CN117580619A - Surgical treatment and rehabilitation robot device - Google Patents
Surgical treatment and rehabilitation robot device Download PDFInfo
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- CN117580619A CN117580619A CN202180008737.6A CN202180008737A CN117580619A CN 117580619 A CN117580619 A CN 117580619A CN 202180008737 A CN202180008737 A CN 202180008737A CN 117580619 A CN117580619 A CN 117580619A
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 21
- 230000005484 gravity Effects 0.000 claims abstract description 106
- 230000009471 action Effects 0.000 claims abstract description 53
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 54
- 210000003141 lower extremity Anatomy 0.000 claims description 30
- 210000003205 muscle Anatomy 0.000 claims description 30
- 210000001364 upper extremity Anatomy 0.000 claims description 26
- 238000005452 bending Methods 0.000 claims description 12
- 230000003993 interaction Effects 0.000 claims description 12
- 210000001624 hip Anatomy 0.000 claims description 9
- 230000010391 action planning Effects 0.000 claims description 6
- 238000010009 beating Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000007830 nerve conduction Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 206010049565 Muscle fatigue Diseases 0.000 claims description 2
- 230000008602 contraction Effects 0.000 claims description 2
- 238000013135 deep learning Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 claims description 2
- 230000001953 sensory effect Effects 0.000 claims description 2
- 231100000430 skin reaction Toxicity 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 230000000638 stimulation Effects 0.000 claims description 2
- 230000003183 myoelectrical effect Effects 0.000 claims 2
- 210000003414 extremity Anatomy 0.000 claims 1
- 230000001404 mediated effect Effects 0.000 claims 1
- 230000000474 nursing effect Effects 0.000 abstract description 2
- 238000013528 artificial neural network Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000004898 kneading Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010040914 Skin reaction Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- 238000003786 synthesis reaction Methods 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
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- Business, Economics & Management (AREA)
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Abstract
The utility model provides a surgical treatment, recovered robot device for distal end and autonomous control surgical treatment, it includes robot main control system (101), robot main control system (101) and robot arm module (107), support/gravity module (105), pedal device (108), joint recovered module (106), multisensor information acquisition module (109), grip module (110), massage module (111), myoelectricity acquisition module (112) are connected, are used for realizing main control of main control system (101) to the robot; the device also comprises a voice module (102), a camera vision module (104), a myoelectricity acquisition module (112), a multi-sensor information acquisition module (109), a radar autonomous movement module (103), a joint rehabilitation module (106), a support/gravity module (105), a grip module (110), a pedal device (108) and a massage module (111). Surgical treatment, rehabilitation robot device can realize the autonomous rehabilitation of distal end. The remote control is realized by utilizing the remote communication of the client and the robot, the rehabilitation actions are independently completed, and the device can be applied to hospital surgery, rehabilitation departments, rehabilitation centers, geriatric homes, nursing institutions and community medical centers.
Description
The invention relates to an artificial intelligence technology, a robot technology, a medical data acquisition, analysis and identification technology, and belongs to the field of intelligent artificial intelligence of medical devices.
In the rehabilitation training process, serious injury is difficult to heal due to various artificial factors, and the treatment accuracy is low. In order to solve the problems that the training time is long in the rehabilitation period, a lot of manpower is required for accompanying and nursing, a robot is adopted to replace a human, the remote end and the autonomous training are adopted, the treatment and the repair become important problems in the rehabilitation department. The remote control of the rehabilitation department doctor utilizes a robot device communicated with the remote control device, an artificial intelligent algorithm and an action planning algorithm solve the problems that the training efficiency is low, the artificial training is time-consuming and labor-consuming, the rehabilitation therapy is inaccurate, the rehabilitation time is long, the feedback of the rehabilitation degree is difficult, the errors of rehabilitation accompanying personnel are more, and the like.
The device comprises a robot arm, a gravity supporting device, a joint rehabilitation device, a pedal device, a grip device, a massage device and a remote autonomous rehabilitation therapy device, wherein a myoelectricity acquisition device is utilized to acquire muscle information, gravity pressure and other multi-sensor information.
The intelligent automatic rehabilitation training device is used for intelligent automatic rehabilitation training and automatic treatment, effectively prevents senile diseases, collects muscles with high precision, reduces human rehabilitation errors in rehabilitation information, and achieves automatic treatment.
The invention aims to overcome the defects and shortcomings of the prior art, and provides a remote and autonomous surgical, rehabilitation and therapeutic robot device which replaces a robot, remotely and autonomously collects myoelectricity and multi-sensor information, and supports a gravity device, a joint rehabilitation device, a pedal device, a grip device, a massage device and remotely and autonomously rehabilitates and treats.
Through doctor distal end, autonomous control robot, autonomous acquisition myoelectricity, multisensor information utilizes the arm to carry on and supports gravity device, joint rehabilitation device, pedal device, grip device, massage device, and the distal end is recovered independently, and the medical personnel human error operation is solved in the treatment, and recovered accompany is busy, and the great pressure problem of responsibility is through robot autonomous operation, alleviates recovered operation pressure. Improving recovery treatment and checking recovery efficiency. And parameters such as physique types, different disease degrees, training periods, training intensity, training times and the like of different people are independently regulated. High efficiency and high precision of treatment are realized. The invention also provides a voice device for man-machine interaction and remote voice command, an autonomous moving device, a robot arm carrying and supporting gravity device, a joint rehabilitation device, a pedal device, a grip device and a massage device, which are used for remote and autonomous rehabilitation and treatment.
Distal and autonomous control of surgical treatment, rehabilitation robot device comprising:
the robot main system is connected with the robot arm module, the supporting/gravity device, the pedal device, the joint rehabilitation device rehabilitation module, the multi-sensing device, the grabbing device, the massaging device and the myoelectricity acquisition device and is used for realizing the main control of the main system on the robot;
the voice module is connected with the robot main system and is used for interaction and voice guidance between the main system and a user;
the camera vision acquisition module is connected with the robot main system, and the robot arm is used for acquiring face images, positioning faces, positioning legs, arms, chest, back, waist, hands, feet and joint positions;
the myoelectricity acquisition module is connected with the robot main system, and is used for acquiring the muscle information of the upper limbs and the lower limbs, and autonomously adjusting the training period, the training intensity and the training times according to the returned muscle information;
the multi-sensor information acquisition module is connected with the robot main system, the robot arm and the gravity supporting device and is used for acquiring pressure information, gravity information and other various sensor information of the gravity supporting device, and automatically adjusting training intensity, training times and the training upper limit value of physical ability under the rehabilitation degree according to the returned sensor information;
the radar autonomous moving module is connected with the robot main system, and the moving base is connected for autonomous positioning and navigation;
the joint rehabilitation device module is connected with a robot main system, a robot arm is connected with a supporting gravity device, and a plurality of sensors are connected for rehabilitation of muscles of upper limbs and lower limbs, joint rotation rehabilitation actions are carried out, and the rehabilitation actions are finished through cooperation of the two arms;
the gravity device module is connected with the robot main system, the robot arm is connected with the gravity device, the multi-sensor myoelectricity acquisition module is connected with the gravity device, and is used for automatically adjusting gravity and moment according to multi-sensor information, and the two arms cooperate to complete the stretching and bending basic actions in the upper-lower, left-right, upper-left, lower-left, upper-right and oblique angle directions, the gravity action and other rehabilitation actions;
the arm grip device module is connected with a robot main system, the robot arm is connected with a gravity device, the multi-sensor myoelectricity acquisition module is connected with the multi-sensor information, the myoelectricity acquisition module is used for automatically adjusting grip force and moment according to the multi-sensor information, and the arm grip device is used for muscle rehabilitation and arm grip;
the pedal device module is connected with the robot main system, the robot arm is connected with the gravity supporting device, the multi-sensor myoelectricity acquisition module is connected with the pedal device module, and the pedal device module is used for automatically adjusting the gravity intensity, the moment and the pedal force rehabilitation action of the pedal gravity according to the multi-sensor information and the myoelectricity acquisition information, and is used for foot rehabilitation;
the massage device module is connected with the robot main system, the robot arm is connected with the gravity supporting device, the multi-sensor and the myoelectricity acquisition module, and is used for autonomously adjusting the frequency of the massage device, the massage intensity, the wiping method, the pushing method, the pressing method, the point method, the pinching method, the clapping method, the beating method, the flicking method, the rolling method, the palm kneading method, the finger kneading method, the shaking method, the taking method, the rubbing and shaking method, the massage gravity, the upper limb and the lower limb to define the massage range and the massage action for massage rehabilitation according to the multi-sensor information, the myoelectricity acquisition information.
The robot main system is connected with the voice module, and the voice module is used for interaction between the robot and the user and comprises voice recognition, voice-text conversion, voice guidance, voice instruction, voice accompaniment and voice medical question answering.
The robot main system is connected with the camera vision acquisition module, the camera vision acquisition module is used for acquiring face images, identifying faces, chest, back, legs, arms, waist, hands, feet and joints, returning position information of body parts, and positioning the positions of the faces, the chest, the back, the legs, the arms, the waist, the hands, the feet and the joints.
The myoelectricity acquisition module is connected with a robot main system, the robot arm is used for acquiring upper limb and lower limb muscle information and returning the muscle information, the muscle information comprises a contraction mode of muscles, a static power state, a muscle fatigue state, a sensory nerve conduction speed, a motor nerve conduction speed, repeated electric stimulation, estimation of the number of the motor units, interaction skin reaction, and the deep learning algorithm autonomously adjusts training intensity, training period and training times.
The multi-sensor information acquisition module is connected with the robot main system, the robot arm is used for acquiring gravity information, pressure information and direction information, the main system is communicated with the multi-sensor according to return information, and parameter values of the robot arm and the gravity device are adjusted according to the multi-sensor information received by the main system.
The robot main system is connected with the robot arm and the gravity device module, the joint rehabilitation device module is communicated with the robot main system, the robot arm and the gravity device module, and the gravity device module is used for receiving and regulating gravity, moment, double-arm position information, angle parameters and the gravity device module according to multi-sensor information, myoelectricity information, release and regulation gravity, moment, double-arm position information and angle parameters, and the robot arm action planning method is utilized to cooperatively complete up-down, left-right, up-left-right, down-left-right, up-right oblique angle direction stretching and bending basic actions, gravity actions and other rehabilitation actions. According to the multi-sensor information, myoelectricity information, the positions of the two arms and the positions of the joints are released, the rotation angle information and the joint device receive information, and the robot arm action planning method is utilized for muscle rehabilitation of the upper limbs and the lower limbs, the joint rotation angle rehabilitation action, the two arms cooperate to complete the joint rehabilitation action, the gravity rehabilitation task of action planning and the joint rehabilitation task are completed remotely and autonomously, so that the functions of remote end and autonomous rehabilitation are realized.
The robot main system is connected with the radar and the mobile base, and the information acquired by the radar is sent to a main system client to realize scene self-building map in a message and service communication mode; the host system communicates with the mobile chassis: publishing the created map information, communicating with the mobile chassis node, receiving the map information and realizing autonomous navigation; the camera communicates with: the image information collected by the camera is sent to the client of the main system to be communicated with the robot arm in a service communication mode, so that collection action is realized.
The robot main system is connected with the robot arm and the gravity device module, and the arm gripping device is communicated with the robot arm and the arm gripping device module and is used for automatically adjusting gripping force, moment and arm gripping rehabilitation actions according to multi-sensor information and myoelectricity acquisition information, wherein the arm gripping device is used for muscle rehabilitation and arm gripping force.
The robot main system is connected with the robot arm and the gravity device module, and the pedal device is communicated with the robot arm and the pedal device module and is used for automatically regulating the gravity intensity, the moment and the pedal force rehabilitation action of the foot according to multi-sensor information and myoelectricity acquisition information, and the pedal force device is used for foot rehabilitation.
The robot main system and massage device, massage device module and robot main system, the arm, vision module is connected, the camera release visual information includes: the positions of the human body are returned to the positions of the face, the chest, the back, the legs, the arms, the waist, the hands, the feet and the joints, the robot main system receives visual information, the massage device detects the face and the positions of the human body, and the positions of the human body are accurately positioned; according to the body massage position selected by the client, the rubbing method, the picking method, the pushing method, the pressing method, the point method, the pinching method, the beating method, the flicking method, the rolling method, the palm rubbing method, the finger rubbing method, the shake method, the taking method, the rubbing and the shaking method, the frequency massage intensity, the massage gravity, the positioning, the movement to the body massage position, the action according to the action planning, the massage and the auxiliary rehabilitation.
The invention can solve the problems of remote control robot isolation acquisition treatment, autonomous acquisition treatment, voice device, human-computer interaction and remote voice command through a medical robot device, provides an autonomous moving device, and provides a robot arm carrying support gravity device, a joint rehabilitation device, a pedal device, a grip device and a massage device for remote, autonomous rehabilitation and treatment. The problems of high pressure and complicated operation of accompanying work of surgeons, rehabilitation doctors, nurses and the like are solved. Meanwhile, by means of the collected myoelectricity data and the multi-sensor data, the rehabilitation training intensity, the frequency and the period are adaptively adjusted according to the feedback data, and the working efficiency is greatly improved. The invention can realize high-efficiency and high-precision rehabilitation training, assist surgery, rehabilitation department treatment and far-end autonomous rehabilitation treatment.
FIG. 1 is a schematic view of a medical robotic device module according to the present disclosure;
reference numeral 1:
100-a remote control module; 101-a robot main system; 102-a voice module;
103-a radar map building positioning navigation module; 104-a camera vision module; 105-support/gravity module;
106, a joint rehabilitation module; 107-a robotic arm module; 108-pedal means; 109-a multisensory acquisition module; 110-grip module; 111-a massage module; 112-myoelectricity acquisition module;
FIG. 2 is a schematic view showing the constitution of a medical robot device according to the present invention;
reference numeral 2:
200-a client remote control end; 201-a robot main system; 202-a supporting device; 203-joint means; 204-lifting a robotic arm; 205-moving the base; 206-myoelectricity acquisition device; 207-foot pedal;
208-a gravity sensor; 209-a pressure sensor; 210-grip device; 211-gravity means; 212-a massaging device; 213-outer layer fixing means; 214-an inner layer flexible device; 215-a vision device; 216-voice means; 217-radar means;
the invention aims to design a remote control robot capable of replacing human work, which is used for realizing image acquisition, autonomous acquisition and autonomous movement of a remote control machine, and uses a robot arm to carry and support a gravity device, a joint rehabilitation device, a pedal device, a grip device and a massage device for remote and autonomous rehabilitation and treatment. The remote and autonomous control machine movement and the voice device are used for man-machine interaction and remote voice command by utilizing an artificial intelligent robot technology.
The system realizes autonomous remote image acquisition, remote voice command, doctor-patient voice interaction through equipment, remote control of the robot and the remote end in the automatic field of autonomous acquisition, autonomous control of the movement, action, autonomous rehabilitation and treatment of the robot. The robot has the advantages that the human therapy errors are solved, the remote end and autonomous acquisition of the robot are realized, the movement, the action and the autonomous rehabilitation of the robot are controlled, the treatment is performed, and the efficiency is improved. In order to better understand the above technical solution, the present invention will be further described in detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
The technical scheme in the implementation of the application is to solve the general thinking of the technical problems as follows:
examples
1
：
As shown in fig. 1, the distal and autonomous control surgical treatment and rehabilitation robot device, as shown in fig. 2, includes:
the robot main system 101, the robot main system 101 and a robot arm module 107, a supporting/gravity device 105, a pedal device 108, a joint rehabilitation device rehabilitation module 106, a multi-sensing device 109, a grip device 110, a massage device 111 and an myoelectricity acquisition device 112 are used for realizing the main control of the robot.
The voice module 102, the voice module 102 is connected with the robot main system 101, and is used for interaction and voice guidance between the main control system and a user.
The camera acquisition module 104, the camera vision module 104 is connected with the robot main system 101 and the robot arm 107, and is used for acquiring face images, positioning faces, positioning legs, arms, waists and joint positions.
The myoelectricity acquisition module 112, the myoelectricity acquisition module 112 is connected with the robot main system 101 and the robot arm 107, and is used for acquiring the muscle information of the upper limbs and the lower limbs, and automatically adjusting the training period, the training intensity and the training times according to the returned muscle information.
The multi-sensor information acquisition module 109 is connected with the robot main system 101, the robot arm 107 and the supporting gravity device 105, and is used for acquiring pressure information, gravity information and other various sensor information of the supporting gravity device 105, and autonomously adjusting training intensity, training times and the upper limit of physical ability training under the rehabilitation degree according to the returned sensor information.
The radar autonomous moving module 103, wherein the autonomous moving module 103 is connected with the robot main system 101, and the moving base is connected for autonomous positioning and navigation.
The joint rehabilitation device module 106, the joint rehabilitation device module 106 is connected with a robot main system, a robot arm 107, a supporting gravity device 105 and a multi-sensor 109, and is used for rehabilitation of upper limbs and lower limb muscles, joint rotation rehabilitation actions and double-arm cooperation completion rehabilitation actions.
The gravity device module 105 is connected with the robot main system 101, the robot arm 107, the gravity device 105 is supported, the multi-sensor 109 and the myoelectricity acquisition module 112 are connected, and the gravity device module 105 is used for automatically adjusting gravity and moment according to multi-sensor information, and the two arms cooperate to complete up-down, left-right, up-left-right, down-left-right, up-right and up-left oblique angle direction stretching and bending basic actions, weighting actions and other rehabilitation actions.
The arm grip device 110, the arm grip device module 110 is connected with the robot main system 101 and the robot arm 107, supports the gravity device 105, is connected with the multi-sensor 109 and the myoelectricity acquisition module 112, and is used for automatically adjusting grip, moment and arm grip rehabilitation actions according to the multi-sensor information and the myoelectricity acquisition information. The arm grip device is used for muscle rehabilitation and arm grip.
The pedal device module 108 is connected with the robot main system 101, the robot arm 107, the supporting gravity device 105, the multisensor 109 and the myoelectricity acquisition module 112, and is used for automatically adjusting the pedal gravity intensity, moment and pedal force rehabilitation actions according to the multisensor information and the myoelectricity acquisition information. The foot pedal force device is used for foot rehabilitation.
The massage device module 111 is connected with the robot main system 101, the robot arm 107, the gravity supporting device 105, the multisensor 109 and the myoelectricity acquisition module 112, and is used for autonomously adjusting the frequency of the massage device according to the multisensor information and the myoelectricity acquisition information, massaging intensity, massaging modes (wiping, rubbing, pushing, pressing, dotting, pinching, clapping, beating, flicking, rolling, palm rubbing, finger rubbing, shaking, holding, rubbing and shaking), massaging gravity, demarcating massaging ranges of upper and lower limbs, and massaging actions for massaging rehabilitation.
The doctor, administrator and other administrative users communicate with the main control system 201 by using the client-side remote control end 200, the remote control end sends out control commands, the main control system 201 communicates with the robot arm 204, the application camera 215 collects face images, and the upper and lower limb joint images are returned to the joints, the upper limbs, the lower limb position information and the human parts are positioned according to the faces. The remote control module 100 remotely controls the robot arm a, the robot arm B moves to the body part position, collects body pictures, detects the body part, assists surgical treatment, rehabilitation training, and treatment.
The voice module 216, the voice device 216 includes a microphone device and a speaker 216, the pickup device 216 can obtain voice information, input user voice through the microphone device 216 and man-machine interaction through the speaker device, voice guidance, text-to-voice exchange, voice synthesis, voice wakeup.
The radar autonomous positioning navigation module 217, the main control system 201 is communicated with the mobile chassis 205, the radar 217, and the information collected by the radar 217 is sent to the main system by a message and service communication mode, so as to realize the scene self-building map. And publishing the created map information to a mobile chassis node, and enabling the mobile chassis to receive the map information so as to realize autonomous navigation.
The robot arm a, the robot arm B, the main control system 201 communicates with the camera 215, the face, the joints, the upper limbs, the lower limbs position image information acquired by the camera 215, the positioning and returning body part image position information, the robot arm a, the robot arm B204 acquire the issued information according to the voice guidance of the voice device 216, the voice command, the positioning of the body position, the fixing of the upper limbs, the lower limbs, the robot arm a, the robot arm B, the robot arm C, the robot arm D204, the gravity device 211, the voice guidance of the voice device 216, the voice command, the moving robot arm a, the robot arm B204, the support/gravity device 211, the fixing of the upper limbs, the lower limbs, the moving robot arm a, the robot arm B204, the pulling of the upper limbs, the lower limbs, the issued information according to the position height issued by the main control system 201, the distance information, the gravity information, the myoelectricity acquisition device 206, the gravity sensor 208, the pressure sensor 209, the self-adaptive planning action according to the improved deep neural network algorithm, the rehabilitation action, stretching, the bending, the rotation angle, the rotation of the upper limbs, the lower limbs, the rehabilitation completion according to the rotation angle plan.
The robot A, the robot B and the main control system 201 are communicated with the camera 215, the face, the joints, the upper limbs and the lower limbs are acquired by the camera 215, the position information of the body part is positioned and returned, the robot A, the robot B204 is guided by voice of the voice device 216, the voice command is performed to position the body, the upper limbs and the lower limbs are fixed, the robot A, the robot B, the robot C and the robot D204 are fixed, the joint device 203 is guided by voice of the voice device 216, the voice command is performed to move the robot A, the robot B204 is provided with the joint device 203, the upper limbs, the lower limbs and the mobile robot A are supported by the support/gravity device 211, and the joints of the lower limbs are bent, stretched and rotated by the robot B, the robot C and the robot D204. According to the bending rotation angle, rotation coordinates and gravity information issued by the main control system 201, the issued information is acquired by the myoelectricity acquisition device 206, the gravity sensor 208 and the pressure sensor 209, the robot arm receives the subscription muscle information, gravity, pressure and multi-sensor information, the action is adaptively planned according to an improved deep neural network algorithm, and the rehabilitation is completed according to the planned joint action, bending, rotation angle and rotation joint.
The robot arm C, the robot arm D, the main control system 201 communicates with the camera 215, the face, the joints, the lower limb position image information collected by the camera 215, the positioning and returning body part image position information, the robot arm C, the robot arm D204, the fixed lower limb, the robot arm C, the robot arm D204, the support/gravity device 211, the joint device 203, the foot rest 207, the voice guidance of the voice device 216, the voice command, the mobile robot arm C, the robot arm D204, the joint device 203, the support/gravity device 211, the fixed lower limb of the body, the mobile robot arm C, the robot arm D204, the pulling of the lower limb of the body, the stretching, the bending, the pedaling action to the foot rest 207, the bending, the stretching, the rotation of the lower limb, the releasing of the position information, the gravity information, the rotation, the bending angle information, the myoelectricity collecting device 206, the gravity sensor 208, the pressure sensor 209, the robot arm receiving the subscription muscle information, the gravity, the pressure, the multisensory information, the adaptive deep neural network action according to an improved algorithm, the stretching action of the foot rest, the bending, the leg stretching action, the foot rest 207, the planning action, the rehabilitation action, and the planning action.
The main control system 201 communicates with the camera 215, the face, joints, upper limbs and lower limbs position image information collected by the camera 215, positions and returns body hand position image position information, the robot arm A and the robot arm B204 are provided with the support gravity device 211, and the robot arm A and the robot arm B204 are provided with the support gravity device 211 to guide, instruct, position and fix the body position according to the voice of the voice device 216. The device comprises a robot arm A, a robot arm B204, a supporting/gravity device 211, a holding force device 210, wherein the supporting/gravity device 211 is used for fixing upper limbs of a body, the robot arm A is moved, the robot arm B is used for hands, the holding force device 210 is used for collecting published information according to gravity information, pressure information and distance information published by a main control system 201, the robot arm is used for receiving information of subscribing muscles, gravity, pressure and multi-sensor information according to a myoelectricity collecting device 206, a gravity sensor 208 and a pressure sensor 209, and the device is used for adaptively planning actions according to an improved deep neural network algorithm, and a series of rehabilitation actions according to planned hand opening, grasping, holding and stretching holding force targets are performed. The hand stretches, bends, and stretches the grip target. According to the stretching, the grasping force, the angle, the distance and the holding force, the hand grasping, the stretching and the bending hand rehabilitation are completed.
The main control system 201 communicates with the camera 215, the face, joints, upper limbs and lower limbs position image information acquired by the camera 215 are positioned and returned to the body hand position image position information, and the massage device 212 is carried by the robot arm A and the robot arm B204; the support gravity device 211 is used for guiding, voice command, positioning the body position according to voice of the voice device 216, the robot arm A and the robot arm B204 are moved to massage positions, the massage modes (wiping, picking, pushing, pressing, dotting, pinching, beating, flicking, rolling, palm rubbing, finger rubbing, vibration, shaking, holding, rubbing and shaking) according to the information issued by the main control system 201 are used for adaptively planning actions according to the planned hand pinching, hammering, stroking and rotating according to the improved deep neural network algorithm according to the information issued by the myoelectricity acquisition device 206, the gravity sensor 208 and the pressure sensor 209, and the information issued by the robot arm is used for acquiring the information subscribed to muscle, gravity, pressure and multiple sensing. And according to the planned massage area, the planned action completes the massage rehabilitation action.
Claims (10)
- A surgical treatment, rehabilitation robot device characterized by a distal end and autonomous control of the surgical treatment, the rehabilitation robot device comprising:the robot main system is connected with the robot arm module, the supporting/gravity device, the pedal device, the joint rehabilitation device rehabilitation module, the multi-sensing device, the grabbing device, the massaging device and the myoelectricity acquisition device and is used for realizing the main control of the main system on the robot;the voice module is connected with the robot main system and is used for interaction and voice guidance between the main system and a user;the camera vision acquisition module is connected with the robot main system, and the robot arm is used for acquiring face images, positioning faces, positioning legs, arms, chest, back, waist, hands, feet and joint positions;the myoelectricity acquisition module is connected with the robot main system, and is used for acquiring the muscle information of the upper limbs and the lower limbs, and autonomously adjusting the training period, the training intensity and the training times according to the returned muscle information;the multi-sensor information acquisition module is connected with the robot main system, the robot arm and the gravity supporting device and is used for acquiring pressure information, gravity information and other various sensor information of the gravity supporting device, and automatically adjusting training intensity, training times and the training upper limit value of physical ability under the rehabilitation degree according to the returned sensor information;the radar autonomous moving module is connected with the robot main system, and the moving base is connected for autonomous positioning and navigation;the joint rehabilitation device module is connected with a robot main system, a robot arm is connected with a supporting gravity device, and a plurality of sensors are connected for rehabilitation of muscles of upper limbs and lower limbs, joint rotation rehabilitation actions are carried out, and the rehabilitation actions are finished through cooperation of the two arms;the gravity device module is connected with the robot main system, the robot arm is connected with the gravity device, the multi-sensor myoelectricity acquisition module is connected with the gravity device, and is used for automatically adjusting gravity and moment according to multi-sensor information, and the two arms cooperate to complete the stretching and bending basic actions in the upper-lower, left-right, upper-left, lower-left, upper-right and oblique angle directions, the gravity action and other rehabilitation actions;the arm grip device is connected with a robot main system, the robot arm is connected with a supporting gravity device, the multi-sensor myoelectricity acquisition module is connected and used for automatically adjusting grip force, moment and arm grip rehabilitation actions according to multi-sensor information and myoelectricity acquisition information, and the arm grip device is used for muscle rehabilitation and arm grip force;the pedal device is connected with the robot main system, the robot arm is connected with the gravity supporting device, the multi-sensor myoelectricity acquisition module is connected with the pedal device, and the pedal device is used for foot rehabilitation according to the multi-sensor information and the myoelectricity acquisition information and automatically regulating the gravity intensity, the moment and the pedal force rehabilitation action of the pedal;the massage device is connected with the robot main system, the robot arm is connected with the gravity supporting device, the multi-sensor and the myoelectricity acquisition module, and is used for autonomously adjusting the frequency of the massage device, the massage intensity, the rubbing method, the pushing method, the pressing method, the point method, the pinching method, the beating method, the flicking method, the rolling method, the palm-rubbing method, the finger-rubbing method, the shaking method, the taking method, the rubbing and shaking method, the massage gravity, the upper limb and the lower limb to define the massage range and the massage action for massage rehabilitation according to the multi-sensor information, the myoelectricity acquisition information.
- The surgical treatment and rehabilitation robot device is characterized by comprising a voice module, wherein the voice module is connected with a robot main system and is used for interaction between a robot and a user, and the voice module comprises voice recognition, voice-text interaction, voice guidance, voice instruction, voice accompaniment and voice medical question answering.
- The surgical treatment and rehabilitation robot device is characterized by comprising a camera vision module, wherein the camera vision module is connected with a robot main system and is used for collecting face images, identifying faces, chest, back, legs, arms, waists, hands, feet and joints, returning position information of body parts, and positioning the positions of the faces, the chest, the back, the legs, the arms, the waists, the hands, the feet and the joints.
- The utility model provides a surgical treatment, recovered robot device which characterized in that, myoelectricity collection module with robot main system, the arm connection for gather upper limbs, low limbs muscle information, return muscle information, muscle information includes the contraction mode of muscle, static power state, muscle fatigue state, sensory nerve conduction speed, motor nerve conduction speed, repeated electric stimulation, the estimation of unit number of exercise, sympathogenic skin response, the training intensity is independently mediated to the deep learning algorithm, training cycle, training number of times.
- The surgical treatment and rehabilitation robot device is characterized by comprising a multi-sensor information acquisition module, wherein the multi-sensor information acquisition module is connected with a robot main system, and is used for acquiring gravity information, pressure information and direction information, the main system is communicated with the multi-sensor according to return information, and parameter values of the robot arm and the gravity device are adjusted according to the multi-sensor information received by the main system.
- The surgical treatment and rehabilitation robot device is characterized by comprising a joint rehabilitation device module, wherein the joint rehabilitation device module is connected with a robot main system, a robot arm, a gravity device module and the joint rehabilitation device module, the robot main system is connected with the robot arm and the gravity device module, the joint rehabilitation device is in communication with the robot arm and the gravity device module, according to multi-sensor information, myoelectric information, release and adjustment gravity, moment, double-arm position information and angle parameters, the gravity device module receives and adjusts gravity, moment, double-arm position information and angle parameters, the robot arm motion planning method is utilized to cooperatively complete up-down, left-right, upper-left-right, lower-left-right and upper-right oblique angle direction stretching basic motions, weighting force motions and other rehabilitation motions, according to multi-sensor information, myoelectric information, release double-arm position and joint position, rotation angle information, the joint device receives information, the robot arm motion planning method is utilized to perform muscle rehabilitation of upper limbs, lower limbs, joint rotation angle rehabilitation motions, the joint rehabilitation motions are cooperatively completed, the gravity tasks planned by the far-end and autonomous completion motions, and the joint rehabilitation tasks are cooperatively completed, so that functions of the far-end and autonomous rehabilitation are realized.
- The surgical treatment and rehabilitation robot device is characterized by comprising a radar and a mobile base module, wherein the radar and the mobile base are connected with a robot main system, and information acquired by the radar is sent to a main system client to realize a scene self-building map in a communication mode of information and service; the host system communicates with the mobile chassis: publishing the created map information, communicating with the mobile chassis node, receiving the map information and realizing autonomous navigation; the camera communicates with: the image information collected by the camera is sent to the client of the main system to be communicated with the robot arm in a service communication mode, so that collection action is realized.
- The utility model provides a surgical treatment, recovered robot device, its characterized in that, arm grip device, robot main system and arm and gravity device module connection, robot main system and arm grip device module communication for according to multisensor information, myoelectricity collection information, independently mediate grip, moment, arm grip rehabilitation action, arm grip device is used for muscle rehabilitation, arm grip.
- The surgical treatment and rehabilitation robot device is characterized by comprising a foot pedal device, wherein the foot pedal device is connected with a robot main system, a robot arm and a gravity device module, the robot main system is communicated with the robot arm and the foot pedal device module and is used for automatically regulating the gravity intensity and moment of foot pedal force according to multi-sensor information and myoelectricity acquisition information, and the foot pedal force device is used for foot rehabilitation.
- The utility model provides a surgical treatment, recovered robot device, its characterized in that, massage device and robot main system, the arm is connected with vision module, the camera release visual information includes: the positions of the human body are returned to the positions of the face, the chest, the back, the legs, the arms, the waist, the hands, the feet and the joints, the robot main system receives visual information, the massage device detects the face and the positions of the human body, and the positions of the human body are accurately positioned; according to the body massage position selected by the client, the rubbing method, the picking method, the pushing method, the pressing method, the point method, the pinching method, the beating method, the flicking method, the rolling method, the palm rubbing method, the finger rubbing method, the shake method, the taking method, the rubbing and the shaking method, the frequency massage intensity, the massage gravity, the positioning, the movement to the body massage position, the action according to the action planning, the massage and the auxiliary rehabilitation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2020222309297 | 2020-10-09 | ||
| CN202022230929 | 2020-10-09 | ||
| PCT/CN2021/122529 WO2022073468A1 (en) | 2020-10-09 | 2021-10-07 | Robot device for surgical treatment and rehabilitation |
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| CN117580619A true CN117580619A (en) | 2024-02-20 |
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| CN101061984B (en) * | 2006-04-29 | 2012-02-08 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal |
| CN103354054A (en) * | 2013-07-23 | 2013-10-16 | 上海维纽机器人有限公司 | Massage manipulation learning system of massage specialist and application thereof |
| CN107397649B (en) * | 2017-08-10 | 2020-08-14 | 燕山大学 | Upper limb exoskeleton movement intention identification method based on radial basis function neural network |
| CN108814597B (en) * | 2018-04-16 | 2021-09-07 | 深圳睿瀚医疗科技有限公司 | Rehabilitation training evaluation method and system based on interaction of motion information and myoelectricity |
| DK201800200A1 (en) * | 2018-05-07 | 2019-12-09 | Life Science Robotics Aps | Robot for use in rehabilitation of extremities |
| CN108818618B (en) * | 2018-06-29 | 2020-07-10 | 华中科技大学 | Rehabilitation robot arm gravity balancing device |
| CN109350446B (en) * | 2018-10-18 | 2021-07-13 | 航天科工智能机器人有限责任公司 | Active and passive combination upper limb rehabilitation training robot system based on electromyographic signals |
| CN109806113A (en) * | 2019-03-14 | 2019-05-28 | 郑州大学 | A kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function |
| CN211585086U (en) * | 2019-11-22 | 2020-09-29 | 航天科工智能机器人有限责任公司 | Wearable multi-degree-of-freedom upper limb rehabilitation training robot arm |
| CN110974633A (en) * | 2019-12-26 | 2020-04-10 | 上海金矢机器人科技有限公司 | Intelligent walking aid rehabilitation training robot |
| CN110960414A (en) * | 2020-01-10 | 2020-04-07 | 天寿健康科技(济南)有限公司 | Internet of things health robot |
| CN111631726B (en) * | 2020-06-01 | 2021-03-12 | 深圳华鹊景医疗科技有限公司 | Upper limb function evaluation device and method and upper limb rehabilitation training system and method |
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