CN117064618A

CN117064618A - Postoperative lower limb rehabilitation system

Info

Publication number: CN117064618A
Application number: CN202310755506.2A
Authority: CN
Inventors: 周天; 刘云云; 关欣
Original assignee: Xuanwu Hospital
Current assignee: Xuanwu Hospital
Priority date: 2023-06-25
Filing date: 2023-06-25
Publication date: 2023-11-17

Abstract

The invention relates to a postoperative lower limb rehabilitation system, which at least comprises a bearing part, a support part and a support part, wherein the bearing part is used for bearing limbs of a patient; a brake for limiting limb movement; a main unit for controlling the braking unit; the bearing part at least comprises a monitoring module arranged in the bearing part. The monitoring module can at least acquire shape information and posture information of limbs of a patient. The host adjusts the braking parameters of the braking part based on the shape information and the posture information of the limb acquired by the monitoring module. According to the postoperative lower limb rehabilitation system provided by the invention, the limit range of the brake assembly to the lower limb of the patient is dynamically adjusted, so that the postoperative lower limb rehabilitation system is suitable for patients with different body types and different micro motions. The brake component can be tightly attached to the skin of the lower limb of a patient, so that the lateral movement of the lower limb of the patient is limited, the excessive compression on the skin of the lower limb is reduced, and the recovery efficiency and comfort of the lower limb of the patient are improved.

Description

Postoperative lower limb rehabilitation system

Technical Field

The invention relates to the technical field of medical equipment, in particular to a postoperative lower limb rehabilitation system.

Background

Interventional procedures typically choose to perform thigh femoral artery puncture, arterial hemostasis is relatively difficult to do with venous hemostasis, so arterial hemostasis is often pressure bandaged, requiring the patient to lie on bed for 24 hours. Therefore, the lower limb braking after the intervention operation of the patient is very important, and unexpected hematoma and the like can occur if the knee bending and other activities are performed at an early stage. The existing brake device is relatively fixed in structure and is mainly used for preventing bleeding or hematoma at a puncture part after interventional operation and guaranteeing the stability of a vascular access. The brake device for interventional operation generally comprises a base, a fixed rod, a pressing block, a fixed box, a rotating column, a connecting belt and other parts, and can adapt to the sizes and shapes of lower limbs of different patients by adjusting the length and the angle of the fixed rod and the connecting belt. However, because of the manual adjustment required, the braking effect is inconsistent for patients of different sizes, and even completely absent for patients of some sizes. For example, for patients with fat lower limbs, the braking of the lower limb parts of the patients cannot achieve the limiting effect, and the depression of subcutaneous fat can enable the patients to still perform corresponding movement processes, and even get rid of the limitation of the braking device.

In addition, the conventional brake device generally cannot adjust the brake pressure, can only press the same part of the lower limb for a long time, is uncomfortable for a patient, is easy to leave an indentation on the skin surface, and is easy to cause situations such as unsmooth local blood circulation, local pressure sores and the like. Continued compression with a single pressure over a prolonged period of time can affect the patient's blood circulation, increase the risk of deep vein thrombosis, and even affect the healing of the puncture site, leading to bleeding or infection.

Chinese patent CN 106618906B discloses a lower limb brake fixer for vascular intervention, which comprises a bracket, a compression device and an alarm device, wherein the compression device and the alarm device are arranged on the bracket, a weight is placed in the compression device, and compression hemostasis at femoral artery puncture points can be implemented. When a limb touches the alarm device, an alarm is triggered. The lower limb braking fixer not only can play a role in compression hemostasis of the heavy object, but also can prevent the lower limb from bending too much under the condition of certain activity degree, and is convenient for patients to do ankle pump movement regularly. The device can not only effectively prevent deep venous thrombosis of lower limbs of a patient after braking, but also relieve psychological pressure and tension of the patient, improve sleep quality and have high clinical application value. However, the disadvantage of this patent is that: the lower limb brake is difficult to be applied to patients with different body types, and particularly for patients with different lower limb thicknesses, the lower limb brake cannot have good comfort level, so that pressure sores or local unsmooth blood circulation are easy to generate. The lower limbs of patients with different body types need to be limited with different pressures and distances, and the better braking effect is difficult to achieve by means of naked eye regulation of medical staff, and various clinical complications are easy to occur. For example, when the compression device is used by a large patient, even if the height of the compression device can be adjusted by a simple adjustment structure, the left and right support portions of the compression device are affected by the large patient's thick thigh portion. If the patient leans on his or her side to bend his or her legs, the alarm device will not properly calibrate the posture of the patient's lower limbs. Furthermore, this patent limits the patient's lower limb motion by applying a weight to a single location, thereby causing the weight to tend to be applied to the patient's thigh area. If the same pressing force is applied to the thighs of the patient without being distinguished according to constitutions, the limiting effect cannot be effectively fed back. The tolerance pressure of the large-size patient is large, and the limitation mode cannot achieve a good limitation effect.

Chinese patent CN 113274264a discloses a lower limb braking patient fixing and alarm device, which comprises a bracket, the bottom fixedly connected with base box between the both ends around the support inner wall, the both sides at base box inner wall top all sliding connection has the driving box, two driving motor is all installed to the bottom of driving box inner wall, two the front end of driving box outer wall all rotates to be connected with the gear corresponding with driving motor, two the rear end of driving box outer wall all rotates to be connected with the gyro wheel, the rack and the slide rail that are connected with corresponding with gear and gyro wheel respectively in both ends around the base box inner wall bottom. The patent is provided with the bottom box, the driving motor, the gear, the idler wheels, the racks, the sliding rails, the first telescopic rod, the first control box, the first air bag and other structural devices on the support, so that the massage of each part of the limb of a patient can be carried out, the comfort level of the device is greatly increased, and the rehabilitation of the patient is facilitated. However, the disadvantage of this patent is that: the lower limb of the patient is forced not to displace by the fixed and fully restrained movement limiting structure, and any movement of the lower limb of the patient deviating from the limited posture is limited. For patients, the body is in a forced position for a long time, so that the muscles of the patients cannot be relaxed and are in tension for a long time, and the fatigue injury causes soreness of waist and back, numbness of limbs and discomfort of the patients. For large patients, if the fixed position is a softer part of the lower limb, the depression caused by compression of the fixed position can lead the posture of the lower limb of the patient to deviate, so that the braking is inaccurate, and the rest parts of the lower limb of the patient are stressed and conducted, so that the risk of pressure sores is increased. Therefore, the device cannot be adaptively adjusted according to individual differences and posture changes of the patient, and comfort and rehabilitation efficiency of the patient are affected.

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

Aiming at the defects of the prior art, the invention provides a postoperative lower limb rehabilitation system, which at least comprises: the bearing part is used for bearing the lower limbs of the patient; a brake for limiting movement of the patient's lower limb; and the host is used for controlling the braking part. The bearing part at least comprises a monitoring module arranged in the bearing part. Preferably, the monitoring module can at least acquire shape information and posture information of the limb. The host establishes and corrects a lower limb image and/or a lower limb model based on the shape information and the posture information of the limb acquired by the monitoring module so as to adjust the braking parameters of the braking part in a mode of limiting the movement trend of the lower limb. According to the postoperative lower limb rehabilitation system provided by the invention, the limit range of the brake assembly to the lower limb of the patient is dynamically adjusted, so that the postoperative lower limb rehabilitation system is suitable for patients with different body types and different micro motions. The brake component can be tightly attached to the skin of the lower limb of a patient, so that the lateral movement of the lower limb of the patient is limited, the excessive compression on the skin of the lower limb is reduced, and the recovery efficiency and comfort of the lower limb of the patient are improved.

According to a preferred embodiment, the monitoring module comprises at least a first monitoring module arranged at the bottom of the carrier. Preferably, the first monitoring module monitors at least the lower limb width of several brake points of the lower limb of patients of different body mass indexes. The host machine adjusts the transverse limit range of the braking point based on the lower limb width of the braking point. The main machine controls the brake components of the brake part to move until the distance between the paired brake components is equal to the width of the lower limb of the brake point. According to the invention, the lower limb outline of the patient is constructed through the first monitoring module, and the braking parameters of the braking component are controlled through the host, so that the accurate limitation on the lower limb of the patient is realized, and the high-quality and high-efficiency lower limb braking effect is achieved.

According to a preferred embodiment, the brake components of the brake part are at least divided into a first brake component and a second brake component, wherein the first brake component and the second brake component are staggered in the length direction of the bearing part, and the first brake component and the second brake component alternately brake the lower limb according to a preset period. The first brake component and the second brake component are used for limiting the transverse displacement of the lower limb at different brake points alternately, so that the problems of local swelling and local pressure sore at the same position caused by long-time pressing of the lower limb are avoided.

According to a preferred embodiment, the monitoring module further comprises a second monitoring module arranged at a side of the carrier. The second monitoring module monitors at least position information and movement information of knee parts of lower limbs of patients with different body mass indexes. Preferably, the main unit adjusts a position of a pressing assembly of the brake part for adjusting the vertical limit range based on position information of the knee part. According to the second monitoring module, the position of the knee part of the lower limb is obtained, then the position of the pressing component of the braking part in the length direction of the bearing part is adjusted, the pressing component is ensured to be accurately pressed at the knee part of the lower limb, the knee part is ensured to be unable to rise, and the lower limb is prevented from bending.

According to a preferred embodiment, at least a pressure-sensitive sensor for detecting a pressure change of the press assembly is arranged in the press assembly. Preferably, the main body adjusts the pressure of the pressing assembly based on the movement information of the knee part and the pressure variation of the pressing assembly. The vertical compression force of the compression assembly is increased in case the knee part has a tendency to move upwards.

According to a preferred embodiment, the first monitoring module is provided with at least two infrared probes for performing thermal radiation monitoring on lower limbs of patients with different body mass indexes in a multi-angle mode so as to acquire lower limb shape information and/or posture information. And the host establishes a lower limb image and/or a lower limb model based on the acquired lower limb shape information and/or posture information. The lower limb contour is acquired by a plurality of infrared probes to determine the braking parameters of the braking component in the transverse limiting range. The lower limb image and/or the lower limb model of the patient obtained by the method have high accuracy, and are suitable for accurate control of a host machine. Compared with the prior art which depends on naked eyes of medical staff to adjust or depends on automatic adjustment of each elastic mechanism, the method for acquiring the contour of the lower limb and then correspondingly adjusting is more accurate. Especially for the existing treatment environment, no-contact protection is needed, and how to automatically adjust is an important technical means. The pressure and the distance that the lower limbs of the patients with different body types need to be limited are different, the difference is difficult to judge by naked eyes of medical staff, and the automatic adjustment of each elastic mechanism can bring uncomfortable feeling to the patients with different body types. Particularly, in large patients, the elastic mechanism of the patient is easy to form pressure sores on the lower limbs of the patient, and various clinical complications are generated.

According to a preferred embodiment, the second monitoring module acquires position information and movement information of the knee region of the patient at different body mass indexes in an image acquisition mode. The host machine corrects the lower limb image and/or the lower limb model based on the acquired position information of the knee part, so that the host machine adjusts the position of the pressing assembly of the vertical limit range and the braking parameters of the braking assembly of the transverse limit range based on the lower limb image and/or the lower limb model. After the corresponding lower limb image and/or lower limb model of the patient are obtained by the method, the real-time monitoring of the lower limb of the patient can be realized, so that the braking parameters of the braking part are adjusted, and the problem that the transverse and vertical adjustment of the braking part is difficult is solved. The scheme can adapt to patients with different body types, ensures that the acquired related information has high accuracy, acquires the related information through transverse and vertical aspects, further improves the accuracy of control of the braking part, and solves the dual problems that the infrared acquisition is slower in real-time action and the image acquisition is slower in contour judgment.

According to a preferred embodiment, in case a change in the lower limb image and/or the lower limb model is detected, the host is configured to: determining the position of a brake point of the lower limb; and according to the determined braking point position of the lower limb, controlling one end of the first braking component and/or the second braking component, which is close to the lower limb, to move in a manner of approaching the braking point position and achieve contact, and controlling the first braking component and/or the second braking component to apply target pressure to the braking point of the lower limb in the braking part so as to keep the lower limb straightened. The lower limb braking of the patient, especially the lower limb braking of the patient with different signs, is very important for the selection of the lower limb braking point position and the braking parameters. Patient lower limbs also have areas of varying softness, including stiffer knee areas, ankle areas, bones, softer muscles, and the like. If the brake components do not distinguish and carry out the same pressing force on different parts, firstly, the limiting effect cannot achieve equal ratio feedback, the softer parts are difficult to achieve better limiting effect, and pressure sores are easy to generate. Second, due to the depression of the softer part, the expected posture of the patient's lower limb is shifted, resulting in inaccuracy of braking and discomfort to the patient. The invention aims at the selection of the position of the braking point, thereby limiting the movement of the lower limb of the patient, avoiding the situations of unexpected hematoma and the like caused by the displacement or bending of the lower limb, adjusting different braking pressures according to the braking point position, being applicable to patients with different body types, reducing the possibility of pressure sore on the skin surface, avoiding the situations of unsmooth local blood pressure circulation and the like.

Prior art brakes for the patient's lower limbs often force the patient's lower limbs against displacement by a fixed and fully restrained movement limiting structure which secures the patient's lower limbs and limits the patient's lower limbs from any movement out of a defined posture, allowing them to return to position. However, the braking of the lower limb of a patient, in particular of a patient of different body types, cannot in many cases be so single. How to prevent uncomfortable feeling of a patient and pressure sores caused by the uncomfortable feeling from occurring while the lower limb of the patient is braked without moving in a large range is a problem which needs to be solved in the prior art.

According to a preferred embodiment, in the case that the monitoring module acquires the lower limb shape information, the posture information, the position information of the knee part and/or the movement information, the monitoring object of the monitoring module is configured as at least one change position and/or a state parameter of at least one change position corresponding to the lower limb, so that at least one brake point position is selected based on the traversed change position state parameter, and the brake assembly and/or the pressing assembly can actually act on the lower limb based on the selected brake point position. According to the invention, through the arrangement of the brake assembly and the pressing assembly and the acquisition of the lower limb image and/or the lower limb model of the patient through the monitoring module, the brake distance and the pressing force of the brake assembly and the pressing assembly are accurately regulated and controlled, and pressure sores of the patient are avoided.

According to a preferred embodiment, the host computer controls at least one of the brake assemblies to move towards the patient to contact the patient corresponding to different brake points of the lower limb in a first time sequence based on the acquired lower limb image and/or the lower limb model deviating from a preset posture; in a second time sequence, based on the coincidence degree of the lower limb image and/or the lower limb model and the preset gesture, retracting a plurality of brake assemblies with the coincidence degree lower than a threshold value; and in a third time sequence, controlling a plurality of brake assemblies limiting the lower limbs to restore the lower limb postures to initial postures. According to the invention, through planning of the time sequence, the first execution limitation of the patient is realized, then the monitoring is perfected, and the regulation and control of the brake assembly are carried out according to the monitoring result, so that the condition of the change of the lower limb of the patient is responded quickly, and the brake assembly possibly contacting the lower limb of the patient can be braked at the first time to prevent the lower limb from continuing to displace. The method has the advantages that the method can select a targeted limiting scheme for a plurality of braking points of the lower limbs of the patient, so that the difficulty of data processing of the host computer and discomfort of the patient can be reduced.

Drawings

Fig. 1 is a schematic diagram of information interaction simplified module connection relationship of a postoperative lower limb rehabilitation system according to a preferred embodiment of the present invention;

FIG. 2 is a simplified block diagram of a preferred embodiment of the postoperative lower limb rehabilitation system according to the present invention;

fig. 3 is a side sectional view of a simplified module structure of a postoperative lower limb rehabilitation system according to a preferred embodiment of the present invention.

List of reference numerals

100: a carrying part; 110: a lower limb bearing zone; 120: a buttock-bearing region; 130: a waist carrying region; 111: a first monitoring module; 112: a second monitoring module; 131: an air cushion; 200: a braking section; 21O: a brake assembly; 211: a first brake assembly; 212: a second brake assembly; 220: a pressing assembly; 230: a hemostatic compression assembly; 221: a pressure sensitive sensor; 300: and a host.

Detailed Description

The following detailed description refers to the accompanying drawings.

Example 1

Interventional procedures typically choose to perform thigh femoral artery puncture, arterial hemostasis is relatively difficult to do with venous hemostasis, so arterial hemostasis is often pressure bandaged, requiring the patient to lie on bed for 24 hours. Therefore, the lower limb braking after the intervention operation of the patient is very important, and unexpected hematoma and the like can occur if the knee bending and other activities are performed at an early stage. The existing braking device has a relatively fixed structure, and has inconsistent braking effects on patients with different sizes, and even has no braking effect on patients with certain sizes. In addition, the conventional brake device cannot generally adjust the brake pressure, and can only press the same part of the lower limb for a long time, so that discomfort is brought to a patient, an indentation is easily left on the skin surface, and the conditions of unsmooth local blood circulation, local pressure sores and the like are easily caused.

According to the postoperative lower limb rehabilitation system provided by the invention, the limit range of the brake assembly 210 to the lower limb of the patient is dynamically adjusted, so that the postoperative lower limb rehabilitation system can be suitable for patients with different body types and different micro motions. The brake assembly 210 can be tightly attached to the skin of the lower limb of the patient, and can reduce excessive pressure on the skin of the lower limb while limiting the lateral movement of the lower limb of the patient, thereby improving the recovery efficiency and comfort of the lower limb of the patient.

The invention provides a postoperative lower limb rehabilitation system. The postoperative lower limb rehabilitation system provided in this embodiment at least includes: a carrying part 100 for carrying at least the lower limb of a patient; a brake 200 for limiting movement of at least the patient's lower limb. Preferably, the carrier 100 comprises at least a monitoring module arranged at the bottom. Preferably, the monitoring module can at least acquire shape information and posture information of the lower limb. As shown in fig. 1, the host pc 300 adjusts the braking parameters of the braking unit 200 based on the lower limb shape and posture information acquired by the monitoring module. Preferably, the braking parameters include at least a lateral limit range and a vertical limit range. Preferably, the monitoring module includes at least a first monitoring module 111, which is disposed at the bottom of the carrier 100. Preferably, the first monitoring module 111 monitors at least the lower limb width from the thigh portion of the lower limb to a plurality of stopping points of the thigh portion. The first monitoring module 111 achieves the acquisition of the lower limb shape information and/or posture information by using an infrared thermal imaging mode, for example. More specifically, the patient's lower limb width is non-uniform for each of the brake points. For example, the thigh is wide and the shank is narrow, and the adjustment is needed according to specific positions. Preferably, the mainframe 300 adjusts the lateral limit range of the brake point based on the patient's lower limb width of the brake point. Preferably, the main body 300 controls the movement of the brake assembly 210 of the brake part 200 until the distance between the pairs of lateral braking members is equal to the width of the lower limb of the braking point. The brake assembly 210 may be driven by itself, for example, by a mechanical mechanism, or by a pneumatic mechanism.

According to a preferred embodiment, the brake assembly 210 of the brake part 200 is divided into at least a first brake assembly 211 and a second brake assembly 212. Preferably, the first brake assemblies 211 and the second brake assemblies 212 are staggered in the length direction of the carrying portion 100. Preferably, the first brake assembly 211 and the second brake assembly 212 alternately brake the lower limb of the patient according to a preset cycle. The surface of the brake assembly 210 that contacts the patient's lower limb skin is coated with a hydrophilic coating to reduce friction of the brake assembly 210 with the patient's skin. The first brake component and the second brake component are used for limiting the transverse displacement of the lower limb at different brake points alternately, so that the problems of local swelling and local pressure sore at the same position caused by long-time pressing of the lower limb are avoided. The first and second brake assemblies 211, 212 are used for support of the patient's lower limb in a first direction, while the hold down assembly 220 is used for support of the patient's lower limb in a second direction. The first direction refers to a direction parallel to the sagittal axis of the patient, and represents two directions passing right and left perpendicularly through the sagittal axis. The first brake assembly 211 and the second brake assembly 212 apply a braking force to the patient's lower limb in a first direction. The second direction refers to a direction parallel to the coronal plane of the patient, and represents two directions perpendicular to the anterior-posterior direction through the coronal plane. The compression assembly 220 applies a compression force to the patient's lower limb in a second direction.

According to a preferred embodiment, the monitoring module comprises at least a second monitoring module 112, which is arranged at the side of the carrier 100. Preferably, the second monitoring module 112 monitors at least position information and movement information of the knee portion of the lower limb. The second monitoring module 112 may acquire the knee positions of different leg lengths by using infrared light or the like. The movement information is determined mainly based on whether the knee of the patient moves upward. Preferably, the main frame 300 adjusts the position of the pressing assembly 220 of the brake part 200 for adjusting the vertical limit range based on the position information of the knee part. The pressing assembly 220 of the brake part 200 is movable at least in the length direction of the carrier part 100. Preferably, at least a pressure sensitive sensor 221 is provided inside the pressing assembly 220, capable of detecting a pressure change of the pressing assembly 220. Preferably, the mainframe 300 adjusts the pressure of the pressing assembly 220 based on the movement information of the knee part and the pressure variation of the pressing assembly 220, and increases the vertical pressing force in case the knee part has a tendency to move upward, avoiding bending of the lower limb. Specifically, the pressing assembly 220 is mainly used to press the knee portion without upward movement. For the lower limb, if bending movement is required, the knee part is inevitably moved upwards, otherwise, the movement of the knee part is pressed, so that the bending of the leg can be effectively limited. Body mass index, referred to as BMI, the gram toli index, is a standard currently used internationally to measure the degree of obesity and health of a human. The transverse direction in the present invention refers to a direction parallel to the lying plane of the patient and perpendicular to the height direction of the patient when the patient is in the lying state. The vertical direction in the present invention refers to the direction perpendicular to the lying plane of the patient when the patient is in the lying state. The brake assemblies 210 limit the lateral movement of the lower limb in a spaced manner, and the brake points are points where the brake assemblies 210 contact the skin of the lower limb. According to the second monitoring module 112, the position of the knee part of the lower limb is obtained, and then the position of the pressing component 220 of the braking part 200 in the length direction of the bearing part 100 is adjusted, so that the pressing component is ensured to be accurately pressed at the knee part of the lower limb, thereby ensuring that the knee part cannot rise, and further avoiding bending of the lower limb.

According to a preferred embodiment, as shown in fig. 3, the brake 200 further comprises a hemostatic compression assembly 230 capable of assisting in hemostasis. The hemostatic compression assembly 230 mainly assists hemostatic equipment in hemostasis, avoiding the condition of large bleeding from the access port. Preferably, the carrying part 100 comprises a buttocks carrying area, a waist carrying area, which is provided with at least an air cushion 131. The cushion 131 can be used for lumbar support adjustment, which is achieved by inflation and deflation. In addition, the bearing part 100 is divided into a bottom plate and an upper cover, the shape of each part of the bearing part is specifically designed according to the shape of the human body part, and an air supply assembly can be arranged in the device to ensure the ventilation of the gas in the bearing part 100 and avoid the stuffiness of the lower limbs. The simplified modular structure shown in fig. 2 is a cross-sectional view including a lower limb carrying area 110, a buttocks carrying area 120, and a waist carrying area 130.

The structure of the main body is, for example, a processor, a driver, an input/output port and a network interface according to an embodiment of the present invention. The components can be connected by communication buses. The processor may execute related instructions or programs using a general purpose central processing unit CPU, an application specific integrated circuit ASIC, a microprocessor, or one or more integrated circuits, etc. to implement the techniques of the present invention.

According to a preferred embodiment, the first monitoring module 111 monitors at least the lower limb width from the thigh region of the lower limb to several stopping points of the lower leg. The first monitoring module 111 obtains the lower limb shape information and/or posture information by using, for example, infrared rays. Preferably, the first monitoring module 111 is provided with at least two infrared probes to acquire lower limb shape information and/or posture information of the patient, so as to accurately determine the lower limb condition of the patient. According to the invention, the brake point is positioned through the at least two infrared probes, so that additional confirmation is not required by medical staff, and the error of the brake point positioning caused by misoperation of the medical staff is prevented. The infrared probe can be embedded in the carrier 100 and aimed at different angles in the direction of the patient's lower limb. Preferably, at least two infrared probes perform thermal radiation monitoring on the lower limb of the patient in a multi-angle manner to acquire the shape information and/or posture information of the lower limb of the patient. The judgment of the lower limb of the patient by medical staff is used as the calibration of the shape information and/or the posture information of the lower limb, so that the error of manual judgment is reduced. At least two infrared probes are capable of monitoring the contour of the patient's lower limb in a direction aligned with the patient's lower limb. That is, the thermal radiation signals of the lower limbs of the patient are acquired by at least two infrared probes and transmitted to the main body 300, thereby generating the lower limb image of the patient. The main body 300 determines a plurality of braking points on the lower limb image of the patient, thereby adjusting the braking parameters of the braking unit 200. Specifically, when at least two infrared probes collect the thermal radiation signals of the lower limbs of the patient, a plurality of thermal radiation signals of different visual angles of the lower limbs of the patient are obtained at a plurality of angles. After the plurality of heat radiation signals are transmitted to the host 300, a corresponding plurality of patient lower limb images are acquired. Preferably, the formed lower limb images of the plurality of patients can be subjected to multi-piece data registration, so that the lower limb images of the plurality of patients are subjected to fusion processing and point cloud data networking fusion. The coordinates of the lower limb images of the patients in the two-dimensional coordinate axis are converted into the coordinates in the three-dimensional coordinate axis in a mode of matrixes, homogeneous coordinates and least square method, so that the accurate lower limb images of the patients which accord with the detection and monitoring of the infrared rays are constructed. Preferably, the patient lower limb image can also be a lower limb model of the patient. The lower limb image and/or the lower limb model of the patient established by the method have high accuracy, the lower limb outline of the patient can be accurately acquired, unstable factors of manual judgment are avoided, the mode of acquiring information by infrared rays is not in direct contact with the patient, secondary confirmation by medical staff is not needed, and the safe distance of treatment is ensured. Preferably, medical personnel are able to calibrate the patient's lower limb image and/or lower limb model. The calibration refers to the medical personnel further confirming the accuracy of the image and/or model. Preferably, at least three infrared probes can also be provided to determine another angular profile of the patient's lower limb. If the patient has a large body size and a strong lower limb, the patient may exceed the range of extension that can be detected by the two infrared probes when the patient's lower limb is subjected to infrared acquisition, and the exceeding part is difficult to accurately detect. The third infrared probe can detect the excess part of the patient with the special body type so as to improve the accuracy of the lower limb image and/or the lower limb model of the patient. It will be appreciated that several infrared devices can be added to further refine the establishment of the patient's lower limb image and/or lower limb model. Modifications and improvements in the details and embodiments of the infrared device are intended to be within the scope of the invention.

The advantage of this arrangement is that: the patient lower limb profile is acquired by a number of infrared probes to determine the braking parameters of the laterally limited range of the braking assembly 210. The lower limb image and/or the lower limb model of the patient obtained by the method has high accuracy, and is suitable for accurate control of the host 300. Compared with the prior art which depends on naked eyes of medical staff to adjust or depends on automatic adjustment of each elastic mechanism, the method for acquiring the contour of the lower limb and then correspondingly adjusting is more accurate. In particular, in the existing treatment environment, no-contact protection is needed, and how to automatically adjust is an important technical means. The pressure and the distance that the lower limbs of the patients with different body types need to be limited are different, the difference is difficult to judge by naked eyes of medical staff, and the automatic adjustment of each elastic mechanism can bring uncomfortable feeling to the patients with different body types. Particularly, in large patients, the elastic mechanism of the patient is easy to form pressure sores on the lower limbs of the patient, and various clinical complications are generated. In this regard, the present invention constructs the lower limb profile of the patient through the first monitoring module 111, and thus controls the braking parameters of the braking assembly 210 through the host 300, thereby realizing accurate limitation of the lower limb of the patient and achieving a high-quality and high-efficiency lower limb braking effect.

According to a preferred embodiment, the second monitoring module 112 monitors at least position information of the knee part of the lower limb and movement information. The second monitoring module 112 may acquire the knee positions of different leg lengths by using infrared light or the like. Preferably, the second monitoring module 112 performs further setup of the lower limb image and/or the lower limb model of the patient by means of image acquisition. The lower limb shape information and/or posture information acquired by the first monitoring module 111 can accurately describe the shape and posture of the lower limb of the patient, but the real-time action judgment of the lower limb of the patient is slow. In this regard, the present invention complements the second monitoring module 112 by correcting the patient lower limb image and/or lower limb model acquired by the first monitoring module 111 by means of image acquisition or infrared light acquisition, so that the host computer 300 adjusts the position of the vertical limit range compression assembly 220 and the braking parameters of the lateral limit range braking assembly 21O based on the patient lower limb image and/or lower limb model. Preferably, the host computer 300 corrects the patient lower limb image and/or the lower limb model acquired by the first monitoring module 111 based on the position information of the knee portion of the patient. The second monitoring module 112 is disposed at a side of the carrier 100. The second monitoring module 112 may be, for example, a camera for image input. When the patient performs lower limb braking, an image of the knee region of the patient is acquired by the second monitoring module 112 and image recognition is performed by the host computer 300, thereby correcting the patient lower limb image and/or the phantom. The image can be a frame in a photograph or video acquired by the second monitoring module 112. Preferably, for the above image recognition method, the acquired knee part can be processed by the host computer 300 using the ReID pedestrian re-recognition technology to acquire the position information and the motion information of the knee part of the patient, thereby correcting the corresponding patient lower limb image and/or lower limb model. The establishment and correction of the lower limb model can be performed by using a method of point cloud data and point cloud blocks. For example, the point cloud data of the lower limb of the patient is obtained through the shape information and/or the posture information of the lower limb, the point cloud is divided into a plurality of blocks according to geometric parameters such as distance and the like, the point cloud blocks which accord with the length, the width and the curve of the lower limb of the patient are selected, and HOD characteristics are extracted to obtain a lower limb model. Similarly, the point cloud data of the lower limb of the patient can be obtained through the position information and the motion information of the knee part of the patient, the point cloud is divided into a plurality of blocks according to the geometric parameters such as distance and the like, and the point cloud blocks of the patient before correction are corrected to obtain the corrected lower limb model.

After the corresponding lower limb image and/or lower limb model of the patient are obtained by the method, the real-time monitoring of the lower limb of the patient can be realized, so that the braking parameters of the braking part 200 are adjusted, and the problem that the transverse and vertical adjustment of the braking part 200 is difficult is solved. The scheme can adapt to patients with different body types, ensures that the acquired related information has high accuracy, acquires the related information through transverse and vertical aspects, further improves the accuracy of control of the brake part 200, and solves the dual problems that the real-time action of infrared acquisition is slower and the image acquisition is slower in contour judgment.

According to a preferred embodiment, the host computer 300 adjusts the braking parameters of the braking part 200 based on the lower limb shape and posture information acquired by the monitoring module. The host pc 300 processes the acquired lower limb shape information and/or posture information into a lower limb image and/or a lower limb model, and corrects the lower limb image and/or the lower limb model based on the position information and the movement information of the knee part of the patient. Preferably, in this embodiment, the braking of the lower limb of the patient, in particular of the lower limb of the patient with different signs, is important for the selection of the position of the lower limb braking point and the braking parameters. The following steps are therefore given: determining the position of a brake point of the lower limb of the patient under the condition that the lower limb image and/or the lower limb model of the patient are/is monitored to be changed; according to the determined position of the brake point of the lower limb of the patient, the first brake assembly 211 and/or the second brake assembly 212 is controlled to move and contact the end of the lower limb of the patient in a manner approaching the position of the brake point, and the first brake assembly 211 and/or the second brake assembly 212 is controlled to apply a target pressure to the brake point of the lower limb of the patient in the brake 200 so that the lower limb of the patient is kept straightened.

According to a preferred embodiment, in the case that the monitoring module acquires various parameters of the lower limb of the patient, the monitoring object of the monitoring module is configured as at least one change position and/or a state parameter of at least one change position corresponding to the lower limb of the patient, so that at least one brake point position is selected based on the traversed change position state parameter, so that the brake assembly 210 and/or the compression assembly 220 can actually act on the lower limb of the patient based on the selected brake point position. The state parameter of the above-mentioned change position may be selected as a physiological characteristic of, for example, a patient's lower limb. In one embodiment, the physiological characteristic may include softness of the patient's lower limb in varying positions. In such cases, it is preferable to change the position of the harder part of the patient to create an effective brake. For example, the mainframe 300 may be able to select the brake assemblies 210 at the knee and/or ankle to effectively limit the displacement of the patient's lower extremities while the patient's lower leg is moving. In another embodiment, the physiological characteristic can be a post-operative wound location of the patient, i.e., a location where the patient has undergone surgery before or after, a wound, a pain site, etc., which is preferably excluded when selecting the brake point location.

Prior art brakes for the patient's lower limbs often force the patient's lower limbs against displacement by a fixed and fully restrained movement limiting structure which secures the patient's lower limbs and limits the patient's lower limbs from any movement out of a defined posture, allowing them to return to position. However, the braking of the lower limb of a patient, in particular of a patient of different body types, cannot in many cases be so single. How to prevent uncomfortable feeling of a patient and pressure sores caused by the uncomfortable feeling from occurring while the lower limb of the patient is braked without moving in a large range is a problem which needs to be solved in the prior art. According to the invention, through the arrangement of the brake assembly 210 and the pressing assembly 220 and the acquisition of the lower limb image and/or the lower limb model of the patient through the monitoring module, the braking distance and the pressing force of the brake assembly 210 and the pressing assembly 220 are accurately regulated and controlled, and pressure sores of the patient are avoided. In addition, there are also areas of varying softness in the lower extremities, including harder knee areas, ankle areas, bones, softer muscles, etc. If the brake components do not distinguish and carry out the same pressing force on different parts, firstly, the limiting effect cannot achieve equal ratio feedback, the softer parts are difficult to achieve better limiting effect, and pressure sores are easy to generate. Second, due to the depression of the softer part, the expected posture of the patient's lower limb is shifted, resulting in inaccuracy of braking and discomfort to the patient. The invention aims at the selection of the position of the braking point, thereby limiting the movement of the lower limb of the patient, avoiding the situations of unexpected hematoma and the like caused by the displacement or bending of the lower limb, adjusting different braking pressures according to the braking point position, being applicable to patients with different body types, reducing the possibility of pressure sore on the skin surface, avoiding the situations of unsmooth local blood pressure circulation and the like.

Based on the above, the present embodiment provides a preferred embodiment, where the host computer 300 controls, in the first time sequence, the at least one brake assembly 210 to move towards the patient to contact the patient corresponding to different brake points of the lower limb of the patient based on the acquired lower limb image and/or the lower limb model deviating from the preset posture; retracting the brake assembly 210 having a compliance below a threshold based on the compliance of the patient's lower limb image and/or lower limb model with the preset posture during the second time sequence; in a third time sequence, the brake assembly 210, which controls the remaining lower extremities of the patient, restores the patient's lower extremity to the initial posture. The first time series, the second time series, and the third time series can be time axis series having a sequential order. According to the invention, through planning of the time sequence, the first execution limitation of the patient is realized, then the monitoring is perfected, and the regulation and control of the brake assembly are carried out according to the monitoring result, so that the condition of the change of the lower limb of the patient is responded quickly, and the brake assembly possibly contacting the lower limb of the patient can be braked at the first time to prevent the lower limb from continuing to displace. The selection of the targeted limiting scheme for a plurality of braking points of the lower limb of the patient can reduce the difficulty of data processing of the host 300 and discomfort of the patient.

According to a preferred embodiment, in case the host computer 300 monitors that the image of the lower limb and/or the model of the lower limb of the patient changes, the host computer 300 controls the first brake assembly 211 and/or the second brake assembly 212 to apply the target pressure to the brake points of the lower limb of the patient based on the brake point positions. Preferably, the master 300 controls the first brake assembly 211 and/or the second brake assembly 212 to apply target pressures at different brake points based on different positions of the desired brake point images and/or lower limb models of the patient. In particular, for the patient lower limb image and/or lower limb model monitored by the host 300, selection of the brake points is important when the patient lower limb is jogged. Preferably, the monitoring module acquires at least one corresponding change position and/or a state parameter of at least one change position of the patient lower limb image and/or the lower limb model change, so as to select at least one brake point position based on the traversed change position state parameter, so that the first brake component 211 and/or the second brake component 212 can act on the patient lower limb respectively or independently based on the selected brake point position. The reason for the arrangement of the scheme is that: when it is necessary to adjust the position of the soft part of the patient, the adjustment of the target pressure is not performed simply by using the brake assembly 21O located closer to the part, but is performed by simultaneously adjusting the brake assemblies 21O of the parts adjacent to or associated with the physiological structure in cooperation with each other. The above-mentioned physiological structure association refers to each part belonging to one stress transmission area on physiological structure. For example, each part belonging to the same bone. The reason for this is that: the adjustment of the soft part of the lower limb of the patient is difficult and uneven, and the rest parts of the lower limb of the patient are easily subjected to force transmission after the adjustment to increase the risk of pressure sores, so the adjustment of the detail parts is realized by adjusting a plurality of brake assemblies 210 in a mode of related inching. For another example, when the target pressure is applied to the lower limb of the patient, which is a post-operation wound site, the brake assembly 210 is likely to cause secondary injury to the patient, and thus the pressure applied to the wound site can be avoided by cooperatively adjusting the brake assembly 210 at the site associated with the physiological structure. The present embodiment selects the brake assembly 210 suitable for adjustment to apply the corresponding pressure through the adaptive selection of the first brake assembly 211 and/or the second brake assembly 212, rather than singly adjusting the position where the movement occurs, thereby reducing the risk of pressure sores, avoiding the trauma part of the patient, and reducing the pain of the patient.

Throughout this document, the word "preferably" is used in a generic sense to mean only one alternative, and not to be construed as necessarily required, so that the applicant reserves the right to forego or delete the relevant preferred feature at any time.

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

1. A postoperative lower limb rehabilitation system, comprising at least:

a carrying part (100) for carrying the lower limb of the patient;

a brake (200) for limiting movement of the lower limb of the patient;

a main unit (300) for controlling the brake unit (200); it is characterized in that the method comprises the steps of,

The bearing part (1 OO) at least comprises a monitoring module arranged in the bearing part (100), wherein the monitoring module can at least acquire shape information and posture information of limbs,

the host (300) establishes and corrects a lower limb image and/or a lower limb model based on the shape information and the posture information of the limb acquired by the monitoring module, so as to adjust the braking parameters of the braking part (200) in a manner of limiting the movement trend of the lower limb.

2. The postoperative lower limb rehabilitation system according to claim 1, wherein the monitoring module acquires at least one corresponding change position and/or a state parameter of at least one change position of a lower limb image and/or a change of a lower limb model of the patient, so as to select at least one brake point position based on the traversed change position state parameter, so that the brake (200) can act on the lower limb of the patient separately or independently based on the selected brake point position.

3. The postoperative lower limb rehabilitation system according to claim 1 or 2, wherein the monitoring module comprises at least a first monitoring module (111) arranged at the bottom of the carrier (100), wherein the first monitoring module (111) monitors at least the lower limb width of several brake points of the lower limb of patients with different body mass indexes;

The main machine (300) adjusts the lateral limit range of the braking point based on the lower limb width of the braking point, and the main machine (300) controls the braking components (210) of the braking part (200) to move until the distance between the pair of braking components (210) is equal to the lower limb width of the braking point.

4. A postoperative lower limb rehabilitation system according to any one of claims 1-3, wherein the first monitoring module (111) is provided with at least two infrared probes for performing thermal radiation monitoring on lower limbs of patients with different body mass indexes in a multi-angle manner so as to obtain lower limb shape information and/or posture information of the patients;

the host (300) establishes a lower limb image and/or a lower limb model based on the acquired lower limb shape information and/or posture information.

5. The postoperative lower limb rehabilitation system according to any one of claims 1-4, wherein the monitoring module further comprises a second monitoring module (112) provided at a side of the carrier (100), the second monitoring module (112) monitoring at least position information and movement information of knee parts of patients having different body mass indexes, wherein,

the main body (300) adjusts the position of a pressing assembly (220) of the brake (200) for adjusting a vertical limit range based on position information of a knee part.

6. The postoperative lower limb rehabilitation system according to any one of claims 1-5, wherein the second monitoring module (112) acquires position information and motion information of the knee part of the patient under different body mass indexes according to an image acquisition mode;

the host machine (300) corrects the lower limb image and/or the lower limb model based on the acquired position information of the knee part, so that the host machine (300) adjusts the position of the pressing assembly (220) of the vertical limit range and the braking parameters of the braking assembly (210) of the transverse limit range based on the lower limb image and/or the lower limb model.

7. The postoperative lower limb rehabilitation system according to any one of claims 1-6, wherein the brake assembly (21O) of the brake section (200) is divided into at least a first brake assembly (211) and a second brake assembly (212), wherein,

8. The postoperative lower limb rehabilitation system according to any one of claims 1-7, wherein in case a change in lower limb image and/or lower limb model is detected, the host (300) is configured to:

Determining the position of a brake point of the lower limb;

according to the determined braking point position of the lower limb, one end, close to the lower limb, of the first braking component (211) and/or the second braking component (212) is controlled to move in a mode of approaching the braking point position and contact, and the first braking component (211) and/or the second braking component (212) is controlled to apply target pressure to the braking point of the lower limb in the braking part (200) so that the lower limb keeps straight.

9. The postoperative lower limb rehabilitation system according to any one of claims 1-8, wherein the host (300) controls at least one of the brake assemblies (21O) to move towards the patient to contact the patient corresponding to different brake points of the lower limb in a first time series based on the acquired lower limb image and/or the lower limb model deviating from a preset posture;

retracting a number of the brake assemblies (210) having a degree of compliance below a threshold value based on the degree of compliance of the lower limb image and/or lower limb model with a preset gesture within a second time sequence;

in a third time sequence, control limits a number of the brake assemblies (210) of the lower limb to restore the lower limb posture to an initial posture.

10. The postoperative lower limb rehabilitation system according to any one of claims 1-9, wherein,

At least one pressure sensor for detecting a pressure change of the pressing assembly (220) is arranged in the pressing assembly (220), wherein,

the main body (300) adjusts the pressure of the pressing assembly (220) based on the movement information of the knee part and the pressure variation of the pressing assembly (220), and increases the vertical pressing force of the pressing assembly (220) in case that the knee part has a tendency to move upward.