fed back by the force sensor 6 is always far away from the set value and is in a larger fluctuation range, the situation that the strength of the lower limb of the patient is insufficient is indicated, or the body balance is required to be maintained by the weight support unit 5, the data fed back by the force sensor 6 can help a doctor to know the recovery condition of the strength of the lower limb of the patient.
In the human-computer interaction process, the motion mode of the lower limb rehabilitation robot is divided into: the robot comprises a manual mode and an automatic mode, wherein in the manual mode, the motion of a robot body is realized by a patient or a family member of the patient operating a control rod on a remote controller, and two hub drivers 11 receive a control instruction sent by the remote controller through a CAN2 bus; after the body balance and the lower limb strength of the patient are recovered, the lower limb rehabilitation robot can be adjusted into an automatic mode to assist the patient in exercise rehabilitation; in an automatic mode, the robot body detects the change of the motion posture of the patient through the displacement sensor 7 and sends the motion information of the patient to the MCU2 through the transmitter and the RS-485; the MCU2 sends motion instructions to the two hub drivers 11 through the CAN2 bus to control the robot body to make corresponding motion postures along with the patient; the patient realizes the autonomous control of the robot body, and the effects of cooperative motion and active motion of the robot body and the patient are achieved; and secondly, displaying the electric quantity of the robot body through a linear optical coupler for isolating 24V, outputting a signal of 0-5V, and finally completing conversion through the chip with an A/D. The rest parts such as the limit switch and the audible and visual alarm are used together with the MCU2 through the I/O interface to realize the feedback of various information of the robot body.
When the doctor server computer interacts with the rehabilitation robot client computer through a computer network, the doctor server computer can communicate with the rehabilitation robot computer, monitor the data change of the equipment in real time and read the rehabilitation training data of a local database; a professional physician can evaluate the illness state of the patient and formulate a rehabilitation scheme according to the rehabilitation record of the patient in the database, and make appropriate modification on a patient rehabilitation training plan; a professional doctor adjusts the rehabilitation parameters of the lower limb rehabilitation robot through a doctor server computer, a new rehabilitation training scheme is formulated, and the lower limb rehabilitation robot carries out rehabilitation auxiliary treatment on a patient in a new stage based on the new rehabilitation training scheme; the rehabilitation robot client computer and the doctor server computer realize rehabilitation data sharing through a network, and the sharing data comprises personal information of a patient and auxiliary rehabilitation parameters of the lower limb rehabilitation robot.
Operating software for realizing remote control is installed on a doctor server computer and a rehabilitation robot client computer, an LABVIEW software design is adopted for a human-computer interaction interface of the operating software, and referring to the attached figure 6, interface information of the human-computer interaction interface comprises the running state and various rehabilitation parameters of the lower limb rehabilitation robot, personal data of a patient, remote real-time video images, and a motion data change curve and a database in the rehabilitation process of the patient; the communication module establishes data connection between a rehabilitation robot client computer and the MCU2 of the lower limb rehabilitation robot, and wireless data transmission is realized through the WIFI module of the MCU2; the rehabilitation training data has higher requirements on data integrity and safety; secondly, audio and video data acquired by the visual information acquisition module are used as auxiliary monitoring data, and the requirement on call fluency is high; the doctor server computer adopts a TCP protocol to take the operating software as a client in the protocol; the computer network adopts Socket technology to transmit the rehabilitation training data of the rehabilitation robot client computer to the doctor server computer, so as to realize remote transmission; the visual information acquisition module transmits the patient training picture of the rehabilitation robot end to the rehabilitation robot client computer by adopting the IP Camera and finally transmits the patient training picture to the doctor server computer, and a professional doctor can remotely observe the rehabilitation process of the patient on the rehabilitation training site. The IP Camera is a Camera combining the traditional Camera and the network technology, transmits a video picture to a rehabilitation robot client computer through a network, and finally transmits the video picture to a doctor server computer, and a professional doctor supervises the on-site rehabilitation training through operating software.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A robotic training system for remote rehabilitation, comprising: a doctor server computer, a rehabilitation robot client computer, a lower limb rehabilitation robot and a computer network;
the doctor server computer is positioned in a hospital or a rehabilitation center, and the rehabilitation robot client computer and the lower limb rehabilitation robot are positioned in the patient home or the patient community;
a professional doctor sets a rehabilitation training task on a doctor server computer according to rehabilitation training data of a patient, and the rehabilitation training task is remotely distributed to a rehabilitation robot client computer through a computer network;
the rehabilitation robot client computer is used for receiving the rehabilitation training task, analyzing the rehabilitation training task, and setting various parameters of the lower limb rehabilitation robot so as to realize the motion control of the lower limb rehabilitation robot; the system is also used for feeding back the rehabilitation training data of the patient to a computer at a doctor server end for real-time display;
the lower limb rehabilitation robot is used for performing rehabilitation training on a patient under the control of the rehabilitation robot client computer and feeding the rehabilitation training data back to the rehabilitation robot client computer.
2. A robotic training system for rehabilitation from the remote of claim 1 wherein said lower extremity rehabilitation robot comprises: the robot comprises a robot body and a control module;
the robot body includes: the device comprises an integral frame, two motion units and two weight supporting units;
the integral frame comprises a U-shaped frame and two parallel movable bases; two ends of the inverted U-shaped frame are fixed on the two bases; the front side surfaces of the two vertical parts of the U-shaped frame are respectively provided with a guide rail along the vertical direction and a slide block A in sliding fit with the guide rail, and the outer side surfaces of the two vertical parts of the U-shaped frame are respectively provided with a linear slide rail along the vertical direction and a slide block B in sliding fit with the linear slide rail;
the two motion units are respectively and symmetrically arranged on the two bases, and each motion unit comprises a driving wheel, a hub motor and a hub driver; the driving wheel is arranged in the middle of the base and supported on the ground, the hub motor is arranged on the base, an output shaft of the hub motor is correspondingly and coaxially connected with the driving wheel, the hub driver is electrically connected with the hub motor, and the hub driver is used for driving the output shaft of the hub motor to rotate;
the two weight support units are respectively and symmetrically arranged on two vertical parts of the U-shaped frame, and each weight support unit comprises a weight reduction motor, a weight reduction driver, a speed reducer, a spring group, a traction rope, a traction arm, two guide wheels A and two guide wheels B; the traction arm is of an L-shaped structure, the vertical part of the traction arm is fixed on a sliding block A of the integral frame, and the horizontal part of the traction arm is parallel to a base of the integral frame; the two guide wheels A are fixed at the top of the vertical part of the U-shaped frame; the weight reducing motor, the weight reducing driver and the speed reducer are all fixed at the bottom of the vertical portion of the U-shaped frame, the weight reducing driver is electrically connected with the weight reducing motor, the weight reducing driver is used for driving an output shaft of the weight reducing motor to rotate, an output shaft of the weight reducing motor is connected with an input shaft of the speed reducer, and a winder is fixed on the output shaft of the speed reducer; the spring group is positioned between the guide wheel A and the speed reducer, the bottom of the spring group is fixed on the vertical part of the U-shaped frame, the top of the spring group is fixedly connected with the sliding block B, and the top of the spring group is provided with two guide wheels B; one end of the traction rope is wound on the winder, the other end of the traction rope winds one guide wheel A upwards and then winds two guide wheels B at the top of the spring group downwards in sequence, and then the other end of the traction rope winds the other guide wheel A upwards again and then is connected with the traction arm downwards again;
a traction garment is connected between the two traction arms of the two weight supporting units, and when a patient carries out rehabilitation training, the patient is positioned between the two bases of the integral frame and wears the traction garment;
the control module is used for controlling the rotation of the hub motor through the hub driver and controlling the rotation of the weight reducing motor through the weight reducing driver.
3. A robotic training system for tele-rehabilitation according to claim 2, wherein the control module comprises: the system comprises an MCU, a force and position information sampling module, a displacement transmitter, a force transmitter, a communication module and a lithium battery;
the force and position information sampling module comprises a force sensor and a displacement sensor, wherein the force sensor is used for collecting auxiliary force information, namely weight support adjustment parameters, provided by the weight support unit for the patient and transmitting the auxiliary force information to the force transmitter; the displacement sensor is used for acquiring motion information of a patient under the assistance of the lower limb rehabilitation robot and transmitting the motion information to the displacement transmitter;
the force transmitter and the displacement transmitter respectively perform digital-to-analog conversion on the received auxiliary force information and the received motion information, and then send digital signals of the auxiliary force information and the motion information obtained after conversion to the MCU;
the MCU is used for forming the received digital signals of the auxiliary force information and the motion information into rehabilitation training data and sending the rehabilitation training data to the rehabilitation robot client computer through the communication module for displaying; the rehabilitation robot comprises a rehabilitation robot client computer, a professional doctor, a rehabilitation robot server computer, a computer network and a computer, wherein the rehabilitation training data are simultaneously sent to the doctor server computer through the computer network, the professional doctor generates rehabilitation parameters according to the rehabilitation training data, the rehabilitation parameters comprise weight support adjusting parameters of a robot body, motion time of the robot body and motion speed of the robot body, the rehabilitation parameters are sent to the rehabilitation robot client computer through the computer network, the rehabilitation robot client computer generates a task instruction according to the rehabilitation parameters, the task instruction is sent to an MCU through a communication module, the MCU analyzes the task instruction to obtain adjusting parameters of a weight reduction driver and a hub driver of the robot body, and the weight reduction and the motion speed of the robot body are adjusted according to the parameter;
the lithium battery is used for supplying power to the MCU, the force and position information sampling module, the transmitter, the communication module and the weight reduction motor, the weight reduction driver, the hub motor and the hub driver of the robot body.
4. A robotic training system for rehabilitation from remote locations as claimed in claim 3 wherein said control module further comprises a charge/voltage detection display module;
the electric quantity/voltage detection display module is used for collecting the electric quantity and the voltage of the lithium battery and sending signals of the detected electric quantity and the detected voltage to the MCU; the MCU sends the electric quantity and the voltage signal to a rehabilitation robot client computer through a communication module for display; the rehabilitation robot client computer simultaneously sends the electric quantity and the voltage signal to the doctor server computer through a computer network.
5. A robotic training system for rehabilitation from remote locations as claimed in claim 3 wherein said control module further comprises a power splitter unit, a power switch and an emergency stop button;
the lithium batteries are respectively used for supplying power to power utilization components after being branched by the power supply branching unit; the power switch is arranged between the lithium battery and the power utilization component and used for controlling whether the lithium battery supplies power to the power utilization component; the emergency stop button is arranged between the lithium battery and the hub driver and used for controlling whether the hub driver is powered off or not.
6. A robotic training system for rehabilitation as claimed in claim 3, characterized in that said control module further comprises an audible and visual alarm unit;
when the patient carelessly falls down, the auxiliary force information acquired by the force sensor changes suddenly, the MCU controls the acousto-optic alarm unit to give an acousto-optic alarm after detecting that the auxiliary force information changes suddenly, and simultaneously controls the hub motor to stop working through the hub driver and controls the weight reduction motor to stop working through the weight reduction driver.
7. A robotic training system for rehabilitation from remote locations as set forth in claim 3 wherein said control module further comprises a travel limit switch;
the travel limit switch is arranged at the top of the linear slide rail of the robot body, when the traction arm moves downwards to pull the top of the spring group to rise and the top of the spring group rises to the travel limit switch, the travel limit switch is triggered, the travel limit switch sends a trigger signal to the MCU, and the MCU controls the weight reduction motor to stop working through the weight reduction driver after receiving the trigger signal.
8. The robotic training system for remote rehabilitation according to any one of claims 1-7, wherein the lower limb rehabilitation robot further comprises a visual information acquisition module;
the visual information acquisition module is used for acquiring the audio and video data of the robot body and the patient and sending the audio and video data to the rehabilitation robot client computer, and the rehabilitation robot client computer sends the audio and video data to the doctor server computer through a computer network.
9. A robotic training system for rehabilitation from remote locations as claimed in any one of claims 1 to 7 wherein the lower extremity rehabilitation robot further includes a body panel human machine interaction input module;
the body panel human-computer interaction input module adopts a remote controller with a display screen, and the MCU can also send the rehabilitation training data to the remote controller for display; the patient or family members of the patient hold the remote controller by hand, set up the rehabilitation parameter according to the rehabilitation training data displayed by the remote controller, and send the rehabilitation parameter to the rehabilitation robot client computer in a wireless transmission manner, the rehabilitation robot client computer generates a task instruction according to the rehabilitation parameter, and sends the task instruction to the MCU through the communication module, the MCU analyzes the task instruction to obtain the adjustment parameters of the weight reduction driver and the hub driver of the robot body, and adjusts the weight reduction and the movement speed of the robot body according to the parameter adjustment.
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