CN117045414A - Active posture support robot for trunk injury patient - Google Patents
Active posture support robot for trunk injury patient Download PDFInfo
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- CN117045414A CN117045414A CN202310990850.XA CN202310990850A CN117045414A CN 117045414 A CN117045414 A CN 117045414A CN 202310990850 A CN202310990850 A CN 202310990850A CN 117045414 A CN117045414 A CN 117045414A
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- chain
- support
- trunk
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- 208000027418 Wounds and injury Diseases 0.000 title claims abstract description 25
- 230000006378 damage Effects 0.000 title claims abstract description 25
- 208000014674 injury Diseases 0.000 title claims abstract description 25
- 210000004197 pelvis Anatomy 0.000 claims abstract description 19
- 210000003049 pelvic bone Anatomy 0.000 claims abstract description 18
- 230000009467 reduction Effects 0.000 claims abstract description 7
- 238000012549 training Methods 0.000 claims abstract description 6
- 210000000038 chest Anatomy 0.000 claims description 14
- 210000000115 thoracic cavity Anatomy 0.000 claims description 6
- 210000001562 sternum Anatomy 0.000 claims description 2
- 230000003068 static effect Effects 0.000 abstract description 2
- 238000005452 bending Methods 0.000 abstract 2
- 210000001624 hip Anatomy 0.000 abstract 2
- 208000002874 Acne Vulgaris Diseases 0.000 abstract 1
- 206010058907 Spinal deformity Diseases 0.000 abstract 1
- 206010000496 acne Diseases 0.000 abstract 1
- 230000000694 effects Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 24
- 238000013461 design Methods 0.000 description 15
- 238000011160 research Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
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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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
Abstract
The invention discloses an active posture support robot for trunk injury patients; comprises the following components: the chest support, the driving motor, the reduction gearbox, the electric actuator, the pelvis support, the No. 3 chain, the No. 2 chain and the No. 1 chain; some other accessories are also included: chairs, gimbals, hinges, etc. The invention is divided into a trunk part and a pelvic bone part. The trunk part has four degrees of freedom and is responsible for supporting the trunk of the patient from the chest to the pelvis; the pelvic bone portion has three degrees of freedom and is responsible for assisting in a series of physiological movements of the patient's pelvic bone. The waist rehabilitation training device has seven degrees of freedom in total, is enough to realize rehabilitation training of multiple degrees of freedom of human body trunk, and can meet the activities of forward bending and backward stretching, left and right side bending, left and right rotation and the like of the human body waist. By controlling the two brackets to enable the patient to keep or move to a certain pose, the spinal deformity or acne caused by the static pose can be effectively prevented, and the patient can be assisted to complete a series of rehabilitation movements. Make up for the gap of robots in the field of trunk rehabilitation in China.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical appliances, and particularly relates to an active posture support robot for trunk injury patients.
Background
The rehabilitation robot is a medical robot based on robot technology guiding rehabilitation medicine and is commonly used for rehabilitation treatment of patients with lower limb movement dysfunction. The general purpose is to replace or assist a rehabilitation engineer in treating limb injuries and to simplify the one-to-one therapeutic process of conventional rehabilitation. With the rapid rise of the economic development of China, the development of mechanical systems for limb rehabilitation is mature gradually, and exoskeleton or robot research aiming at promoting standing, supporting lower limb movement and lower limb rehabilitation training has been deeply studied in many aspects. However, the existing researches can not meet the requirements of the patients with the damaged spine and trunk, and solve a series of sitting posture balance problems aiming at the patients.
Current methods available on the market for assisting in healing torso injuries include a variety of passive and static fixation devices such as cushions, harnesses, thoracolumbo-sacral orthoses, tilting wheelchairs and inflatable cushions, all of which are extremely restrictive and can cause muscle atrophy. Nor do these devices provide a series of dynamic assistance that impedes the patient from performing a series of dynamic movements involving the upper limbs and torso, making it difficult for the patient to maintain a comfortable sitting position.
In recent years, new passive orthotic systems have provided patients in a sitting position with a greater range of motion, such as pelvic stabilizers, adjustable lumbar pelvic support systems, regulators to assist in pelvic rotation, auxiliary pressure relief systems. However, the design of these passive devices does not allow for active coordination of body movements of the torso and rotations of the various poses of the patient in a sitting position. There is also a lack of research inventions in the area of active support devices directed to patients with impaired trunk.
Disclosure of Invention
Accordingly, in order to solve the above-mentioned drawbacks, the present invention provides an active posture support robot for a trunk injury patient. The invention provides a brand new rehabilitation robot design which can be arranged on a bench or a wheelchair, is fixed at the chest and pelvis of a wearer by utilizing two support brackets, helps a patient maintain different postures by driving and controlling the two support brackets, and fills up the gap in the research direction of the rehabilitation robot design.
The invention is realized in such a way, and constructs an active posture support robot for a trunk injury patient, which is characterized in that; comprises the following components: the chest support (1), the driving motor (2), the reduction gearbox (3), the electric actuator (4), the pelvis support (5), the No. 3 chain (6), the No. 2 chain (7) and the No. 1 chain (8);
wherein, a pelvic bone bracket (5) fixed above the iliac crest of the human body is positioned on the sternum horizontal chest bracket (1), and the pelvic bone bracket (5) is connected with the chest bracket (1) through four electric actuators (4); the pelvic bone bracket (5) is connected to a wheelchair or a bench through a No. 1 chain (8), a No. 2 chain (7) and a No. 3 chain (6) and is driven by a driving motor (2); the pelvic bone support (5) plays a supporting role on the chest support (1) and the pelvic bone, and can be passively adjusted according to the requirement of rehabilitation training to achieve different poses required by a human body.
According to the active posture support robot for the trunk injury patient, the method is characterized in that; some other accessories are also included: chair (9), universal joint and hinge.
According to the active posture support robot for the trunk injury patient, the method is characterized in that; the thoracic support (1) is linked with the electric actuator (4) through a spherical joint. The pelvis support (5) is connected with the electric actuators (4) at the left side and the right side through universal joints, and is connected with the electric actuators (4) at the front side and the rear side through spherical joints. The four self-moving pairs on the electric actuator jointly realize the adjustment and support functions of the trunk pose support robot on the trunk pose of the trunk injury patient.
According to the active posture support robot for the trunk injury patient, the method is characterized in that; the pelvis support (5) is linked with the No. 1 chain (8) through a universal joint; the No. 2 chains (7) are linked through spherical joints; the chain 3 and the chain 6 are linked through a spherical joint; wherein, the first section (801) and the second section (802) of the No. 1 chain (8) are linked through a rotary joint, and the second section (802) and the third section (803) are linked through a rotary joint; the first section (701) and the second section (702) of the No. 2 chain (7) are linked through a rotary joint; the first section (601) and the second section (602) of the No. 3 chain (6) are linked through a rotary joint; the revolute pair of the three chains far away from the tail end of the pelvis support is a driving pair, and comprises three degrees of freedom, the driving mode is motor driving, and the driving motor (2) is matched with the reduction gearbox (3).
The invention has the following advantages: the invention aims to complement the defect of the existing rehabilitation robot design field in the aspect of trunk rehabilitation, and provides a brand-new active posture support robot design for trunk injury patients. Because the auxiliary trunk rehabilitation equipment provided on the market has single functionality and high limitation, patients can only complete physiological movement in a fixed area, and comfortable sitting postures and rehabilitation movements are difficult to ensure. Therefore, the invention provides a brand new rehabilitation robot design which can be arranged on a bench or a wheelchair, is fixed at the chest and pelvis of a wearer by utilizing two support brackets, helps patients maintain different postures by driving and controlling the two support brackets, and fills up the gap in the research direction of the rehabilitation robot design.
Drawings
FIG. 1 is a schematic diagram of a trunk support part of a trunk injury patient active posture support robot;
FIG. 2 is a schematic diagram of a pelvis supporting part of an active posture supporting robot for a patient with trunk injury;
FIG. 3 is a schematic diagram of the complete structure of an active posture support robot for a patient with trunk injury;
fig. 4 is a schematic view of an application state.
Wherein: thoracic support 1, driving motor 2, reduction gearbox 3, electric actuator 4, pelvic support 5, no. 3 chain 6, no. 2 chain 7, no. 1 chain 8, no. 1 chain first section 801, no. 1 chain second section 802, no. 1 chain third section 803,2 No. 1 chain first section 701,2, no. 702,3 chain first section 601,3 chain second section 602.
Detailed Description
The following detailed description of the present invention will provide clear and complete description of the technical solutions of embodiments of the present invention, with reference to fig. 1-4, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to complement the defect of the existing rehabilitation robot design field in the aspect of trunk rehabilitation, and provides a brand-new active posture support robot design for trunk injury patients. Because the auxiliary trunk rehabilitation equipment provided on the market has single functionality and high limitation, patients can only complete physiological movement in a fixed area, and comfortable sitting postures and rehabilitation movements are difficult to ensure. Therefore, the invention provides a brand new rehabilitation robot design which can be arranged on a bench or a wheelchair, is fixed at the chest and pelvis of a wearer by utilizing two support brackets, helps patients maintain different postures by driving and controlling the two support brackets, and fills up the gap in the research direction of the rehabilitation robot design.
The invention provides an active posture support robot for trunk injury patients, which mainly comprises the following eight parts: chest support 1, driving motor 2, reducing gear box 3, electric actuator 4, pelvis support 5, no. 3 chain 6, no. 2 chain 7, no. 1 chain 8 (as shown in fig. 1), still contain some other annex: chair 9, universal joints, hinges, etc.
1-3, a trunk injury patient active posture support robot trunk comprises a pelvic bone support 5 fixed above an iliac crest of a human body and positioned on a sternal horizontal thoracic support 1, wherein the pelvic bone support 5 is connected with the thoracic support 1 through four electric actuators 4. The pelvic bone support 5 is connected to a wheelchair or bench through a No. 1 chain 8, a No. 2 chain 7 and a No. 3 chain 6 and is driven by a driving motor 2. The pelvic bone support 5 supports the chest support 1 and the pelvic bones, and can be passively adjusted according to the requirement of rehabilitation training to achieve different postures required by a human body.
Referring to fig. 1, the thoracic support 1 and the electric actuator 4 in this embodiment are linked by a spherical joint. The pelvis support 5 is connected with the electric actuators 4 on the left side and the right side through universal joints, and is connected with the electric actuators 4 on the front side and the rear side through spherical joints. The four self-moving pairs on the electric actuator jointly realize the adjustment and support functions of the trunk pose support robot on the trunk pose of the trunk injury patient.
Referring to fig. 2, the pelvis support 5 and the chain 1 8 in the present embodiment are linked by a universal joint; chain No. 2 7 is linked through a spherical joint; and chain 3 and chain 6 are linked through spherical joints. Wherein the first link 801 and the second link 802 of the chain 1 8 are linked by a revolute joint, and the second link 802 and the third link 803 are linked by a revolute joint; the first section 701 and the second section 702 of the chain No. 2 7 are linked by a revolute joint; the first link 601 and the second link 602 of the chain 3 6 are linked by a revolute joint. The revolute pairs of the three chains, which are far away from the tail end of the pelvis support, are driving pairs, and comprise three degrees of freedom, and the driving mode is motor driving, and is provided by a driving motor 2 matched with a reduction gearbox 3.
The invention aims to complement the defect of the existing rehabilitation robot design field in the aspect of trunk rehabilitation, and provides a brand-new active posture support robot design for trunk injury patients. Because the auxiliary trunk rehabilitation equipment provided on the market has single functionality and high limitation, patients can only complete physiological movement in a fixed area, and comfortable sitting postures and rehabilitation movements are difficult to ensure. Therefore, the invention provides a brand new rehabilitation robot design which can be arranged on a bench or a wheelchair, is fixed at the chest and pelvis of a wearer by utilizing two support brackets, helps patients maintain different postures by driving and controlling the two support brackets, and fills up the gap in the research direction of the rehabilitation robot design.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. An active posture support robot for a patient with trunk injury is characterized in that;
comprises the following components: the chest support (1), the driving motor (2), the reduction gearbox (3), the electric actuator (4), the pelvis support (5), the No. 3 chain (6), the No. 2 chain (7) and the No. 1 chain (8);
wherein, a pelvic bone bracket (5) fixed above the iliac crest of the human body is positioned on the sternum horizontal chest bracket (1), and the pelvic bone bracket (5) is connected with the chest bracket (1) through four electric actuators (4); the pelvic bone bracket (5) is connected to a wheelchair or a bench through a No. 1 chain (8), a No. 2 chain (7) and a No. 3 chain (6) and is driven by a driving motor (2); the pelvic bone support (5) plays a supporting role on the chest support (1) and the pelvic bone, and can be passively adjusted according to the requirement of rehabilitation training to achieve different poses required by a human body.
2. The active posture support robot for trunk injury patients according to claim 1, wherein; some other accessories are also included: chair (9), universal joint and hinge.
3. The active posture support robot for trunk injury patients according to claim 1, wherein; the thoracic support (1) is linked with the electric actuator (4) through a spherical joint; the pelvis support (5) is linked with the electric actuators (4) at the left side and the right side through universal joints, and is linked with the electric actuators (4) at the front side and the rear side through spherical joints; the four self-moving pairs on the electric actuator jointly realize the adjustment and support functions of the trunk pose support robot on the trunk pose of the trunk injury patient.
4. The active posture support robot for trunk injury patients according to claim 1, wherein; the pelvis support (5) is linked with the No. 1 chain (8) through a universal joint; the No. 2 chains (7) are linked through spherical joints; the chain 3 and the chain 6 are linked through a spherical joint; wherein, the first section (801) and the second section (802) of the No. 1 chain (8) are linked through a rotary joint, and the second section (802) and the third section (803) are linked through a rotary joint; the first section (701) and the second section (702) of the No. 2 chain (7) are linked through a rotary joint; the first section (601) and the second section (602) of the No. 3 chain (6) are linked through a rotary joint; the revolute pair of the three chains far away from the tail end of the pelvis support is a driving pair, and comprises three degrees of freedom, the driving mode is motor driving, and the driving motor (2) is matched with the reduction gearbox (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310990850.XA CN117045414A (en) | 2023-08-08 | 2023-08-08 | Active posture support robot for trunk injury patient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310990850.XA CN117045414A (en) | 2023-08-08 | 2023-08-08 | Active posture support robot for trunk injury patient |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117045414A true CN117045414A (en) | 2023-11-14 |
Family
ID=88652831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310990850.XA Pending CN117045414A (en) | 2023-08-08 | 2023-08-08 | Active posture support robot for trunk injury patient |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117045414A (en) |
-
2023
- 2023-08-08 CN CN202310990850.XA patent/CN117045414A/en active Pending
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