CN115227551B - Self-adaptive lower limb spasm mode comprehensive rehabilitation device - Google Patents
Self-adaptive lower limb spasm mode comprehensive rehabilitation device Download PDFInfo
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- CN115227551B CN115227551B CN202210958182.8A CN202210958182A CN115227551B CN 115227551 B CN115227551 B CN 115227551B CN 202210958182 A CN202210958182 A CN 202210958182A CN 115227551 B CN115227551 B CN 115227551B
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F7/007—Heating or cooling appliances for medical or therapeutic treatment of the human body characterised by electric heating
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0001—Body part
- A61F2007/0039—Leg or parts thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0095—Heating or cooling appliances for medical or therapeutic treatment of the human body with a temperature indicator
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- Rehabilitation Tools (AREA)
Abstract
The invention relates to a self-adaptive lower limb spasm mode comprehensive rehabilitation device, which at least comprises: a shank pallet; a plantar support plate; and a draft motor, both ends of which are respectively linked with the shank pallet and the plantar pallet and are used for adjusting the relative positional relationship between the shank and the foot respectively placed on the two pallets, characterized in that the shank pallet and the plantar pallet are connected in a non-completely stable manner, so that under the condition of driving the draft motor, the plantar pallet not only can move with the foot of a user towards a direction approaching or far away from the shank pallet to realize rehabilitation training on the foot, but also can amplify the clonus expression of the user when the ankle clonus occurs to enable the user to be observed in time.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a self-adaptive lower limb spasm mode comprehensive rehabilitation device.
Background
Stroke (Stroke), also known as cerebrovascular accident (cerebrovascular accident), refers to a sudden, localized brain dysfunction caused by cerebrovascular lesions and has a duration exceeding 24 hours or causes a clinical syndrome of death. The second disease rate in China is the disease with the highest disability rate in China, about 80% of cerebral apoplexy patients influence the daily life capacity due to dyskinesia, and the patients cannot return to society again. Among these dyskinesias, pathological spasticity of the lower limb muscles, i.e., symptoms associated with muscular tonic contraction, clonic contracture, and cramps, are clinically manifested by neuronal damage. The lower limb muscle spasm has caused serious influence to patient's motion function and life, and the appearance of rehabilitation device makes the patient can follow passive supplementary walking training to the recovery of lower limb motion function, plays important effect to patient's lower limb motion function.
For example, the prior art publication CN110575303a proposes a rehabilitation device for preventing and treating cramps of lower limbs, which combines a plurality of exercise therapies, and the use state of the rehabilitation device can be referred to as fig. 3, and the rehabilitation device mainly comprises a calf protector for supporting the calf of a patient and a sole protector for supporting the foot of the patient, which are connected with each other, and further comprises an angle adjusting mechanism connected with the calf protector and the sole protector, wherein the angle adjusting mechanism has the freedom of movement in a plurality of directions, which can be realized by a plurality of driving motors, and based on the freedom of movement, the rehabilitation training movement including eversion, plantarflexion, varus and dorsiflexion can be provided for the patient using the device. The device is also provided with a mechanism for respectively implementing myoelectric stimulation and thermal therapy, and the medical care can select any treatment means or combine the treatment means for use according to the actual condition of a patient to realize synergy.
However, in the actual rehabilitation training process, especially under certain traction postures, the situations of clonus, overlarge resistance and the like of a patient still tend to be caused, for this purpose, the above patent sets parameters such as the movement speed, the angle, the force and the like of the plantar support plate by means of a force sensor according to the rehabilitation medical theory, controls the movement speed, the angle and the force and the like of the plantar support plate, sets a rotation torque protection threshold, and brakes at any time to stop traction if the situations of clonus, overlarge resistance and the like occur, however, the technical scheme has at least the following problems:
On the one hand, the stretching postures are more and the amplitude or strength requirements under different stretching postures are different, only a protection threshold value of a given force sensor is preset, and the early warning is triggered whenever the strength reaches the protection threshold value, so that the occurrence of cramps is regarded as being considered, no matter which value is set as the protection threshold value, the setting can be realized only under the very ideal condition, for example, a patient only performs a single action, and the limitation of rehabilitation training is large for the patient needing to perform rehabilitation training by adopting the rehabilitation device, so that the expected rehabilitation effect cannot be realized;
on the other hand, the force sensor is very sensitive to detection of the triggering protection threshold, once the triggering protection threshold is triggered, the situation that the operator really ignores the clonus appears is considered to be interrupted in the rehabilitation training process and the alarms of true and false hybridization are easy to cause the doctor to continuously and passively draft 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 patient is secondarily injured, even medical accidents are caused, no matter the clonus appears in the affected limb or the patient actively drafts the foot and the unexpected pressure is caused to the plantar support plate.
In summary, the lower limb rehabilitation products commonly sold on the market have large occupied space, high cost and strict requirement for one-to-one accompanying nursing, so that partial patients with lower limb disorders face higher rehabilitation training cost, correspondingly, nursing tasks at the medical end are heavy and work efficiency is low, the prior art has proposed a technical scheme that the occupation space for comprehensively preventing and treating cramps by adopting various treatment means is small and nursing burden can be lightened, but the practical application of the technical scheme still has great application limitation and hidden danger, and for this reason, a lower limb cramp mode comprehensive rehabilitation device capable of effectively improving applicability and use safety by overcoming the problems is needed.
Furthermore, there are differences in one aspect due to understanding to those skilled in the art; on the other hand, since the applicant has studied a lot of documents and patents while making the present invention, the text is not limited to details and contents of all but it is by no means the present invention does not have these prior art features, but the present invention has all the prior art features, and the applicant remains in the background art to which the right of the related prior art is added.
Disclosure of Invention
The lower limb rehabilitation products sold on the market at present are large in occupied space, expensive in cost and strictly require medical care for one-to-one accompanying, so that partial patients suffering from lower limb disorders face higher rehabilitation training cost, correspondingly, nursing tasks at the medical care end are heavy and work efficiency is low, the prior art has proposed a technical scheme that the occupied space for comprehensively preventing and treating spasticity by adopting various treatment means is small and nursing burden can be lightened, but the practical application of the technical scheme still has great application limitation and hidden danger:
On the one hand, the stretching postures are more and the amplitude or strength requirements under different stretching postures are different, only a protection threshold value of a given force sensor is preset, and the early warning is triggered whenever the strength reaches the protection threshold value, so that the occurrence of cramps is regarded as being considered, no matter which value is set as the protection threshold value, the setting can be realized only under the very ideal condition, for example, a patient only performs a single action, and the limitation of rehabilitation training is large for the patient needing to perform rehabilitation training by adopting the rehabilitation device, so that the expected rehabilitation effect cannot be realized;
on the other hand, the force sensor is very sensitive to detection of the triggering protection threshold, once the triggering protection threshold is triggered, the situation that the operator really ignores the clonus appears is considered to be interrupted in the rehabilitation training process and the alarms of true and false hybridization are easy to cause the doctor to continuously and passively draft 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 patient is secondarily injured, even medical accidents are caused, no matter the clonus appears in the affected limb or the patient actively drafts the foot and the unexpected pressure is caused to the plantar support plate.
In view of the shortcomings of the prior art, the invention provides a self-adaptive lower limb spasm mode comprehensive rehabilitation device, which at least comprises: a shank pallet; a plantar support plate; and a draft motor, both ends of which are respectively linked with the shank pallet and the plantar pallet and are used for adjusting the relative positional relationship between the shank and the foot respectively placed on the two pallets, characterized in that the shank pallet and the plantar pallet are connected in a non-completely stable manner, so that under the condition of driving the draft motor, the plantar pallet not only can move with the foot of a user towards a direction approaching or far away from the shank pallet to realize rehabilitation training on the foot, but also can amplify the clonus expression of the user when the ankle clonus occurs to enable the user to be observed in time.
According to the application, the existing structure is skillfully improved, so that the device can avoid application limitation and hidden danger caused by the force sensor under the condition of small occupied space of the maintenance equipment and relieving nursing burden, when the device is used, the situation of the clonic condition of a patient can be fed back to a doctor at first time by the device, the use safety is high, the doctor can achieve effective accompanying effect without carrying out one-to-one accompanying in the whole course, the nursing burden is relieved, nursing measures are timely taken for the clonic condition of the patient, the feedback can accurately reflect the situation of the clonic condition of the patient without complex data processing such as sensor acquisition, data transmission, data analysis, acousto-optic alarm and the like, the false alarm caused by unexpected pressure on a sole support plate can not be caused by actively drawing feet of the patient under the setting, the doctor can take timely measures for the situation of the clonic condition actually appearing, and frequent alarm caused by the selection of a trigger protection threshold value and high-sensitivity detection of the force sensor is avoided. For patients, the equipment occupies small space, the adoption of the high-precision sensor can be reduced, the rehabilitation training cost of the patients can be effectively reduced, and meanwhile, the safety and the reliability of the device are high, so that the potential safety hazard problem of secondary injury and even medical accidents caused by the affected limbs can be effectively avoided.
According to a preferred embodiment, the lower limb spasm mode comprehensive rehabilitation device further comprises an electrical signal acquisition component configured to acquire electrical signals converted from mechanical energy based on relative vibrations occurring in the sole plate in an induced incompletely stable connection with the calf plate when ankle clonus occurs in the user, thereby sensing ankle clonus data related to the user.
According to a preferred embodiment, the plantar pallet is capable of passive vibration in at least two vibration directions when the user develops ankle clonus, based on its incompletely stable connection with the lower leg pallet.
According to a preferred embodiment, the plantar pallet is capable of amplifying the user's clonus manifestations separately from the different vibration directions based on its incompletely stable connection relationship with the lower leg pallet when the user develops ankle clonus so that it can be observed.
According to a preferred embodiment, the electrical signal acquisition assembly is operable to obtain electrical energy required for its electrical signal acquisition by external operation. The electric signal acquisition component can at least acquire the electric energy required by the electric signal acquisition component by converting the mechanical energy of the external operation into the electric energy through the external operation defined by the relative vibration generated by the foot sole support plate which is in incomplete stable connection relation with the lower leg support plate in the process of using the lower limb spasm mode comprehensive rehabilitation device by a user due to ankle clonus of the user.
According to a preferred embodiment, the plantar support plate is connected to the lower leg support plate through a fixing plate, and when the position of the principal force applied to the plantar support plate by the user's foot changes, the plantar support plate can be rotated relative to the fixing plate so that the accompanying person can observe the same.
According to a preferred embodiment, the sole plate or the fixation plate is provided with a pressure sensor for detecting an abutting relationship between the sole plate and the fixation plate.
According to a preferred embodiment, the fixing plate comprises an upper plate body and a lower plate body which are connected with each other in a rotating way through a driving mechanism, and the foot of a patient can be driven to be turned inwards or outwards relative to the shank support plate through adjusting and controlling the driving mechanism.
According to a preferred embodiment, the lower limb spasm mode comprehensive rehabilitation device is further provided with a muscle electric stimulation mechanism, and when the ankle dorsiflexion mechanical draft is carried out, an electrode loop can be selectively connected to electrically stimulate the lower leg anterior muscle group.
According to a preferred embodiment, the lower limb cramping mode rehabilitation device further comprises a multi-layer structure for hyperthermia and a master controller connected to each other, the master controller being configured to: monitoring the temperature of the corresponding treatment position by a temperature sensor arranged in the multi-layer structure for thermal therapy; when the temperature is detected to exceed a first preset temperature threshold, performing power-off protection; and electrifying and heating when the temperature is detected to be lower than a second preset temperature threshold value.
Drawings
FIG. 1 is a simplified structural connection between a shank pallet and a plantar pallet provided by the present invention;
FIG. 2 is a simplified structural connection schematic of a preferred linkage mechanism provided by the present invention;
FIG. 3 is a simplified schematic illustration of the state of use of the device for rehabilitation training of lower limbs of a patient as proposed in the prior art;
FIG. 4 is a simplified schematic diagram of a preferred linkage mechanism according to the present invention, before the second rod is not connected to the third rod;
FIG. 5 is a simplified schematic illustration of a preferred linkage mechanism according to the present invention, before the third rod is coupled to the fourth rod;
FIG. 6 is a simplified schematic diagram of a preferred linkage mechanism according to the present invention, before the first rod and the second rod are connected in a non-mating manner;
fig. 7 is a simplified schematic diagram of the structure of the anisotropic block in the preferred linkage mechanism provided by the invention.
List of reference numerals
1: Shank pallet 2: plantar pallet 3: drafting motor
4: The electric signal acquisition component 5: fixing plate 6: passive plate
7: Linkage 8: foot 9: fifth rod body
10: The first rod body 11: the second rod body 12: third rod body
13: Fourth rod 14: lower side plate 15: special-shaped block
16: Intermediate column
Detailed Description
The following detailed description refers to the accompanying drawings.
As shown in fig. 1, the application provides a self-adaptive lower limb spasm mode comprehensive rehabilitation device, which mainly comprises a lower leg support plate 1 and a plantar support plate 2, wherein the device can be placed on a bed body for a bedridden patient, when in use, the lower leg of the patient is lifted on the lower leg support plate 1, the foot 8 of the patient is abutted against the plantar support plate 2, and the relative position relationship between the lower leg support plate 1 and the plantar support plate 2 and the bed body can be driven to change by a driving mechanism, so that the lower limb rehabilitation training of the bedridden patient is realized.
The shank pallet 1 and the plantar pallet 2 are connected in a non-completely stable manner. The above-mentioned non-fully stable connection is mainly compared with 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 the shank support plate 1 is rotationally connected with the bottom end of the sole support plate 2, the shank support plate 1 is connected with the sole support plate 2 through the drafting motor 3, the relative position between the shank support plate 1 and the sole support plate 2 is completely determined by the telescopic condition of the drafting motor 3, namely, the shank and the foot 8 of a patient can only change according to the telescopic condition of the drafting motor 3, if the ankle clonus of the patient occurs, the ankle clonus condition can be limited by the drafting motor 3 and can not be represented, at the moment, an observer or a attendant can not immediately know the ankle clonus condition and continue rehabilitation training, and pain of the patient can be increased. Although it has been proposed in the prior art to detect the occurrence of ankle clonus by using a pressure sensor or the like, the draft motor 3 is operated during rehabilitation training, and it is impossible to accurately distinguish whether the pressure change is caused by the occurrence of ankle clonus or the operation of the draft motor 3, and the data processing amount is complicated and the accuracy is low. Based on this, the incompletely stable connection proposed by the present application, that is, the relative position between the patient's lower leg and the foot 8 is not completely determined by the extension and retraction of the draft motor 3. In this arrangement, the plantar pallet 2 is able to amplify the user's ankle clonus appearance when it occurs, so that the user's ankle clonus appearance can be observed by the accompanying person in time.
The device also comprises a draft motor 3, wherein two ends of the draft motor 3 are respectively linked with the shank support plate 1 and the sole support plate 2, one end of the draft motor 3 is directly connected to the shank support plate 1 in a rotating way, and the other end of the draft motor is indirectly connected to the sole support plate 2. When the drafting motor 3 operates, the plantar support plate 2 can be driven to move towards the direction close to the lower leg support plate 1, and the plantar flexion of a patient is assisted; when the drafting motor 3 operates, the sole support plate 2 can be driven to move towards a direction away from the shank support plate 1, and the patient is assisted to carry out back extension.
The plantar support plate 2 is connected with the lower leg support plate 1 through a fixing plate 5. The plantar support plate 2 is assembled on the fixed plate 5, the fixed plate 5 is in a standing state, and the vertical bottom end of the fixed plate is rotationally connected to the lower leg support plate 1. The plantar splint 2 is a bending structure, and the bending inflection point of the plantar splint is positioned on the plate body on the side of the plantar splint, which is close to the calcaneus of the foot 8. The plate body positioned at the bending inflection point on the plantar support plate 2 is rotationally connected to the fixed plate 5. The degree of bending of the plantar pallet 2 does not unduly affect the placement of the foot 8 by the user, but when the position of the primary force applied by the user's foot 8 to the plantar pallet 2 changes, the plantar pallet 2 can rotate relative to the fixed plate 5 and the angle of rotation is sufficient to be observed by the attendant. Preferably, the rotation angle formed by the plantar pallet 2 relative to the fixed plate 5 may be 0 ° to 15 °.
The plantar pallet 2 includes 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, in the present case at a first draft angle exceeding 90++β, i.e. at plantarflexion, the primary force applied by the user's foot 8 to the plantar pallet 2 is progressively shifted in position to its plate adjacent the calcaneus of the user's foot 8, i.e. the first lower plate. The first lower side plate is pressed more closely to the fixed plate 5, and the first upper side plate is relatively far away from the fixed plate 5. I.e. there is a gap space between the corresponding toe portion of the user's phalanges and the fixation plate 5. In this plantarflexion position the patient is prone to plantarflexion cramps or ankle clonus, i.e. the patient's foot 8 tends to increase the degree of plantarflexion, the ankle produces active ankle plantarflexion, based on the relative position of the plantar pallet 2 as described above, when the plantar pallet 2 is not fully secured to the fixation plate 5, and the toe portion of the patient can push the plantar pallet 2 forward based on the interstitial spaces as described above. When ankle clonus occurs, the muscles or muscle groups actively contract rapidly and repeatedly, and thus the two ends of the plantar support plate 2 tilt back and forth relative to the fixed plate 5, and shaking of the foot 8 of the patient can be obviously observed under the observation angle of the attendant.
Preferably, in the case of a second draft angle currently lower than 90 ° - α, i.e. in dorsi extension, the primary force applied by the user's foot 8 to the plantar pallet 2 is changed in position, gradually shifting to a position on its plate body close to the user's foot 8 phalanges, i.e. the first upper plate. The first upper side plate is pressed more closely to the fixed plate 5, and the first lower side plate is relatively far away from the fixed plate 5. I.e. there is a gap space between the heel portion corresponding to the calcaneus of the user and the fixing plate 5. If the patient develops ankle clonus in this dorsi-extension posture, i.e., the extent to which the patient's foot 8 tends to actively enhance dorsi extension, the ankle generates active ankle dorsi extension, based on the relative posture of the plantar pallet 2 as described above at this time, at which time the patient's foot 8 is not fully secured to the fixed plate 5, the heel portion of the patient can push the first lower side plate of the plantar pallet 2 forward based on the above-described gap space. When ankle clonus occurs, the muscles or muscle groups actively contract rapidly and repeatedly, and thus the two ends of the plantar support plate 2 tilt back and forth relative to the fixed plate 5, and shaking of the foot 8 of the patient can be obviously observed under the observation angle of the attendant.
A pressure sensor may be provided on the plantar pallet 2 or the fixation plate 5 for detecting the abutting relationship between the plantar pallet 2 and the fixation plate 5.
Preferably, in the case of a third draft angle currently between 90 ° + β and 90 ° - α, i.e. the foot 8 is inclined to the upright position, the third draft angle is also generally an angle at which the patient can better control the movement of his foot 8. Based on this, when the draft angle is the third draft angle, the acting force applied by the patient's foot 8 to the first lower side plate is almost the same, and the attendant 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 dorsi extension or plantarflexion until the plantar support plate 2 abuts on the fixing plate 5, so that the posture of the foot 8 meets the rehabilitation training requirement. Since the patient is not necessarily able to maintain the required posture of the foot 8 during rehabilitation training, it may happen that the foot 8 is separated from the abutting relationship with the fixing plate 5 with the plantar support plate 2, in which case the attendant can intuitively observe the abutting relationship between the plantar support plate 2 and the fixing plate 5, or directly observe the pressure sensor data displayed on his user equipment. Based on the method, the accompanying person can obtain different foot 8 capacities of the patient under different training, and a judgment basis is provided for the accompanying person to analyze the muscle control capacities of the patient foot 8 in all directions.
In the case of driving the draft motor 3, the plantar support plate 2 can not only carry the user's foot 8 toward a direction approaching or away from the lower leg support plate 1 to achieve rehabilitation training for the foot 8, but also amplify the clonus manifestation thereof when the user develops clonus of the ankle so that it can be observed in time.
The comprehensive rehabilitation device for the lower limb spasm mode further comprises an electric signal acquisition component 4, and when ankle clonus occurs to a user, the electric signal acquisition component 4 can acquire electric signals based on external operation, so that ankle clonus data related to the user can be perceived. The external operation may refer to: the relative vibration of the plantar pallet 2, which is induced in a non-fully stabilized connection with the lower leg pallet 1. The electrical signal is converted from mechanical energy generated by the relative vibration. Preferably, the electrical signal acquisition may also not be entirely dependent on the electrical energy provided by the external operation.
The electrical signal acquisition component 4 can be a wireless passive switch type structure, and the wireless passive switch type structure is used for converting collected tiny energy (such as mechanical energy, optical energy and temperature difference) existing in the nature into electric energy to be supplied to a wireless communication module, and the wireless communication module sends a signal to target equipment with a signal receiver, so that the switch for controlling the target equipment is realized. In the application, the wireless passive switch converts the collected mechanical energy generated by the relative vibration into electric energy to supply to the wireless communication module, and the wireless communication module sends a signal to target equipment (user equipment operated by a attendant) with a signal receiver, thereby realizing the acquisition of the relative vibration condition by the target equipment. Not only is beneficial to saving electricity, but also achieves the purpose of collecting electric signals.
Preferably, the plantar pallet 2 is capable of passive vibration in at least two vibration directions when the user develops ankle clonus based on its incompletely stable connection with the lower leg pallet 1. Since the ankle clonus is not single left-right shake or front-back shake caused by rapid expansion of front-back muscles, the abnormal situation caused by the ankle clonus can not be completely reflected if only one-way display is performed, and based on the fact, in the device provided by the application, the sole support plate 2 has passive vibration in at least two vibration directions when the user generates the ankle clonus, so that the real abnormal situation of the ankle clonus can be basically fed back. The true abnormal conditions mentioned here do not reflect ankle clonus entirely in equal proportion, but rather reflect approximately in relatively small proportions whether ankle clonus occurs and the dimensions in which it occurs.
The plantar pallet 2 is capable of amplifying the user's clonus manifestations separately from the different vibration directions based on the incompletely stable connection relationship between it and the lower leg pallet 1 when the user develops ankle clonus so that it can be observed. Different from different vibration directions, it means that passive vibration in the left-right and front-back vibration directions is respectively represented by different structures. In this regard, the attendant is not only aware that the patient is experiencing ankle clonus, but is also more clearly and clearly aware of the major dimensions of the patient's ankle clonus and the extent of the ankle clonus. In addition, the timely discovery of ankle clonus can prevent continuous passive draft in the clonic state from strengthening the spasm of the lower limbs of the patient and cause overload damage to muscles and ligaments of the patient.
The device further comprises a passive plate 6, which passive plate 6 is arranged on the end face of the fixing plate 5 facing away from the plantar support plate 2, and the passive plate 6 is also connected with the fixing plate 5 in a non-completely stable manner. The incompletely stable connection relationship is further described: the passive plate 6 is arranged on the fixed plate 5 in a flat-lying posture. The passive plate 6 is of a bending structure, and the bending inflection point of the passive plate is positioned on the plate body on the side of the passive plate, which is close to the toe of the foot 8. Both ends of the passive plate 6 in this arrangement can alternately touch the fixed plate 5. The plate body positioned at the bending inflection point on the passive plate 6 is rotationally connected to the fixed plate 5. The rotation axis between the passive plate 6 and the fixed plate 5 may be arranged parallel to the ground. The vertical bottom end of the passive plate 6 is movably connected to the sole supporting plate 2 through a linkage mechanism 7.
When the main force applied by the user foot 8 to the plantar support plate 2 changes in position, the plantar support plate 2 can rotate relative to the fixed plate 5 and synchronously drive the driven plate 6 to rotate through the linkage mechanism 7, the driven plate 6 rotates relative to the fixed plate 5, and the rotation angle is enough to be observed by a attendant. Preferably, the rotation angle formed by the passive plate 6 relative to the fixed plate 5 may be 0 ° to 15 °.
The passive plate 6 includes a second upper side plate adjacent the phalanges of the user's foot 8 and a second lower side plate 14 adjacent the calcaneus of the user's foot 8.
As shown in fig. 2, the linkage mechanism 7 at least includes a first rod body 10, a special-shaped block 15, a second rod body 11, a third rod body 12 and a fourth rod body 13 which are sequentially connected. The sole support plate 2 is connected to the fixed plate 5 through a rotating shaft. The two ends of the first rod body 10 respectively penetrate through the fixing plate 5, and the rod body of the first rod body 10 is rotatably connected to the fixing plate 5. One end of the first rod body 10 is fixedly connected to the rotating shaft, and the rotating shaft drives the first rod body to rotate. The other end of the first rod body 10 is rotatably connected to one end of the second rod body 11.
As shown in fig. 4, one end of the second rod 11 is fixedly connected to the middle column 16, and the second rod 11 is perpendicular to the middle column 16. The center post 16 is provided with a center post through hole along the axial direction thereof.
The first rod body 10 is provided with a profiled block 15. As shown in fig. 2 and 7, the special-shaped block 15 has a trapezoidal table structure, that is, the upper and lower bottom surfaces are coaxial but have unequal areas, and the special-shaped block 15 has two side end surfaces with an acute included angle formed by the two side end surfaces. Coaxial refers to the fact that the perpendicular centerlines of the two end faces are the same. The end surface of the profiled block 15 is fixed to the first rod body 10 in such a manner that it is fixedly connected to one end surface of the first rod body 10. A connecting shaft is fixed to the other end face of the shaped block 15, and the axial direction of the connecting shaft is perpendicular to the side end face so as not to be parallel to the axial direction of the first rod body 10.
The intermediate post through-hole of the intermediate post 16 is rotatably fitted over the connecting shaft in such a manner that the through-hole axial direction thereof is parallel to the axial direction of the connecting shaft. One end face of the intermediate column 16 abuts against one end face of the adjacent special-shaped block 15. In this arrangement, the central axial direction of the second rod body 11 is perpendicular to the central axial direction of the intermediate column 16, and the central axial direction of the intermediate column 16 and the central axial direction of the first rod body 10 are different from each other. Being distinct from each other may mean being neither parallel nor perpendicular to each other.
The other end of the second rod 11 and one end of the third rod 12 form a ball head structure as shown in fig. 5 and 6. The second rod 11 can rotate freely under a certain angle relative to the third rod 12. And the central axis direction of the third rod body 12 and the central axis direction of the second rod body 11 are different from each other.
The other end of the third rod 12 is rotatably 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 rod 13 is rotatably connected to the second lower side plate 14 of the passive plate 6.
The outer wall of the fixed plate 5 is also fixedly provided with a fifth rod body 9, and the fifth rod body 9 is used for supporting and limiting the moving direction of the fourth rod body 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 along the direction perpendicular to the fifth rod 9 relative to the fifth rod 9.
When in use, the foot 8 of a patient is ankle clonic to cause vibration and rotation of the plantar support plate 2, wherein the rotation of the plantar support plate 2 synchronously drives the special-shaped block 15 and the first rod body 10 to rotate, and based on the connection relation among the special-shaped block 15, the middle column 16 and the second rod body 11, the second rod body 11 is synchronously driven to rotate around the central axis of the first rod body 10, and the rotation of the plantar support plate 2 is converted into front-back movement of the fourth rod body 13 relative to the fifth rod body 9 through a plurality of rod bodies. Then, the fourth rod 13 drives the second lower side plate 14 of the passive plate 6 to switch back and forth between moving towards and away from the fixed plate 5, and the relative movement relationship between the passive plate 6 and the fixed plate 5 can be intuitively seen at the observation angle of the medical staff.
The shank support plate 1 is internally provided with a driving mechanism, and the sole support plate 2 is rotatably connected with one end of the driving mechanism. When the foot support device is used, the driving mechanism can be regulated to drive the sole support plate 2 to move back and forth relative to the lower leg support plate 1, so that the relative position relationship between the two support plates can adapt to the change of the draft angle, and better comfort 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 upper plate body of the fixed plate 5 can be driven to rotate relative to the lower plate body by regulating and controlling the driving mechanism. The upper plate body is driven to rotate, and the ankle joint of the patient is synchronously driven to perform eversion or varus rehabilitation training actions.
The draft motor 3 is electrically connected with a draft force sensor for collecting the magnitude of the draft force applied to the lower leg of the patient, so that the problem that the existing rehabilitation device causes secondary injury or excessively small influence on the rehabilitation effect due to excessive draft in the draft treatment process 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 sides of the shank support plate 1 and the sole support plate 2.
The device also comprises a muscle electric stimulation mechanism and a thermal therapy mechanism.
The application combines two main rehabilitation treatment technologies of comprehensive drafting and thermal therapy to realize the purposes of observing, preventing and treating spasm. The heat treatment mechanism can comprise a heat treatment multi-layer structure which is paved on the inner wall surface of the shank support plate 1, and can be directly contacted with the shank of a patient when in use, and the heat treatment multi-layer structure is mainly used for providing heat for the lower limbs of the patient. The multi-layer structure for thermal therapy comprises an electric heating heat preservation layer, a heating resistance wire, an asbestos heating heat preservation layer, a temperature sensor and a cotton surface which are sequentially arranged from bottom to top. The electric heating heat preservation layer is respectively connected with the temperature sensor and the master controller which are mutually connected so as to realize controllable and safe heat treatment. The overall controller is configured to: monitoring the temperature of the corresponding treatment position through a temperature sensor, and when the temperature is detected to exceed a first preset temperature threshold value, powering off protection to prevent overheating; and 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 ensured.
And when the temperature of the affected part at the rear side of the lower leg is higher than the set upper threshold temperature, the power-off protection is realized, and overheat 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, so that the affected part is always kept within a reasonable treatment temperature range.
The muscle strength of the anterior muscle group of the lower leg of the patient is reduced and is the origin of the foot drop inversion spasticity mode, and the electrical stimulation is performed on the anterior muscle group to induce active movement and increase the muscle strength, so that the spasticity can be prevented and treated from the pathogenesis. Meanwhile, the active muscle group and the antagonistic muscle group realize bidirectional synergy of contraction and relaxation through nerve reflection, and induce the active movement of the calf anterior muscle group, so as to effectively relieve the muscle tension of at least one of calf muscle posterior groups such as gastrocnemius, soleus muscle, plantar muscle and the like. The device induces active movement by electrically stimulating at least one of the anterior calf muscle groups such as the anterior tibial muscle, the extensor hallucis longus, the extensor digitorum longus and the like while stretching the posterior calf muscle groups, and reduces the muscle tension of the posterior muscle groups from the third treatment principle, thereby realizing the fusion of three classical 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, wherein the two surface electrodes are attached to the muscle group part of the front part of the lower leg of a patient in use, and the surface electrodes are electrically connected with the general controller. When performing ankle dorsiflexion mechanical draft, the electrode circuit is connected, at least one of the calf anterior muscle group such as tibialis anterior, extensor hallucis longus, extensor digitorum longus and the like is electrically stimulated, the calf anterior muscle group is contracted, and the posterior muscle group muscle tension is reduced by nerve reflex. Preferably, the electrical stimulation therapy may be achieved by attaching it to the corresponding therapeutic site of the human body using electrode patches.
The apparatus also includes a height adjustable support table. The vertical bottom end of the shank pallet 1 is movably connected to the table surface of the support table, on the basis of which the height of the shank pallet 1 can be adjusted appropriately for different patients or the feet 8 of the patient can be allowed to freely rotate within a certain range.
Preferably, personalized treatments are performed for different kinds of diseases, different degrees of disease, different rehabilitation treatment schemes available at different stages of disease, such as a static draft mode for keeping the patient's foot 8 in a certain posture, a dynamic passive draft mode for dynamically switching the posture of the patient's foot 8 completely by motor driving, and a booster rehabilitation mode for assisting the patient to complete rehabilitation training by motor driving. By taking a static stretching mode as an example, in the static stretching mode, the motion processes of toe bending, dorsiflexion, varus, valgus and the like are controlled by the controller, and when the device drives the limb to run to a preset angle, the device stops, so that long-time static stretching can be performed. Taking a dynamic passive draft mode as an example for further explanation, in the dynamic passive draft mode, parameters such as action angles, action speeds, action distances and the like of a plurality of components are respectively regulated and controlled by means of a controller, a built-in force sensor of a motor and the like, and the training intensity, the gesture, the movement range and the like of lower limbs of a patient are controlled, so that the rehabilitation training of the patient can be simulated by a method similar to the exercise treatment of a therapist. Under the static drafting mode, certain protection thresholds are respectively set for the action angle, the action speed and the action distance, and when the protection thresholds are triggered, protection measures such as stopping movement or giving out early warning are executed, so that the safety of the rehabilitation training process is ensured. Taking a boosting recovery mode as an example for further explanation, aiming at a patient with incomplete paralysis, which still has part of active movement capacity relative to a patient with complete paralysis, in the boosting recovery mode, a sensor group arranged in a motor is utilized to detect information such as an electric signal and the like caused by the active movement capacity of the patient, and the boosting parameters provided for the patient can be analyzed according to the intensity of the electric signal, so that effective boosting of the patient training is realized through each driving mechanism.
It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents. The description of the invention encompasses multiple inventive concepts, such as "preferably," "according to a preferred embodiment," or "optionally," all means that the corresponding paragraph discloses a separate concept, and that the applicant reserves the right to filed a divisional application according to each inventive concept.
Claims (7)
1. An adaptive lower limb cramp mode comprehensive rehabilitation device, comprising at least:
A shank pallet (1);
a sole support plate (2); and
A draft motor (3) with two ends respectively linked with the shank support plate (1) and the sole support plate (2) and used for adjusting the relative position relationship between the shank and the foot (8) respectively arranged on the two support plates by a user,
Characterized in that the shank support plate (1) and the sole support plate (2) are connected in an incompletely stable manner, so that under the condition of driving the drafting motor (3), the sole support plate (2) can not only move towards the direction approaching or away from the shank support plate (1) with the foot (8) of a user to realize rehabilitation training on the foot (8), but also can respectively amplify the clonus performances of the user in different vibration directions based on the incompletely stable connection relationship between the sole support plate and the shank support plate (1) when the user has the clonus,
The lower limb spasm mode comprehensive rehabilitation device also comprises an electric signal acquisition component (4), wherein the electric signal acquisition component (4) is configured to acquire electric signals obtained by conversion of mechanical energy based on the relative vibration generated by the sole support plate (2) which is in a non-fully stable connection relation with the lower leg support plate (1) when ankle clonus occurs to a user, so as to sense ankle clonus data related to the user,
The electric signal acquisition component (4) can at least acquire the electric energy required by the electric signal acquisition component for electric signal acquisition by utilizing external operation defined by relative vibration caused by the fact that the plantar support plate is in incomplete stable connection relation with the lower leg support plate due to ankle clonus of a user in the process of using the lower limb spastic mode comprehensive rehabilitation device by the user through converting the mechanical energy of the external operation into electric energy.
2. The lower limb cramping pattern rehabilitation apparatus according to claim 1, wherein the plantar splint (2) is capable of passive vibration in at least two vibration directions when ankle clonus occurs to the user based on an incompletely stable connection relationship with the lower leg splint (1).
3. The lower limb cramp mode integrated rehabilitation device according to claim 2, wherein the plantar support plate (2) is connected with the lower leg support plate (1) through the fixing plate (5), and when the main force applied by the user's foot (8) to the plantar support plate (2) changes in position, the plantar support plate (2) can rotate relative to the fixing plate (5) so that the accompanying person can observe.
4. A lower limb cramp mode integrated rehabilitation device according to claim 3, characterized in that a pressure sensor is provided on the plantar support plate (2) or the fixation plate (5), said pressure sensor being adapted to detect the abutting relationship between the plantar support plate (2) and the fixation plate (5).
5. The lower limb cramp mode comprehensive rehabilitation device according to claim 4, wherein the fixing plate (5) comprises an upper plate body and a lower plate body which are rotatably connected with each other through a driving mechanism, and the foot (8) of the patient can be driven to be turned inwards or outwards relative to the lower leg support plate (1) through adjusting and controlling the driving mechanism.
6. The lower limb spasticity mode integrated rehabilitation device according to claim 5, wherein the lower limb spasticity mode integrated rehabilitation device is further provided with a muscle electrical stimulation mechanism, wherein the electrode loop is selectively connected to electrically stimulate the anterior calf muscle group when performing ankle dorsiflexion mechanical draft.
7. The lower limb cramping pattern rehabilitation apparatus of claim 6, further comprising a hyperthermia multi-layered structure and a master controller connected to each other, the master controller configured to: monitoring the temperature of the corresponding treatment position by a temperature sensor arranged in the multi-layer structure for thermal therapy; when the temperature is detected to exceed a first preset temperature threshold, performing power-off protection; and electrifying and heating when the temperature is detected to be lower than a second preset temperature threshold value.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101112336A (en) * | 2007-07-18 | 2008-01-30 | 王中立 | Ankle foot healing retractor |
| JP2014124399A (en) * | 2012-12-27 | 2014-07-07 | Univ Of Tsukuba | Training system |
| CN106974801A (en) * | 2017-04-13 | 2017-07-25 | 北京大学 | A kind of lower limb spasm stretches rehabilitation security control method |
| CN210903545U (en) * | 2019-09-30 | 2020-07-03 | 郝峻巍 | Lower limb spasm mode comprehensive rehabilitation device |
| CN212261749U (en) * | 2020-03-06 | 2021-01-01 | 日照市中心医院 | Nerve department's anti spasm position strutting arrangement of low limbs |
| CN114848396A (en) * | 2022-05-07 | 2022-08-05 | 江苏理工学院 | Multi-signal feedback type electrical stimulation lower limb rehabilitation device |
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2022
- 2022-08-10 CN CN202210958182.8A patent/CN115227551B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101112336A (en) * | 2007-07-18 | 2008-01-30 | 王中立 | Ankle foot healing retractor |
| JP2014124399A (en) * | 2012-12-27 | 2014-07-07 | Univ Of Tsukuba | Training system |
| CN106974801A (en) * | 2017-04-13 | 2017-07-25 | 北京大学 | A kind of lower limb spasm stretches rehabilitation security control method |
| CN210903545U (en) * | 2019-09-30 | 2020-07-03 | 郝峻巍 | Lower limb spasm mode comprehensive rehabilitation device |
| CN212261749U (en) * | 2020-03-06 | 2021-01-01 | 日照市中心医院 | Nerve department's anti spasm position strutting arrangement of low limbs |
| CN114848396A (en) * | 2022-05-07 | 2022-08-05 | 江苏理工学院 | Multi-signal feedback type electrical stimulation lower limb rehabilitation device |
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