CN116725493A - Joint diagnosis and rehabilitation integrated equipment and joint diagnosis and rehabilitation method - Google Patents
Joint diagnosis and rehabilitation integrated equipment and joint diagnosis and rehabilitation method Download PDFInfo
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- CN116725493A CN116725493A CN202310994613.0A CN202310994613A CN116725493A CN 116725493 A CN116725493 A CN 116725493A CN 202310994613 A CN202310994613 A CN 202310994613A CN 116725493 A CN116725493 A CN 116725493A
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000002559 palpation Methods 0.000 claims abstract description 87
- 238000011179 visual inspection Methods 0.000 claims description 29
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 abstract description 8
- 230000010354 integration Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 238000012549 training Methods 0.000 description 22
- 238000009434 installation Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000036544 posture Effects 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011499 joint compound Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0048—Detecting, measuring or recording by applying mechanical forces or stimuli
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
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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
Abstract
The invention discloses joint diagnosis and rehabilitation integrated equipment and a joint diagnosis and rehabilitation method, comprising the following steps: a frame; the joint sleeve is movably arranged on the rack and is suitable for being sleeved at a joint of a patient; a palpation module movably mounted to the housing, the palpation module adapted to make contact diagnosis with a patient's body; the control module is used for controlling the joint suite and the palpation module to move relative to the frame, and the control module is electrically connected with the palpation module to acquire palpation results of the palpation module. According to the joint diagnosis and rehabilitation integrated device, the palpation module and the joint suite are arranged, so that the joint diagnosis and rehabilitation integrated device can perform corresponding treatment on an affected part after a diagnosis result is obtained, the integration level is improved, the control module can control the joint suite to perform accurate treatment on the affected part, the man-machine interaction is improved, and the use effect is better.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to joint diagnosis and rehabilitation integrated equipment and a joint diagnosis and rehabilitation method with the joint diagnosis and rehabilitation integrated equipment.
Background
With the increasing of the aging population of the world and the acquired reasons such as natural disasters, sudden accidents and the like, the number of patients with dyskinesia is gradually increased, and the demand of people for rehabilitation services is also continuously increased. The robot has the unique advantage of realizing upper limb rehabilitation training, not only meets the rehabilitation medical requirements of patients suffering from dyskinesia, improves the independent living ability of patients, but also has positive significance for society.
The existing shoulder joint rehabilitation means mainly realize rehabilitation training by applying force or displacement to the rehabilitation part of a patient through initiative of a doctor, and have the problems of long rehabilitation time, large manual error, state fatigue of the doctor and the like. The shoulder joint compound robot can continuously perform complicated rehabilitation training actions in a long time, and the robot system can easily complete various force/position control strategies. Compared with manual rehabilitation, the upper limb rehabilitation robot has the advantages of accurate rehabilitation training, low cost, high efficiency and the like, but the traditional rigid robot has poor man-machine interaction, is easy to damage a patient, and has room for improvement.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides joint diagnosis and rehabilitation integrated equipment which has high integration level and can improve man-machine interaction.
The joint diagnosis and rehabilitation integrated device according to the embodiment of the invention comprises: a frame; the joint sleeve is movably arranged on the rack and is suitable for being sleeved at a joint of a patient; a palpation module movably mounted to the housing, the palpation module adapted to make contact diagnosis with a patient's body; the control module is used for controlling the joint suite and the palpation module to move relative to the frame, and the control module is electrically connected with the palpation module to acquire palpation results of the palpation module.
According to the joint diagnosis and rehabilitation integrated device provided by the embodiment of the invention, the palpation module and the joint suite are arranged, so that the joint diagnosis and rehabilitation integrated device can correspondingly treat the affected part after diagnosing the result, the integration level is improved, the control module can control the joint suite to accurately treat the affected part, the man-machine interaction is improved, the use effect is better, and the application range is wider.
According to some embodiments of the invention, the frame includes a mounting rail disposed about the patient and a mounting bracket movably mounted to the mounting rail for movement relative to the patient, the joint kit and the palpation module being both movably mounted to the mounting bracket.
According to some embodiments of the invention, the joint diagnosis and rehabilitation integrated device comprises a first bracket and a second bracket, wherein the first bracket and the second bracket are installed on the installation sliding rail in a staggered manner and are respectively rotatable relative to the center of the installation sliding rail, the joint suite is movably installed on the first bracket, and the palpation module is movably installed on the second bracket.
According to the joint diagnosis and rehabilitation integrated device of some embodiments of the present invention, the first support and the second support are both provided with movable body position adjusting modules, the body position adjusting modules of the first support are connected with the joint suite through ropes, the body position adjusting modules of the second support are connected with the palpation module through ropes, and the control module is connected with the body position adjusting modules to control the body position adjusting modules to drive the corresponding ropes to stretch and retract.
According to the joint diagnosis and rehabilitation integrated device, a plurality of body position adjusting modules are arranged on the first support and the second support, and the body position adjusting modules are distributed at intervals and are respectively and correspondingly connected with one rope.
According to the joint diagnosis and rehabilitation integrated device, the first support and the second support comprise a cross beam and two vertical beams, the two vertical beams are parallel and spaced, the lower ends of the vertical beams are connected with the mounting sliding rail, the two ends of the cross beam are respectively connected with the upper ends of the two vertical beams, and the vertical beams and/or the cross beam are/is provided with the body position adjusting module.
According to some embodiments of the invention, the joint diagnosis and rehabilitation integrated device comprises a first support and a second support, wherein the first support and the second support are respectively provided with at least three body position adjusting modules.
The joint diagnosis and rehabilitation integrated device according to some embodiments of the present invention further includes: the visual inspection module is used for shooting a patient, is electrically connected with the control module, and is used for determining the target position of the palpation module according to the shooting result of the visual inspection module.
According to some embodiments of the invention, the joint diagnosis and rehabilitation integrated device, the vision module is mounted on the frame and is located above the patient.
The joint diagnosis and rehabilitation integrated device according to some embodiments of the present invention further comprises a bed body for carrying a patient, and the frame is disposed around the bed body.
According to the joint diagnosis and rehabilitation integrated device, a pressure sensing element is arranged in the palpation module.
The invention also provides a joint diagnosis and rehabilitation method.
The joint diagnosis and rehabilitation method according to the embodiment of the invention is applicable to the joint diagnosis and rehabilitation integrated device of any one of the above, and comprises the following steps: acquiring a first target position; controlling the joint set to drive the joint of the patient to move to the first target position; acquiring a second target position; controlling the palpation module to move to the second target position for diagnosis in contact with the body of the patient.
According to some embodiments of the invention, the method for joint diagnosis and rehabilitation, the acquiring the second target position includes: controlling a visual diagnosis module to shoot a patient; and acquiring the second target position according to the shooting result.
The joint diagnosis and rehabilitation method according to some embodiments of the present invention further includes: acquiring rehabilitation information of a patient; according to the rehabilitation information, the joint sleeve member is controlled to move to a sleeving position so as to sleeve the joint of the patient, and the joint sleeve member is controlled to drive the joint to move according to the target track.
The joint diagnosis and rehabilitation method and the joint diagnosis and rehabilitation integrated device have the same advantages compared with the prior art, and are not repeated here.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural view of an integrated joint diagnosis and rehabilitation apparatus according to an embodiment of the present invention;
FIG. 2 is a flow chart of a joint diagnostic rehabilitation method according to an embodiment of the present invention (diagnosis);
fig. 3 is a flow chart of a joint diagnosis rehabilitation method (rehabilitation) according to an embodiment of the present invention.
Reference numerals:
the joint diagnosis and rehabilitation integrated apparatus 100,
the device comprises a mounting slide rail 1, a first support 2, a second support 3, a joint sleeve 4, a palpation module 5, a control module 6, a body position adjusting module 7, a rope 8, a camera 9, a bed body 10 and a patient 11.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The joint diagnosis and rehabilitation integrated apparatus 100 according to the embodiment of the present invention is described below with reference to fig. 1, and has high integration, and can improve man-machine interaction.
As shown in fig. 1, the joint diagnosis and rehabilitation integrated apparatus 100 according to the embodiment of the present invention includes: a frame, a joint kit 4, a palpation module 5 and a control module 6.
The joint suite 4 is movably installed on the stand, the joint suite 4 is suitable for being sleeved at a joint of the patient 11, the palpation module 5 is movably installed on the stand, the palpation module 5 is suitable for contact diagnosis with the body of the patient 11, the control module 6 is used for controlling the joint suite 4 and the palpation module 5 to move relative to the stand, and the control module 6 is electrically connected with the palpation module 5 to acquire palpation results of the palpation module 5.
Wherein, joint diagnosis is recovered integrative equipment 100 is used for exerting force or driving the affected part through control mechanical structure to patient 11's affected part and carries out the displacement to realize carrying out the purpose of rehabilitation training to patient 11 affected part, carry out rehabilitation training through joint diagnosis is recovered integrative equipment 100 and can make rehabilitation training more accurate, improves rehabilitation training efficiency, and the cost is less than the cost of labor, and the result of use is better.
Specifically, the joint diagnosis and rehabilitation integrated device 100 is provided with a rack, the rack is provided with a joint sleeve 4, the joint sleeve 4 is movable relative to the rack, the joint sleeve 4 can be sleeved at the joint of the patient 11 and performs traction and other operations on the joint of the patient 11 so as to perform rehabilitation training on an affected part, the joint sleeve 4 can be arranged into different forms such as an integrated form or a split form so as to realize rehabilitation training with different flexibility, the rack is also provided with a palpation module 5, the palpation module 5 is movable relative to the rack, and the palpation module 5 is tightly attached to the body of the patient 11 so as to perform contact diagnosis on the affected part of the patient 11.
The joint diagnosis and rehabilitation integrated device 100 is further provided with a control module 6, the control module 6 can control the joint suite 4 to move relative to the frame and can also control the palpation module 5 to move relative to the frame, so that different actions such as pulling and the like can be performed on the joint of the patient 11 by moving the joint suite 4, and different body parts of the patient 11 can be diagnosed by moving the palpation module 5, the control module 6 is electrically connected with the palpation module 5, and further the palpation module 5 can transmit data to the control module 6, so that the control module 6 can acquire palpation results of the palpation module 5.
Further, when the patient 11 uses the joint diagnosis and rehabilitation integrated device 100 to perform diagnosis and treatment, the control module 6 can enable the palpation module 5 to be in contact with the body of the patient 11 at the position to be diagnosed, the palpation module 5 performs palpation diagnosis on the position, and transmits palpation results to the control module 6, the control module 6 controls the joint kit 4 to move relative to the frame through palpation results so as to perform operations such as pulling and the like on the joint of the patient 11, and further perform rehabilitation training on the affected part, and the palpation module 5 and the joint kit 4 are both arranged on the joint diagnosis and rehabilitation integrated device 100, so that palpation and treatment can be performed on the device, the integration level is improved, the treatment is more accurate, and the man-machine interaction is improved.
According to the joint diagnosis and rehabilitation integrated device 100 provided by the embodiment of the invention, the palpation module 5 and the joint suite 4 are arranged, so that the joint diagnosis and rehabilitation integrated device 100 can perform corresponding treatment on an affected part after a diagnosis result is obtained, the integration level is improved, the control module 6 can control the joint suite 4 to perform accurate treatment on the affected part, the man-machine interaction is improved, the use effect is better, and the application range is wider.
In some embodiments, the frame includes a mounting rail 1 disposed about the patient 11 and a mounting bracket movably mounted to the mounting rail 1 for movement relative to the patient 11, the joint kit 4 and the palpation module 5 being both movably mounted to the mounting bracket.
Specifically, as shown in fig. 1, the rack is provided with a mounting slide rail 1 and a mounting bracket, the mounting bracket is arranged on the mounting slide rail 1 and is movable relative to the mounting slide rail 1, the mounting slide rail 1 is arranged around a patient 11, namely, the mounting bracket is movable about the patient 11, the mounting slide rail 1 can be arranged into a circular slide rail and the like, so that the mounting bracket slides on the mounting slide rail 1 more smoothly, the sliding reliability of the mounting bracket is ensured, the joint suite 4 is arranged on the mounting bracket and is movable relative to the mounting bracket, the palpation module 5 is also arranged on the mounting bracket and is movable relative to the mounting bracket, so that the joint suite 4 and the palpation module 5 can move relative to the mounting bracket when the mounting bracket surrounds the patient 11, and the joint diagnosis and rehabilitation integrated device 100 can perform omnibearing palpation and treatment on the patient 11, thereby improving flexibility.
In some embodiments, the mounting bracket includes a first bracket 2 and a second bracket 3, the first bracket 2 and the second bracket 3 are mounted on the mounting slide rail 1 in a staggered manner and are respectively rotatable relative to the center of the mounting slide rail 1, the joint kit 4 is movably mounted on the first bracket 2, and the palpation module 5 is movably mounted on the second bracket 3.
Specifically, as shown in fig. 1, a mounting bracket is disposed on the mounting slide rail 1, the mounting bracket is provided with a first bracket 2 and a second bracket 3, the first bracket 2 is movable relative to the mounting slide rail 1, the second bracket 3 is also movable relative to the mounting slide rail 1, the first mounting bracket and the second bracket 3 can be mounted on the mounting slide rail 1 in a staggered manner, and the first mounting bracket and the second bracket 3 are respectively rotatable relative to the center of the mounting slide rail 1, so that the first bracket 2 can be located at the front side, the right side and the like of the second bracket 3, the first bracket 2 can also be located at the rear side, the left side and the like of the second bracket 3, meanwhile, the joint suite 4 is mounted on the first bracket 2 and is movable relative to the first bracket 2, the palpation module 5 is mounted on the second bracket 3 and is movable relative to the second bracket 3, so that the joint suite 4 is adjusted relative to the position of the palpation module 5 by adjusting the positions of the first bracket 2 and the second bracket 3, so that the joint suite 4 is more flexible in use of the joint diagnosis and rehabilitation integrated device 100.
In some embodiments, the first support 2 and the second support 3 are both provided with movable body position adjusting modules 7, the body position adjusting modules 7 of the first support 2 are connected with the joint suite 4 through ropes 8, the body position adjusting modules 7 of the second support 3 are connected with the palpation module 5 through the ropes 8, and the control module 6 is connected with the body position adjusting modules 7 to control the body position adjusting modules 7 to drive the corresponding ropes 8 to stretch and retract.
Specifically, as shown in fig. 1, the joint diagnosis and rehabilitation integrated device 100 is provided with a body position adjusting module 7, the body position adjusting module 7 is disposed on the first support 2 and the second support 3, the body position adjusting module 7 is movable relative to the first support 2 and the second support 3, the body position adjusting module 7 disposed on the first support 2 can be connected with the joint suite 4 through a rope 8, the body position adjusting module 7 disposed on the second support 3 can be connected with the palpation module 5 through the rope 8, and the control module 6 can be connected with the body position adjusting module 7 through electric connection and the like, so that the control module 6 can control the body position adjusting module 7 to drive the corresponding rope 8 to stretch and retract, and then the joint suite 4 connected with the rope 8 and the palpation module 5 are adjusted to move to a required position.
Further, according to the differences of the body type, the posture, the diagnosis requirement, the rehabilitation training content and the like of the patient 11, the user can adjust the positions of the first support 2 and the second support 3 relative to the installation slide rail 1, and adjust the position of the whole position adjusting module 7 through the control module 6, so that the position of the rope 8 rope outlet point is changed, the diagnosis of affected parts and the adjustment of the body position in the joint diagnosis rehabilitation training are realized, and when the diagnosis and the adjustment process are carried out, the first support 2, the second support 3 and the body position adjusting module 7 can be locked, so that the stability of equipment in the diagnosis and the rehabilitation training is ensured, and the use safety is improved.
In some embodiments, the body position adjusting modules 7 on the first bracket 2 and the second bracket 3 are multiple, and the body position adjusting modules 7 are distributed at intervals and are respectively and correspondingly connected with one rope 8.
Specifically, as shown in fig. 1, a plurality of body position adjusting modules 7 are arranged on the first support 2, a rope 8 is correspondingly connected to the plurality of body position adjusting modules 7 spaced apart on the first support 2, and a plurality of ropes 8 connected to the plurality of body position adjusting modules 7 on the first support 2 are connected to the joint suite 4, so that the joint suite 4 can be pulled by the plurality of ropes 8 to change positions, further, the movement of the joint suite 4 is more accurate, the traction accuracy is improved, a plurality of body position adjusting modules 7 are also arranged on the second support 3, a rope 8 is correspondingly connected to the plurality of body position adjusting modules 7 spaced apart on the second support 3, and a plurality of ropes 8 connected to the plurality of body position adjusting modules 7 on the second support 3 are connected to the palpation module 5, so that the palpation module 5 can change positions through the traction of the plurality of ropes 8, further, the movement of the palpation module 5 is more accurate, and the accuracy of the palpation module 5 in contact with the position of the patient 11 is improved.
In some embodiments, the first bracket 2 and the second bracket 3 each comprise a cross beam and two vertical beams, the two vertical beams are spaced apart in parallel, the lower ends of the vertical beams are connected with the mounting sliding rail 1, the two ends of the cross beam are respectively connected with the upper ends of the two vertical beams, and the vertical beams and/or the cross beams are provided with body position adjusting modules 7, i.e. the body position adjusting modules 7 can be arranged on the vertical beams and the cross beams, or can be arranged on the cross beams only, or can be arranged on the vertical beams only.
Specifically, as shown in fig. 1, the first support 2 and the second support 3 are both configured to include a cross beam and two vertical beams, the two vertical beams are arranged in parallel and spaced apart, and the lower ends of the two vertical beams are connected with the installation slide rail 1, so that the first support 2 and the second support 3 are slidable relative to the installation slide rail 1, the upper ends of the two vertical beams are respectively connected with two ends of the cross beam, the body position adjusting module 7 is arranged on the first support 2 and the second support 3, and in this embodiment, the body position adjusting module 7 is arranged on the cross beam and the two vertical beams, the patient 11 is positioned in the middle position of the joint diagnosis and rehabilitation integrated device 100, the two vertical beams are arranged on two sides of the patient 11, the cross beam is positioned above the patient 11, and the body position adjusting module 7 is arranged on the cross beam and the two vertical beams, so that the body position adjusting module 7 can control the joint suite 4 and the palpation module 5 from multiple directions, and the accuracy of the moving track of the joint suite 4 and the palpation module 5 is improved.
When in actual installation, the body position adjusting module 7 and the cross beam or the vertical beam are matched through the sliding rail sliding chute, and a corresponding driving structure such as a motor is arranged on the body position adjusting module 7 to drive the body position adjusting module 7 to slide relative to the cross beam or the vertical beam, so that the position adjustment of the joint suite 4 and the palpation module 5 is realized, and the control module 6 can control the motor.
In some embodiments, the first bracket 2 and the second bracket 3 are each provided with at least three body position adjustment modules 7.
Specifically, as shown in fig. 1, the first support 2 is provided with a plurality of body position adjusting modules 7, and the plurality of body position adjusting modules 7 are at least three, in this embodiment, four body position adjusting modules 7 are provided on the first support 2, two of the body position adjusting modules 7 are provided on the cross beam, two of the vertical beams are respectively provided with one body position adjusting module 7, so that the joint kit 4 can complete operations such as translation and rotation, the flexibility is higher, the second support 3 is also provided with a plurality of body position adjusting modules 7, and the plurality of body position adjusting modules 7 are at least three, in this embodiment, three body position adjusting modules 7 are provided on the second support 3, wherein the one body position adjusting modules 7 are provided on the cross beam, and two of the vertical beams are respectively provided with one body position adjusting modules 7, so that the body position adjusting modules 7 are connected with the palpation module 5 from three directions, the triangle has stability, so that the palpation module 5 can complete operations such as translation, and the like, and the stability can be ensured.
In some embodiments, the joint diagnostic rehabilitation integrated device 100 further comprises: and a visual inspection module.
Specifically, as shown in fig. 1, the visual inspection module is used for shooting a patient 11, the visual inspection module is electrically connected with the control module 6, the control module 6 is used for determining the target position of the palpation module 5 according to the shooting result of the visual inspection module, the visual inspection module is provided with a camera 9, the camera 9 is arranged towards the patient 11, and then the visual inspection module can shoot the patient 11, the visual inspection module is electrically connected with the control module 6, the visual inspection module can convey the visual inspection result to the control module 6, the camera 9 is used for collecting body information of the patient 11, when the joint diagnosis rehabilitation integrated device 100 is used for diagnosing the patient 11, the camera 9 is firstly used for carrying out visual inspection on the body of the patient 11, the preliminary result obtained by visual inspection of the camera 9 can be transmitted to the control module 6, and then the palpation target is obtained, and then the position adjusting module 7 is controlled by the control module 6 to drive the rope 8 to adjust the palpation module 5 to move to the designated position, and then the palpation of the body of the patient 11 is carried out, so that the diagnosis is more intelligent, and the manpower is saved.
In some embodiments, the viewing module is mounted to the gantry and is located above the patient 11.
Specifically, the visual inspection module is installed in the frame, that is, the visual inspection module can be installed on the first support 2 and also can be installed on the second support 3, when the visual inspection module is installed on the first support 2, the visual inspection module is movable relative to the patient 11, that is, the omnibearing visual inspection can be carried out on the body of the patient 11, and the visual inspection module is positioned on the beam of the first support 2, the visual inspection can be carried out on the patient 11 from the upper part of the patient 11, the shielding of the side of the patient 11 is avoided, the visual inspection result is influenced, and the visual inspection module can also be arranged on the second support 3, so that the setting flexibility is improved, and different requirements are met.
In some embodiments, the joint diagnosis and rehabilitation integrated apparatus 100 further includes a bed 10, the bed 10 is used to carry a patient 11, and the frame is disposed around the bed 10.
Specifically, as shown in fig. 1, the joint diagnosis and rehabilitation integrated device 100 is further provided with a bed body 10, when the patient 11 is diagnosed and treated by using the joint diagnosis and rehabilitation integrated device 100, the patient can be located above the bed body 10, and the frame is arranged around the bed body 10, that is, the bed body 10 is arranged between the first support 2, the second support 3 and the mounting slide rail 1, so that the first support 2, the second support 3 and the mounting slide rail 1 are all arranged around the bed body 10, and further, the patient 11 can be diagnosed and treated in an omnibearing manner when being located in the bed body 10, the diagnosis and treatment range is enlarged, meanwhile, the bed body 10 can be arranged as a traditional fixed physiotherapy bed, an adjustable physiotherapy bed, a fixed seat and the like, the flexibility is high, various body positions of the patient 11 such as supine, lateral lying and sitting postures can be realized, and the diagnosis and treatment effect is improved.
In some embodiments, a pressure sensing element is disposed in the palpation module 5, when the joint diagnosis and rehabilitation integrated device 100 operates, the control module 6 can control the body position adjusting module 7 to drive the rope 8, so that the palpation module 5 contacts the patient 11, at this time, the pressure sensing element disposed in the palpation module 5 can sense pressure signals generated by different positions of the body of the patient 11, and transmit the pressure signals to a terminal, such as a computer, etc., the pressure signals are analyzed through the terminal, and a palpation conclusion is given, the host of the control module 6 is connected with a network, and the evaluation of the diagnosis result can be realized through relevant software programs, so that corresponding intelligent functional action simulation is generated, the post-operation training scheme of the patient 11 is customized, training data can be stored in real time, later analysis and adjustment of the training scheme are facilitated, the integrated intellectualization of diagnosis and treatment is realized, and human resources are saved.
The pressure sensing element may be a pressure sensor.
The invention also provides a joint diagnosis and rehabilitation method.
The joint diagnosis and rehabilitation method according to the embodiment of the present invention is applicable to the joint diagnosis and rehabilitation integrated apparatus 100 of any one of the above, and as shown in fig. 2, the joint diagnosis and rehabilitation method includes:
s1, acquiring a first target position;
s2, controlling the joint suite 4 to drive the joint of the patient 11 to move to a first target position;
s3, acquiring a second target position;
and S4, controlling the palpation module 5 to move to the second target position to be in contact with the body of the patient 11 for diagnosis.
Specifically, according to different diagnosis requirements, the control module 6 is provided with different first target position information, the control module 6 can control the position adjusting module 7 to drive the rope 8 according to the first target position information, and then the joint sleeve 4 is controlled to drive the joint of the patient 11 to move to the first target position, after the joint sleeve 4 drives the joint of the patient 11 to move to the first target position, the vision module operates, the vision module is electrically connected with the control module 6, and the vision module is provided with the camera 9, the camera 9 is arranged towards the patient 11, the vision module can shoot the patient 11, and then obtain the position information of the patient 11 to be diagnosed, namely the second target position, the vision module conveys the second position information to the control module 6, the control module 6 controls the position adjusting module 7 to drive the rope 8, and then controls the movement of the vision module 5 to the second target position, so as to contact and diagnose the body of the patient 11.
The joint diagnosis and rehabilitation method according to the embodiment of the invention can be applied to the joint diagnosis and rehabilitation integrated equipment 100 to control the palpation module 5, the joint suite 4 and the like, so that the joint diagnosis and rehabilitation integrated equipment 100 can correspondingly treat the affected part after diagnosing the result, the integration level is improved, the control module 6 can control the joint suite 4 to accurately treat the affected part, the man-machine interaction is improved, the use effect is better, and the application range is wider.
In some embodiments, acquiring the second target location includes: the control visual inspection module shoots the patient 11; and acquiring a second target position according to the shooting result.
Specifically, the visual inspection module is electrically connected with the control module 6, the visual inspection module is provided with a camera 9, the camera 9 is arranged towards the patient 11, the visual inspection module can shoot the patient 11, and then the position information that the patient 11 needs to diagnose, namely, the second target position, is obtained, the visual inspection module conveys the second position information to the control module 6, the control module 6 controls the position adjusting module 7 to drive the rope 8, and then the joint suite 4 is controlled to drive the joint of the patient 11 to move to the second target position, so that the body of the patient 11 is contacted and diagnosed.
In some embodiments, as shown in fig. 3, the joint diagnostic rehabilitation method further comprises:
s5, acquiring rehabilitation information of the patient 11;
and S6, according to the rehabilitation information, controlling the joint sleeve 4 to move to a sleeving position so as to sleeve the joint of the patient 11, and controlling the joint sleeve 4 to drive the joint to move according to the target track.
Specifically, after the palpation is finished, the relevant software program can realize the evaluation of the diagnosis result, further generate corresponding intelligent functional action simulation, customize the training scheme of the patient 11 after operation, store the training data in real time, facilitate the later analysis and adjustment of the training scheme and the like, further enable the control module 6 to adjust the positions of the mounting bracket and the position adjusting module 7 according to the different information of the body type, the posture, the rehabilitation training and the like of the patient 11, enable the position adjusting module 7 to drive the rope 8 to adjust the position of the joint suite 4, further adjust the joint of the patient 11 to move according to the target track, and lock the position adjusting module 7 after adjustment so as to ensure the stability of equipment in the rehabilitation training.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (14)
1. A joint diagnosis and rehabilitation integrated apparatus, comprising:
a frame;
the joint sleeve is movably arranged on the rack and is suitable for being sleeved at a joint of a patient;
a palpation module movably mounted to the housing, the palpation module adapted to make contact diagnosis with a patient's body;
the control module is used for controlling the joint suite and the palpation module to move relative to the frame, and the control module is electrically connected with the palpation module to acquire palpation results of the palpation module.
2. The joint diagnostic rehabilitation all-in-one device of claim 1, wherein the frame includes a mounting rail disposed about the patient and a mounting bracket movably mounted to the mounting rail for movement relative to the patient, the joint kit and the palpation module each being movably mounted to the mounting bracket.
3. The joint diagnosis and rehabilitation integrated apparatus according to claim 2, wherein the mounting bracket includes a first bracket and a second bracket, the first bracket and the second bracket are mounted to the mounting rail in a staggered manner and rotatable with respect to a center of the mounting rail, respectively, the joint kit is movably mounted to the first bracket, and the palpation module is movably mounted to the second bracket.
4. The joint diagnosis and rehabilitation integrated device according to claim 3, wherein the first support and the second support are both provided with movable body position adjusting modules, the body position adjusting modules of the first support are connected with the joint suite through ropes, the body position adjusting modules of the second support are connected with the palpation module through ropes, and the control module is connected with the body position adjusting modules to control the body position adjusting modules to drive the corresponding ropes to stretch and retract.
5. The joint diagnosis and rehabilitation integrated device according to claim 4, wherein the body position adjusting modules on the first bracket and the second bracket are multiple, and the body position adjusting modules are distributed at intervals and are respectively and correspondingly connected with one rope.
6. The joint diagnosis and rehabilitation integrated apparatus according to claim 4, wherein the first bracket and the second bracket each comprise a cross beam and two vertical beams, the two vertical beams are spaced apart in parallel, the lower ends of the vertical beams are connected with the mounting sliding rails, two ends of the cross beam are respectively connected with the upper ends of the two vertical beams, and the vertical beams and/or the cross beam are provided with the body position adjusting module.
7. The joint diagnostic rehabilitation integrated device of claim 4, wherein the first and second brackets are each provided with at least three of the posture adjustment modules.
8. The joint diagnostic rehabilitation integrated device according to claim 1, characterized by further comprising: the visual inspection module is used for shooting a patient, is electrically connected with the control module, and is used for determining the target position of the palpation module according to the shooting result of the visual inspection module.
9. The joint diagnostic rehabilitation all-in-one device of claim 8, wherein the vision module is mounted to the housing above the patient.
10. The joint diagnostic rehabilitation integrated device of claim 1, further comprising a bed for carrying a patient, the frame being disposed about the bed.
11. The joint diagnostic rehabilitation integrated device according to claim 1, wherein a pressure sensing element is provided in the palpation module.
12. A joint diagnosis and rehabilitation method, which is applicable to the joint diagnosis and rehabilitation integrated apparatus according to any one of claims 1 to 11, and which comprises:
acquiring a first target position;
controlling the joint set to drive the joint of the patient to move to the first target position;
acquiring a second target position;
controlling the palpation module to move to the second target position for diagnosis in contact with the body of the patient.
13. The joint diagnostic rehabilitation method of claim 12, wherein the acquiring the second target location comprises:
controlling a visual diagnosis module to shoot a patient;
and acquiring the second target position according to the shooting result.
14. The joint diagnostic rehabilitation method according to claim 12, characterized by further comprising:
acquiring rehabilitation information of a patient;
according to the rehabilitation information, the joint sleeve member is controlled to move to a sleeving position so as to sleeve the joint of the patient, and the joint sleeve member is controlled to drive the joint to move according to the target track.
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