CN115227551A

CN115227551A - Self-adaptive lower limb spasm mode comprehensive rehabilitation device

Info

Publication number: CN115227551A
Application number: CN202210958182.8A
Authority: CN
Inventors: 刘海杰; 韩博; 吕晓东; 陈腾
Original assignee: Beijing Geriatrics Medical Research Center; Xuanwu Hospital
Current assignee: Beijing Geriatrics Medical Research Center; Xuanwu Hospital
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2022-10-25
Anticipated expiration: 2042-08-10
Also published as: CN115227551B

Abstract

The invention relates to a self-adaptive lower limb spasm mode comprehensive rehabilitation device, which at least comprises: a shank support plate; a sole support plate; the traction motor is characterized in that the lower leg supporting plate and the sole supporting plate are connected in a non-completely stable mode, so that the sole supporting plate can drive the feet of the user to move towards the direction close to or far away from the lower leg supporting plate to achieve rehabilitation training of the feet under the condition of driving the traction motor, and the clonus performance of the user can be amplified when the user suffers from the clonus of the ankle so that the clonus performance can be observed in time.

Description

Self-adaptive lower limb spasm mode comprehensive rehabilitation device

Technical Field

The invention relates to the technical field of medical instruments, in particular to a self-adaptive comprehensive rehabilitation device for a lower limb spasm mode.

Background

Stroke (Stroke), also known as cerebrovascular accident (cerebravicular accident), refers to a clinical syndrome of localized brain dysfunction caused by cerebrovascular disease that occurs suddenly and lasts for more than 24 hours or causes death. The second most common disease in China is the disease with the highest disability rate in China, and about 80% of stroke patients cannot return to the society again because of the influence of dyskinesia on daily life. The most serious of these movement disorders is pathological spasm of muscles of lower limbs, which is caused by neuronal damage and clinically shows symptoms related to myotonic contraction, clonus and cramp. The lower limb muscle spasm seriously affects the motor function and life of the patient, and the appearance of the rehabilitation device enables the patient to be capable of recovering the motor function of the lower limb from passive auxiliary walking training, thereby playing an important role in the motor function of the lower limb of the patient.

For example, patent document CN110575303A in the prior art proposes a rehabilitation device for preventing and treating lower limb spasm by combining multiple kinds of exercise therapy, which is used in a state of reference to fig. 3, and which mainly includes a lower leg supporter for supporting a lower leg of a patient and a foot supporter for supporting a foot of the patient, connected to each other, and a reclining mechanism connected to the lower leg supporter and the foot supporter, respectively, and having a freedom of movement in multiple directions by a plurality of driving motors, whereby rehabilitation exercises including eversion, plantarflexion, inversion, and dorsiflexion can be provided to the patient using the device. The device is also provided with mechanisms for implementing myoelectric stimulation and thermal therapy respectively, and medical care can select any treatment means or combine the treatment means according to the actual condition of a patient to realize synergistic effect.

However, in the actual rehabilitation training process, especially in some stretching postures, the condition of clonus, excessive resistance and the like of the patient are still easily caused, and for this reason, the above patent sets up the instrument movement program according to the rehabilitation medicine theory by means of the force sensor, controls the parameters of the movement speed, angle, force and the like of the sole supporting plate, and sets the rotation torque protection threshold value, and if the clonus, excessive resistance and the like occur, the stretching is stopped by braking at any time, however, the technical scheme has at least the following problems:

on one hand, the number of the drafting postures is large, the amplitude or strength requirements under different drafting postures are different, only a protection threshold value of a set force sensor is preset, and when the strength reaches the protection threshold value, early warning is triggered, and the spasm is considered to occur;

on the other hand, the force sensor is very sensitive to the detection of the trigger protection threshold, once the protection threshold is triggered, whether the clonus occurs in the affected limb or the unexpected pressure is caused on the sole supporting plate due to the active foot traction of the patient, the clonus is generally regarded as occurring, the rehabilitation training process is interrupted, and the real clonus condition is easily ignored by the doctor due to the fact that the real and false mixed alarm is caused for a long time, once the passive traction is continued in the clonus state, the spasm of the lower limb of the patient is strengthened, the muscle and ligament of the patient are overloaded and damaged, and the secondary damage is brought to the patient, even the medical accident is caused.

In summary, lower limb rehabilitation products commonly sold in the market occupy a large space and are expensive, and medical care is strictly required to accompany one by one, so that part of patients with lower limb disorders face higher rehabilitation training cost, and accordingly, the nursing task of the medical care end is heavy and the working efficiency is low.

Furthermore, on the one hand, due to the differences in understanding to those skilled in the art; on the other hand, since the applicant has studied a great deal of literature and patents when making the present invention, but the disclosure is not limited thereto and the details and contents thereof are not listed in detail, it is by no means the present invention has these prior art features, but the present invention has all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

The lower limb rehabilitation products sold frequently on the market at present occupy a large space, the cost is high, and the strict requirement is met one-to-one nursing, part of patients with lower limb disorders face higher rehabilitation training cost, correspondingly, the nursing task at the nursing end is heavy, the working efficiency is low, the prior art provides the technical scheme that the occupation space for comprehensively preventing and treating spasm by adopting various treatment means is small and the nursing burden can be reduced, but the practical application of the technical scheme still has great application limitation and hidden danger in use:

on the other hand, the force sensor is very sensitive to the detection of the trigger protection threshold, once the protection threshold is triggered, the affected limb is considered to have the clonus regardless of the clonus of the affected limb or the unexpected pressure on the sole supporting plate caused by the active foot traction of the patient, so that the rehabilitation training process is interrupted, the physician easily ignores the true clonus condition due to the fact that the false and false mixed alarm is given for a long time, once the passive traction is continued in the clonus state, the spasm of the lower limb of the patient is strengthened, the muscle and ligament of the patient can be overloaded and damaged, and the secondary injury is brought to the patient, even the medical accident is brought.

In view of the above, the present invention provides a self-adaptive lower limb spasm mode comprehensive rehabilitation device, which at least comprises: a shank support plate; a sole support plate; the traction motor is characterized in that the lower leg supporting plate and the sole supporting plate are connected in a non-completely stable manner, so that the sole supporting plate can drive the feet of the user to move towards a direction close to or far away from the lower leg supporting plate to realize rehabilitation training of the feet under the condition of driving the traction motor, and the clonic expression of the user can be amplified when the user has the clonic ankle so as to be observed in time.

This application makes this device can avoid simultaneously because the application limitation and the use hidden danger that force sensor brought under the advantage that the reservation equipment occupation space is little and can alleviate the nursing burden through carrying out ingenious innovation to current structure, when using this device, utilize the device itself just can give the doctor with the clonus condition that the patient appears very first time feedback, the safety in utilization is high, and the doctor need not whole journey one-to-one accompany and can reach effectual accompany and attend to the effect, alleviate its nursing burden, in time take nursing measure to patient's clonus, this feedback can accurately reflect patient's clonus condition and need not through sensor acquisition, data transmission, complicated data processing such as data analysis and audible-visual alarm, this setting can not lead to the false alarm to the unexpected pressure that causes the sole layer board to the foot draft of patient initiatively, the doctor can in time take measures to the condition that really appears the clonus to the confidence degree that uses this device, avoided because of triggering the selection of protection threshold value and the high sensitive detection of force sensor and the frequent alarm that leads to the fact. For the patient, the equipment occupies a small space and can reduce the adoption of the high-precision sensor, the rehabilitation training cost of the patient can be effectively reduced, meanwhile, the device is high in use safety and reliability, and the potential safety hazard problem of secondary injury and even medical accidents caused to the affected limb can be effectively avoided.

According to a preferred embodiment, the lower limb spasm mode comprehensive rehabilitation device further comprises an electric signal acquisition component, wherein the electric signal acquisition component is configured to acquire an electric signal converted from mechanical energy based on the induced relative vibration of the sole supporting plate which is in a non-completely stable connection relation with the lower leg supporting plate when the user generates the ankle clonus, so as to sense the ankle clonus data related to the user.

According to a preferred embodiment, the sole splint can have at least two vibration directions passively when the user has ankle clonus due to the imperfect stable connection relationship between the sole splint and the lower leg splint.

According to a preferred embodiment, the sole splint can respectively amplify the clonus expression of the user to be observed based on the non-completely stable connection relationship between the user and the lower leg splint to be distinguished from different vibration directions when the user has the clonus of the ankle.

According to a preferred embodiment, the electric signal acquisition assembly can acquire the electric energy required by the electric signal acquisition by using an external operation. The electric signal acquisition component can at least utilize external operation limited by relative vibration of the sole supporting plate which is in incomplete stable connection with the crus supporting plate in the process that the user uses the lower limb spasm mode comprehensive rehabilitation device, wherein the relative vibration is caused by the fact that the user generates ankle clonus, and the mechanical energy of the external operation is converted into electric energy to acquire the electric energy required by the electric signal acquisition component to acquire the electric signal.

According to a preferred embodiment, the sole support plate is connected with the lower leg support plate through the fixing plate, and when the main force action position exerted on the sole support plate by the foot of a user is changed, the sole support plate can rotate relative to the fixing plate so that an attendant can observe the sole support plate.

According to a preferred embodiment, a pressure sensor is arranged on the sole supporting plate or the fixing plate, and the pressure sensor is used for detecting the abutting relation between the sole supporting plate and the fixing plate.

According to a preferred embodiment, the fixing plate comprises an upper plate body and a lower plate body which are rotatably connected with each other through a driving mechanism, and the foot of the patient can be driven to turn inwards or outwards relative to the lower leg supporting plate through regulating the driving mechanism.

According to a preferred embodiment, the lower limb spasm pattern integrated rehabilitation device further comprises a muscle electrical stimulation means for selectively connecting the electrode circuit to electrically stimulate the anterior muscle group of the lower leg when performing mechanical ankle dorsiflexion stretching.

According to a preferred embodiment, the lower limb spasm pattern integrated rehabilitation device further comprises a multi-layer structure for thermal treatment and an overall controller connected to each other, the overall controller being configured to: monitoring the temperature of the corresponding treatment position by a temperature sensor arranged in the multilayer structure for thermal therapy; when the temperature is detected to exceed a first preset temperature threshold value, power-off protection is carried out; and when the temperature is detected to be lower than a second preset temperature threshold value, electrifying for heating.

Drawings

FIG. 1 is a schematic view of a simplified structural connection between a calf support plate and a sole support plate provided by the present invention;

FIG. 2 is a simplified structural connection diagram of a preferred linkage mechanism provided by the present invention;

FIG. 3 is a simplified schematic illustration of a prior art patient in use with the device for lower limb rehabilitation training;

FIG. 4 is a simplified schematic structural diagram of a preferred linkage mechanism of the present invention before the second rod and the third rod are unmatched;

FIG. 5 is a simplified schematic structural diagram of a preferred linkage mechanism of the present invention before the third rod and the fourth rod are unmatched;

FIG. 6 is a simplified structural schematic of a preferred linkage mechanism of the present invention before the first rod and the second rod are unmatched;

fig. 7 is a simplified structural schematic diagram of the opposite pole block in the preferred linkage mechanism provided by the present invention.

List of reference numerals

1: shank support plate 2: sole supporting plate 3: drawing motor

4: the electric signal acquisition assembly 5: fixing a plate 6: driven plate

7: the linkage mechanism 8: a foot part 9: the fifth rod body

10: first rod 11: second rod 12: the third rod body

13: fourth rod 14: lower side plate 15: special-shaped block

16: middle column

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

As shown in figure 1, the application provides a recovery device is synthesized to lower limbs spasm mode of self-adaptation, mainly include shank layer board 1 and sole layer board 2, the device can be placed and use for the bed patient on the bed body, lift the shank of patient during the use and put on shank layer board 1, make patient's foot 8 support and lean on sole layer board 2, can order about shank layer board 1 and sole layer board 2 through actuating mechanism and the relative position relation between the bed body changes separately, and then realize the lower limbs rehabilitation training to the bed patient.

The lower leg supporting plate 1 is connected with the sole supporting plate 2 in an incomplete stable mode. The above-mentioned non-fully stable connection is mainly compared to the fully stable connection proposed in the prior art, for example in the patent document with publication number CN110575303A, in which: the tail end of shank layer board 1 is rotated with the bottom of sole layer board 2 and is connected, link to each other through draft motor 3 between shank layer board 1 and the sole layer board 2, relative position between shank layer board 1 and the sole layer board 2 is decided by the flexible condition of draft motor 3 completely, patient's shank and foot 8 can only change according to the flexible of draft motor 3 promptly, if the ankle clonus appears in the patient, then the ankle clonus condition will be restricted by draft motor 3 and can't show, at this moment, the observer or accompanying person can't learn the ankle clonus condition immediately and continue the rehabilitation training, will increase patient pain. Although the existing technical proposal proposes to adopt a pressure sensor and the like to detect whether the ankle clonus occurs, the operation of the drafting motor 3 in the rehabilitation training process cannot accurately distinguish whether the pressure change is caused by the occurrence of the ankle clonus or the operation of the drafting motor 3, and the data processing amount is numerous and complicated and the accuracy is low. In this respect, the non-completely stable connection proposed in the present application means that the relative position between the lower leg and the foot 8 of the patient is not completely determined by the stretching and retracting conditions of the stretching motor 3. Under this setting, sole layer board 2 can enlarge its clonus performance when the user takes place ankle clonus to the condition that makes the user appear ankle clonus can in time be observed by accompanying person.

The device still includes the draft motor 3, and the both ends of draft motor 3 link with shank layer board 1 and sole layer board 2 respectively, and wherein, the direct rotation of one end of draft motor 3 is connected on shank layer board 1, and its other end is connected to on the sole layer board 2 indirectly. When the traction motor 3 is operated, the sole supporting plate 2 can be driven to move towards the direction close to the calf supporting plate 1, and the plantar flexion of a patient is assisted; when the traction motor 3 operates, the sole supporting plate 2 can be driven to move towards the direction far away from the calf supporting plate 1, and the patient can be assisted to carry out back extension.

The sole supporting plate 2 is connected with the lower leg supporting plate 1 through a fixing plate 5. The sole layer board 2 assembles on fixed plate 5, and fixed plate 5 is for standing the state and its vertical bottom is rotated and is connected on shank layer board 1. The sole supporting plate 2 is of a bending structure, and the bending inflection point of the sole supporting plate is located on a plate body on the side, close to the calcaneus of the foot 8, of the sole supporting plate. The plate body on the sole supporting plate 2 at the bending inflection point is rotationally connected to the fixing plate 5. The degree of buckling of sole splint 2 does not excessively influence the user and places foot 8, but when the main force action position that user's foot 8 applyed to sole splint 2 changed, sole splint 2 can rotate relative to fixed plate 5 to the turned angle is enough to be observed by accompanying person. Preferably, the rotation angle of the sole supporting plate 2 relative to the fixing plate 5 can be 0-15 °.

The sole plate 2 comprises a first upper side plate adjacent to the phalanges of the user's foot 8 and a first lower side plate adjacent to the calcaneus of the user's foot 8.

Preferably, in use, when currently in a first draft angle exceeding 90 ° + β, i.e. in plantarflexion, the position of the main force applied by the user's foot 8 on the plantar fascia 2 changes, gradually shifting to a position on its plate body near the calcaneus of the user's foot 8, i.e. the first lower plate. The first lower side plate is subjected to a greater pressure closer to the fixed plate 5, while the first upper side plate is relatively far from the fixed plate 5. I.e. there is a clearance space between the portion of the user's toe corresponding to the phalanges and the fixed plate 5. In this plantar flexion position, the patient is prone to plantar flexion spasm or ankle clonus, i.e. the degree of plantar flexion of the patient's foot 8 tends to be increased, the ankle is actively plantar flexed, and based on the relative posture of the sole support plate 2, the sole support plate 2 is not completely stabilized on the fixing plate 5, and the toe portion of the patient can push the sole support plate 2 to move forward based on the gap space. When the ankle clonus occurs, muscles or muscle groups actively, rapidly and repeatedly contract, so that the two ends of the sole supporting plate 2 tilt back and forth relative to the fixed plate 5, and the shaking of the feet 8 of the patient can be obviously observed under the observation angle of an attendant.

Preferably, in the case of the second draft angle currently being lower than 90 ° - α, i.e. in dorsal extension, the position of the main force exerted by the user's foot 8 on the plantar fascia 2 changes, gradually shifting to a position on its plate body close to the phalanges of the user's foot 8, i.e. the first superior plate. The first upper side plate is subjected to a greater pressure closer to the fixed plate 5, while the first lower side plate is relatively far from the fixed plate 5. I.e. there is a clearance space between the heel portion of the user's calcaneus bone corresponding to the fixation plate 5. If the patient appears ankle clonus under this back stretching posture, the degree that patient's foot 8 tends to the initiative reinforcing back stretching promptly, the ankle produces the initiative ankle back stretching, based on this moment as above-mentioned sole layer board 2's relative posture, patient's foot 8 does not stabilize completely on fixed plate 5 this moment, and patient's heel part can promote the first curb plate of sole layer board 2 and move forward based on above-mentioned clearance space. When the ankle clonus occurs, muscles or muscle groups actively, rapidly and repeatedly contract, so that the two ends of the sole supporting plate 2 tilt back and forth relative to the fixed plate 5, and the shaking of the feet 8 of the patient can be obviously observed under the observation angle of an attendant.

The sole supporting plate 2 or the fixing plate 5 can be provided with a pressure sensor, and the pressure sensor is used for detecting the abutting relation between the sole supporting plate 2 and the fixing plate 5.

Preferably, in the case of a third draft angle currently between 90 ° + β and 90 ° - α, i.e. with the foot 8 inclined to an upright position, the third draft angle is also typically some angle at which the patient is better able to control the movement of his foot 8. Based on this, when the draft angle is the third draft angle, the force applied by the foot 8 of the patient to the first lower side plate is not so strong, and the accompanying person can adjust the draft angle of the fixing plate 5 to a certain draft angle, so that the patient actively performs a smaller degree of dorsal extension or plantar flexion until the sole supporting plate 2 abuts against the fixing plate 5, so that the posture of the foot 8 meets the rehabilitation training requirement. Since the patient is not always able to maintain the desired posture of the foot 8 during rehabilitation training, i.e. the foot 8 may be out of abutment with the sole plate 2 and the fixed plate 5, in this case, the attendant can be visually observed from the abutment between the sole plate 2 and the fixed plate 5, or from the pressure sensor data displayed on his user device. Based on this, the accompanying person can obtain different foot 8 abilities of the patient under different training conditions, and judgment basis is provided for the analysis of the muscle control ability of the accompanying person in each direction of the foot 8 of the patient.

Under the condition of driving the drafting motor 3, the sole supporting plate 2 not only can bring the feet 8 of the user to move towards the direction close to or far away from the lower leg supporting plate 1 so as to realize the rehabilitation training of the feet 8, but also can amplify the clonus expression of the ankle when the user generates the clonus of the ankle so as to be observed in time.

This recovered device is synthesized to low limbs spasm mode still includes signal of telecommunication collection subassembly 4, and when the user takes place the ankle clonus, based on external operation, signal of telecommunication collection subassembly 4 can gather the signal of telecommunication to this perception user's relevant ankle clonus data. The external operation may refer to: induced relative vibration of the plantar cradle 2 in an incompletely stabilized connection with the calf cradle 1. The electrical signal is converted from the mechanical energy generated by the relative vibration. Preferably, the electrical signal acquisition may also not be completely dependent on the electrical energy provided by the external operation.

The electric signal acquisition component 4 can be a wireless passive switch type structure, the wireless passive switch type structure converts the collected micro energy (such as mechanical energy, optical energy and temperature difference) existing in the nature into electric energy to be supplied to the wireless communication module, and the wireless communication module sends a signal to target equipment with a signal receiver, so that the target equipment is controlled to be switched on and off. In the application, the wireless passive switch converts the collected mechanical energy generated by relative vibration into electric energy to be supplied to the wireless communication module, and the wireless communication module sends a signal to target equipment (user equipment operated by accompanying personnel) with a signal receiver, so that the target equipment collects the relative vibration condition. Not only is beneficial to saving electricity consumption, but also achieves the purpose of collecting electric signals.

Preferably, the sole splint 2 is able to have at least two passive vibrations in the vibration direction when the user has ankle clonus based on its incompletely stable connection relationship with the calf splint 1. Because ankle clonus is not single shake about or the preceding back shake that appears that muscle is stretched out and drawn back fast, consequently if the heterodynia that only unidirectional demonstration ankle clonus arouses will can't completely reflect the ankle clonus condition, based on this, in the device that provides in this application, sole layer board 2 has two at least passive vibrations in the vibration direction when the user takes place ankle clonus to this can feed back the true heterodynia condition of ankle clonus basically. The true dyskinesia condition mentioned here does not reflect the ankle clonus exactly in equal proportion, but rather approximately reflects whether and the dimension of occurrence of the ankle clonus in a relatively small proportion.

The sole splint 2 can respectively amplify the clonus expression of the user to be observed in a direction different from different vibration directions based on the incompletely stable connection relationship between the user and the lower leg splint 1 when the user develops the clonus of the ankle. The difference from different vibration directions means that passive vibration in the left and right vibration directions and the front and rear vibration directions are respectively expressed by different structures. In this regard, the accompanying person not only knows that the patient is suffering from the ankle clonus, but also can more clearly and definitely know the main dimension of the ankle clonus and the degree of the ankle clonus of the patient. In addition, the timely discovery of the ankle clonus can prevent the spasm of the lower limbs of the patient from being continuously and passively drawn and strengthened under the clonus state, and the muscle and ligament of the patient are overloaded and damaged.

The device also comprises a driven plate 6, wherein the driven plate 6 is arranged on the end surface of the fixed plate 5, which is far away from the sole supporting plate 2, and the driven plate 6 is connected with the fixed plate 5 in a non-completely stable manner. This non-perfectly stable connection relationship is further illustrated: the passive plate 6 is placed on the stationary plate 5 in a flat posture. The passive plate 6 is of a bent structure, and the bending inflection point of the passive plate is positioned on the plate body on the side close to the toe of the foot 8. Both ends of the driven plate 6 in this arrangement can alternately touch the stationary plate 5. The plate body on the driven plate 6 at the bending inflection point is rotatably connected to the fixed plate 5. The rotation axis between the driven plate 6 and the stationary plate 5 may be disposed parallel to the ground. The vertical bottom end of the driven plate 6 is movably connected to the sole supporting plate 2 through a linkage mechanism 7.

When the main force action position that user's foot 8 applyed to sole layer board 2 changes, sole layer board 2 can rotate relative fixed plate 5 to drive passive board 6 through link gear 7 in step and rotate, passive board 6 rotates relative fixed plate 5, and the turned angle is enough to be observed by accompanying and attending the personnel. Preferably, the angle of rotation formed by the passive plate 6 with respect to the fixed plate 5 may be 0 ° to 15 °.

Passive plate 6 includes a second upper side plate adjacent the phalanges of user's foot 8 and a second lower side plate 14 adjacent the calcaneus of user's foot 8.

As shown in fig. 2, the linkage mechanism 7 includes at least a first rod 10, a profile block 15, a second rod 11, a third rod 12, and a fourth rod 13 connected in sequence. The sole supporting plate 2 is rotationally connected to the fixed plate 5 through a rotating shaft. Two ends of the first rod 10 penetrate through the fixing plate 5 respectively, and the rod of the first rod 10 is rotatably connected to the fixing plate 5. One end of the first rod 10 is fixed to the rotating shaft, and is driven by the rotating shaft to rotate. The other end of the first lever 10 is rotatably connected to one end of the second lever 11.

As shown in fig. 4, one end of the second rod 11 is fixed to the middle column 16, and the second rod 11 is perpendicular to the middle column 16. The intermediate column 16 is provided with an intermediate column through hole along the axial direction thereof.

The first rod 10 is provided with a profile block 15. As shown in fig. 2 and 7, the special-shaped block 15 has a trapezoidal structure, i.e., the upper and lower bottom surfaces are coaxial but have different areas, and the special-shaped block 15 has two side end surfaces, which form an acute included angle between the two side end surfaces. Coaxial means that the vertical centerlines of the two end faces are the same. One end face of the shaped block 15 is fixed to the first rod 10 so as to be fixed to one end face of the first rod 10. A connecting shaft is fixed on the other side end face of the special-shaped block 15, and the axial direction of the connecting shaft is perpendicular to the side end face and is not parallel to the axial direction of the first rod body 10.

The middle column through hole of the middle column 16 is rotatably sleeved on the connecting shaft in a way that the axial direction of the through hole is parallel to the axial direction of the connecting shaft. One end face of the middle column 16 abuts against one side end face of the adjacent special-shaped block 15. In this arrangement, the central axis of the second rod 11 is perpendicular to the central axis of the center post 16, and the central axis of the center post 16 and the central axis of the first rod 10 are different from each other. Distinct from each other may mean neither parallel nor perpendicular to each other.

The other end of the second stick 11 and one end of the third stick 12 form a ball head structure as shown in fig. 5 and 6. The second rod 11 is freely rotatable at an angle with respect to the third rod 12. And the central axis direction of the third rod 12 and the central axis direction of the second rod 11 are different from each other.

The other end of the third rod 12 is pivotally connected to one end of the fourth rod 13 so that the third rod 12 has only a single degree of freedom.

The other end of the fourth link 13 is pivotally connected to a second lower side plate 14 of the driven plate 6.

The outer wall of the fixed plate 5 is further fixedly provided with a fifth rod 9, and the fifth rod 9 is used for supporting and limiting the moving direction of the fourth rod 13. The fourth rod 13 is connected to one end of the fifth rod 9 in a penetrating manner, and the fourth rod 13 can move back and forth relative to the fifth rod 9 along a direction perpendicular to the fifth rod 9.

When the ankle clonus type vola measuring instrument is used, the vola splint 2 is vibrated and rotated due to the fact that ankle clonus occurs on feet 8 of a patient, the rotation of the vola splint 2 synchronously drives the special-shaped block 15 and the first rod body 10 to rotate, the second rod body 11 is synchronously driven to rotate around a central shaft of the first rod body 10 based on the connection relation among the special-shaped block 15, the middle column 16 and the second rod body 11, and the rotation of the vola splint 2 is converted into forward and backward movement of the fourth rod body 13 relative to the fifth rod body 9 through the plurality of rod bodies. Then, the fourth rod 13 drives the second lower plate 14 of the driven plate 6 to move back and forth between the directions approaching and moving away from the fixed plate 5, so that the relative motion relationship between the driven plate 6 and the fixed plate 5 can be visually seen at the observation angle of the medical staff.

A driving mechanism is arranged in the shank supporting plate 1, and the sole supporting plate 2 is rotatably connected to one end of the driving mechanism. When the foot-stretching device is used, the foot bottom supporting plate 2 can be driven to move back and forth relative to the lower leg supporting plate 1 through the regulation and control driving mechanism, so that the relative position relation between the two supporting plates can adapt to the change of the stretching angle, and the better comfortable feeling of the foot 8 of a patient is provided.

The fixing plate 5 can be divided into an upper plate body and a lower plate body, and the upper plate body and the lower plate body are connected through a driving mechanism. When in use, the driving mechanism can be regulated to drive the upper plate body of the fixing plate 5 to rotate relative to the lower plate body. The upper plate body is driven to rotate, and the ankle joint of the patient is synchronously driven to perform the rehabilitation training action of eversion or inversion.

The traction motor 3 is electrically connected with a traction force sensor for collecting the magnitude of the traction force applied to the crus of the patient, so that the problem that the recovery effect is influenced by secondary injury or undersize caused by excessive traction in the traction treatment process of the existing recovery device is solved. The device also comprises a universal joint bearing and a connecting piece which are used for connecting the drafting motor 3 with the same side of the shank supporting plate 1 and the sole supporting plate 2.

The device also comprises a muscle electrical stimulation mechanism and a thermal therapy mechanism.

The application integrates two main rehabilitation treatment technologies of comprehensive traction and thermal therapy to realize the purposes of observing, preventing and treating spasm. The heat treatment mechanism can comprise a multi-layer structure for heat treatment, the multi-layer structure for heat treatment is laid on the inner wall surface of the lower leg supporting plate 1, the multi-layer structure for heat treatment can be directly contacted with the lower leg of a patient when in use, and the multi-layer structure for heat treatment is mainly used for providing heat for the lower limb of the patient. The multilayer structure for thermal therapy comprises an electric heating insulation layer, a heating resistance wire, an asbestos heating insulation layer, a temperature sensor and a cotton surface which are sequentially arranged from bottom to top. The electric heating heat-insulating layer is respectively connected with the temperature sensor and the master controller which are connected with each other, so as to realize controllable and safe thermotherapy. The overall controller is configured to: monitoring the temperature of the corresponding treatment position through a temperature sensor, and powering off for protection when the temperature is detected to exceed a first preset temperature threshold value so as to prevent overheating; when the temperature is detected to be lower than a second preset temperature threshold value, the electric heating is carried out, so that the safety and the effectiveness of the thermal therapy are guaranteed.

When the temperature of the affected part at the rear side of the shank is higher than the set upper threshold value temperature, the power is cut off for protection, and overheating is prevented. When the temperature of the affected part at the rear side of the lower leg is lower than the set lower threshold temperature, the device is electrified to continue heating, and the affected part is always kept in a reasonable treatment temperature range.

The muscle force reduction of the anterior muscle group of the crus of the patient is the initial cause of the foot drop varus spasm mode, the anterior muscle group is electrically stimulated to induce active movement and increase the muscle force, and the spasm can be prevented and treated from the pathogenesis. Meanwhile, the active muscle group and the antagonistic muscle group realize bidirectional cooperation of contraction and relaxation through nerve reflection, induce active movement of the muscle group at the front part of the lower leg, and effectively relieve the muscle tension of at least one of the muscle groups behind the muscles of the lower leg, such as gastrocnemius, soleus, and metatarsus. The device induces active movement by electrically stimulating at least one of anterior muscle groups of the lower leg such as tibialis anterior muscle, extensor hallucis longus muscle and extensor digitorum longus muscle while stretching the posterior muscle group of the lower leg, and reduces the muscle tension of the posterior muscle group in a third treatment principle, thereby realizing the fusion of three classic technologies of thermotherapy, stretching treatment and antagonistic muscle stimulation treatment, solving the problem of muscle tension and greatly improving the treatment effect. In the application, the electric stimulation mechanism comprises surface electrodes, when in use, the two surface electrodes are attached to the muscle group part at the front part of the lower leg of the patient, and the surface electrodes are electrically connected with the master controller. When mechanical extension of ankle dorsiflexion is performed, the electrode circuit is connected to electrically stimulate at least one of anterior muscle groups of the lower leg such as tibialis anterior muscle, extensor hallucis longus and extensor digitorum longus, so that the anterior muscle groups of the lower leg are contracted, and the muscle tension of the posterior muscle groups is reduced through nerve reflex. Preferably, the electrical stimulation treatment may be carried out by attaching the electrode patch to a corresponding treatment site of the human body.

The apparatus also includes a support table that is adjustable in height. The vertical bottom end of the lower leg supporting plate 1 is movably connected on the table surface of the supporting table, so that the height of the lower leg supporting plate 1 can be properly adjusted according to different patients, or the feet 8 of the patients are allowed to freely rotate within a certain range.

Preferably, the individual treatment is performed according to different rehabilitation treatment schemes available for different disease types, different disease degrees and different stages of the disease, such as a static traction mode for keeping the foot 8 of the patient in a certain posture, a dynamic passive traction mode for dynamically converting the posture of the foot 8 of the patient completely through motor driving, an assisted rehabilitation mode for assisting the patient to complete rehabilitation training through motor driving, and the like. Taking the static drafting mode as an example for further explanation, in the static drafting mode, the controller controls the motion processes of toe bending, dorsiflexion, inversion, eversion and the like, and when the device drives the limbs to run to a preset angle, the device stops, so that long-time static drafting can be carried out. Taking the dynamic passive traction mode as an example for further explanation, in the dynamic passive traction mode, by means of the controller and the force sensor built in the motor, and the like, the training intensity, posture, moving range and the like of the lower limbs of the patient are controlled by respectively regulating and controlling parameters of a plurality of components, such as a moving angle, a moving speed, a moving distance and the like, so that the rehabilitation training of the patient can be simulated by a technique similar to the movement therapy of a therapist. And respectively setting certain protection thresholds for action angles, action speeds, action distances and the like in a static drafting mode, and executing protection measures such as stopping movement or giving out early warning when the protection thresholds are triggered so as to ensure the safety of the rehabilitation training process. Taking the assisted rehabilitation mode as an example for further explanation, aiming at the patients with the incomplete paralysis who still have a part of active exercise capacity relative to the patients with the complete paralysis, in the assisted rehabilitation mode, a sensor group arranged in a motor is utilized to detect information such as electric signals caused by the active exercise capacity of the patients, assistance parameters which can be provided for the patients are analyzed according to the strength of the electric signals, and then effective assistance for the training of the patients is realized through each driving mechanism.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of this disclosure, may devise various solutions which are within the scope of this disclosure and are within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.

Claims

1. An adaptive lower limb spasm pattern integrated rehabilitation device at least comprising:

a lower leg support plate (1);

a sole plate (2); and

a drafting motor (3), both ends of which are respectively linked with the shank supporting plate (1) and the sole supporting plate (2) and are used for adjusting the relative position relationship between the shank and the foot (8) which are respectively arranged on the two supporting plates by a user,

the ankle clonus rehabilitation training device is characterized in that the crus supporting plate (1) is connected with the foot bottom supporting plate (2) in an incomplete stable mode, so that under the condition of driving the drafting motor (3), the foot bottom supporting plate (2) can drive the feet (8) of a user to move towards the direction close to or far away from the crus supporting plate (1) to achieve rehabilitation training of the feet (8), and the clonus performance of the user can be amplified when the user has the ankle clonus so that the clonus performance can be observed in time.

2. The lower limb spasm pattern integrated rehabilitation apparatus according to claim 1, further comprising an electrical signal acquisition component (4), wherein the electrical signal acquisition component (4) is configured to acquire an electrical signal converted from mechanical energy based on the induced relative vibration of the sole plate (2) in a non-completely stable connection relationship with the lower leg plate (1) when the user has an ankle clonus, so as to sense the ankle clonus data related to the user.

3. The integrated lower limb spasm pattern rehabilitation device according to claim 2, wherein the sole plate (2) is capable of passively vibrating in at least two vibration directions when the user develops ankle clonus based on the incompletely stabilized connection relationship between the sole plate and the calf plate (1).

4. The lower limb spasm pattern integrated rehabilitation apparatus according to claim 3, wherein the sole splint (2) is capable of amplifying clonus expression of the user to be observed, respectively, in different vibration directions based on the incompletely stable connection relationship between the user and the lower leg splint (1) when the user has the clonus of the ankle.

5. The lower limb spasm mode integrated recovery device according to claim 4, wherein the electrical signal collection unit (4) is configured to obtain the electrical energy required for electrical signal collection by the electrical signal collection unit by converting mechanical energy of the external operation into electrical energy by using at least the external operation defined by the relative vibration of the sole plate, which is not in a completely stable connection with the lower leg plate during the use of the lower limb spasm mode integrated recovery device by the user, caused by the occurrence of ankle clonus in the user.

6. The lower limb spasm mode integrated rehabilitation device according to claim 5, wherein the sole support plate (2) is connected to the lower leg support plate (1) through the fixing plate (5), and when the position of the main force applied to the sole support plate (2) by the user's foot (8) changes, the sole support plate (2) can rotate relative to the fixing plate (5) to be observed by the accompanying person.

7. The lower limb spasm mode integrated rehabilitation device according to claim 6, wherein a pressure sensor is disposed on the sole supporting plate (2) or the fixing plate (5), and the pressure sensor is used for detecting the abutting relationship between the sole supporting plate (2) and the fixing plate (5).

8. The integrated lower limb spasm pattern rehabilitation apparatus according to claim 7, wherein the fixing plate (5) comprises upper and lower plates rotatably connected to each other by a driving mechanism, and the driving mechanism is adjusted to drive the foot (8) of the patient to turn in or out relative to the lower leg support plate (1).

9. The integrated lower limb spasm pattern rehabilitation apparatus according to claim 8, further comprising a muscle electrical stimulation unit for selectively connecting the electrode circuit to electrically stimulate the anterior muscle group of the lower leg during mechanical extension by ankle dorsiflexion.

10. The lower limb spasm mode integrated recovery device of claim 9, further comprising a multi-layer structure for thermal treatment and an overall controller connected to each other, the overall controller configured to: monitoring the temperature of the corresponding treatment position by a temperature sensor arranged in the multilayer structure for thermal therapy; when the temperature is detected to exceed a first preset temperature threshold value, power-off protection is carried out; and when the temperature is detected to be lower than a second preset temperature threshold value, electrifying for heating.