CN201734905U - Auxiliary instrument for early recovery training of paralytic - Google Patents
Auxiliary instrument for early recovery training of paralytic Download PDFInfo
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- CN201734905U CN201734905U CN 201020176771 CN201020176771U CN201734905U CN 201734905 U CN201734905 U CN 201734905U CN 201020176771 CN201020176771 CN 201020176771 CN 201020176771 U CN201020176771 U CN 201020176771U CN 201734905 U CN201734905 U CN 201734905U
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- rehabilitation training
- recovery training
- patient
- support ring
- industrial robot
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Abstract
The utility model belongs to a medical instrument, in particular to an auxiliary instrument for the early recovery training of paralytics and a method. More than three air sacs for pressurizing and reliving pressure by manual aeration are arranged in an air sac holder, are communicated by an inflatable conduit and are stuck on the inner cylinder surface of a circular ring support ring; a turning circle drives the support ring and the air sacs to carry out gyroscopic motion vertical to the axis of the turning circle around a revolving axle. When a patient does recovery training, the auxiliary instrument firstly collects data, a rehabilitative physician holds the limb on the affected side of the patient by hands to carry out recovery training motion, and a set of complete recovery training motion form is formed; the data is sent to a computer after collected to be processed, the recovery training motion data processed by the computer is transmitted to the industrial robot of a recovery training room, and the industrial robot converts motion data from recovery training coordinate system presentation into industrial robot coordinate system presentation; the robot holds the wrist or ankle of the patient by the air sac holder to cause the patient to do reciprocating training according to recovery training motion data until the timing termination of one training.
Description
Technical field
This utility model relates to medical mechanical domain, and the assistive device and the method for relevant a kind of paralytic's early rehabilitation training especially adopt industrial robot to help the assistive device and the method for paralytic's early rehabilitation training.
Background technology
At present, known paralytic's early rehabilitation training is mainly manually implemented by the physiatrician.In the rehabilitation training process, physiatrician and patient one to one, the specific part-wrist portion or the ankle part of the hand-held patient's affected limb of physiatrician carry out the rehabilitation training of repeatability according to rehabilitation training campaign standard, each rehabilitation training continues about 40 minutes.It is many that this rehabilitation training mode takies physiatrician's quantity, and physiatrician's labor intensity is big, and the rehabilitation training quality is subjected to the influence of physiatrician's level of skill, emotional state, physical state and is in the labile state of fluctuation.
The utility model content
To take physiatrician's quantity many in order to overcome existing paralytic's early rehabilitation training method, physiatrician's labor intensity is big, the rehabilitation training quality is subjected to problems such as interference from human factor instability, the utility model proposes a kind of assistive device and method of paralytic's early rehabilitation training.
The technical solution of the utility model is to adopt the assistive device-airbag holder of rehabilitation training and a whole set of complete training method to realize:
Rehabilitation training exercise data one of chamber of collection is set at the rehabilitation training center and gathers one of adjacent rehabilitation training chamber, chamber with the rehabilitation training exercise data.Lie low orientation and be provided with one of the rehabilitation training bed of coordinate system of patient is gathered and indoor three-dimensional motion capture system one cover to be set, can be limited to the rehabilitation training exercise data;
When the rehabilitation training exercise data is gathered, the paralytic is lain low on the rehabilitation training bed by the orientation that limits, the physiatrician grips patient's affected limb with hands and carries out the rehabilitation training campaign, form the complete rehabilitation training action formula of a cover, simultaneously, the three-dimensional motion capture system is started working, and gathers physiatrician's the back of the hand portion three measurement point information, forms the rehabilitation training exercise data.
After data acquisition was finished, the patient was gone to the rehabilitation training chamber, and the rehabilitation training exercise data is sent to computer and carries out date processing.The content that computer data is handled comprises: physiatrician's the back of the hand portion three measurement point space tracking information are found the solution the data transaction that is converted to a track and a kind of attitude information by planar central and method vector, by judging that between points variable in distance and attitude change and whether break through threshold value and carry out abnormity point elimination, carry out curve and attitude match by method of least square, operating rate according to industrial robot is extracted the rehabilitation training exercise data, by coordinate transform the rehabilitation training exercise data is represented to be converted to by rehabilitation training bed coordinate system by three-dimensional motion capture system coordinate system and represents.Rehabilitation training exercise data after the Computer Processing is sent to the industrial robot of rehabilitation training chamber.The rehabilitation training chamber is equipped with several rehabilitation training beds and several industrial robots.The state of rehabilitation training bed in the rehabilitation training chamber, lay orientation, the same to patient's rehabilitation training bed that qualification and the rehabilitation training exercise data in orientation gather the chamber that lies low, industrial robot can certain limit move horizontally near the rehabilitation training bed in the rehabilitation training chamber, to adapt to the needs of different figure patient's rehabilitation trainings, the Azimuth ﹠ Range that industrial robot moves at every turn is recorded, so that demarcate the position of industrial robot in rehabilitation training bed coordinate system.After industrial robot is received the rehabilitation training exercise data, exercise data to be represented to be transformed to by the industrial robot coordinate system by rehabilitation training bed coordinate system and represent, call the industrial robot internal processes then and carry out the normal solution computing, the rehabilitation training exercise data is changed into the exercise data of each joint correspondence of industrial robot.After the paralytic enters the rehabilitation training chamber, lie low on the rehabilitation training bed by the orientation requirement that limits, industrial robot is by airbag holder clamping patient's wrist portion or ankle part, drive patient's affected limb and back and forth train, until the timing termination of once training by the requirement of rehabilitation training exercise data.
The method of rehabilitation training of the present utility model:
The rehabilitation training exercise data is set at the rehabilitation training center gathers the chamber, when carrying out the collection of rehabilitation training exercise data, the patient is lain low on the rehabilitation training bed by the orientation that limits, the physiatrician grips patient's affected limb with hands and carries out the rehabilitation training campaign, forms the complete rehabilitation training action formula of a cover;
When rehabilitation teacher carried out rehabilitation training to the patient, the three-dimensional motion capture system was started working, and gathered the information of physiatrician's the back of the hand portion three measurement points, formed the rehabilitation training exercise data, and after data acquisition was finished, the patient was gone to the rehabilitation training chamber;
The rehabilitation training exercise data is sent to computer and carries out date processing, the content that computer data is handled comprises: the space tracking information of doctor's the back of the hand portion three measurement points is found the solution the data transaction that is converted to a track and a kind of attitude information by planar central and method vector, by judging that between points variable in distance and attitude change and whether break through threshold value and carry out abnormity point elimination, carry out curve and attitude match by method of least square, operating rate according to industrial robot is extracted the rehabilitation training exercise data, by coordinate transform the rehabilitation training exercise data is represented to be converted to by rehabilitation training bed coordinate system by three-dimensional motion capture system coordinate system and represents;
The rehabilitation training chamber is equipped with rehabilitation training bed and industrial robot, rehabilitation training exercise data after the Computer Processing is sent to the industrial robot of rehabilitation training chamber, the rehabilitation training chamber is equipped with several rehabilitation training beds and several industrial robots, the state of rehabilitation training bed in the rehabilitation training chamber, lay the orientation, the patient lain low, and to gather the rehabilitation training bed of chamber the same for qualification and the rehabilitation training exercise data in orientation, industrial robot can certain limit move horizontally near the rehabilitation training bed in the rehabilitation training chamber, to adapt to the needs of different figure patient's rehabilitation trainings, the Azimuth ﹠ Range that industrial robot moves at every turn is recorded, so that demarcate the position of industrial robot in rehabilitation training bed coordinate system;
After industrial robot is received the rehabilitation training exercise data, exercise data represented to be transformed to by the industrial robot coordinate system by rehabilitation training bed coordinate system represent, call the industrial robot internal processes then and carry out normal solution calculating, the rehabilitation training exercise data is changed into the exercise data of each joint correspondence of industrial robot;
After the paralytic enters the rehabilitation training chamber, lie low on the rehabilitation training bed by the orientation requirement that limits, industrial robot is by airbag holder clamping patient's wrist portion or ankle part, drive patient's affected limb by robot and back and forth train, until the timing termination of once training by the requirement of rehabilitation training exercise data;
According to the needs of patient's rehabilitation training, repeat aforesaid rehabilitation training step, make paralytic's health obtain to a certain degree improvement, until last recovery from illness; If the training fresh content then enters the rehabilitation training exercise data and gathers chamber, the step when restarting and complete step subsequently.
For strengthening reliability and the safety of industrial robot by airbag holder clamping patient's wrist portion or ankle part, this utility model has designed a kind of airbag holder, and its concrete structure comprises:
The inside of airbag holder is by the air bag of distribution symmetrically or asymmetrically distributed manual inflation pressurization, pressure release more than three;
Be communicated with by inflating catheter between the air bag, and be bonded on the circular support ring inner periphery;
Be shaped on groove on the outer cylinder surface of support ring, installed in the groove and have opening edge and by screw, the fastening turning circle of nut, support ring is made by the Teflon material;
Leave the gap that to do free coaxial rotating motion between turning circle and the support ring;
Turning circle is connected with the single-revolution pin with clamping bar on opening edge, but the gyration perpendicular to the turning circle axis is done in turning circle drive support ring and air bag wraparound rotating shaft;
The cervical region of clamping bar is by the end effector clamping of industrial robot, and can do axial gyration around neck axis.
The beneficial effects of the utility model are:
1, the physiatrician is freed from heavy physical work, and can make the more patient of high-caliber physiatrician's diagnosis and treatment, remove painful and inconvenient that slight illness brings for more paralytic.
2, rehabilitation's teacher the level of training is embodied in the rehabilitation training exercise data that the three-dimensional motion capture system of rehabilitation training gathers fully, is not subjected to interference from human factor in the training process, the rehabilitation training steady quality.
3, airbag holder clamping patient limbs are firm, and can do the Three Degree Of Freedom gyration, avoid in the rehabilitation training process patient's limbs to be sprained.
Description of drawings:
Fig. 1 is the rehabilitation training workflow diagram.
The sequence number implication is as follows among Fig. 1: 1. the rehabilitation training exercise data is gathered the chamber, 2. rehabilitation training bed, 3. three-dimensional motion capture system, 4. computer, 5. rehabilitation training chamber, 6,8, the n. industrial robot, 7,9, n+1. rehabilitation training bed.
Fig. 2 is that computer data is handled main program flow chart.
Fig. 3 is an industrial robot data processor flow chart.
Fig. 4 is the airbag holder structure chart.
The sequence number implication is as follows among Fig. 4: 1a. manually inflates poly-bag, 2a control valve, 3a. turning circle, 4a. support ring, 5a. air bag, 6a. conduit, 7a screw-nut, 8a. fulcrum post, 9a. clamping bar, 10a. nut, 11a. sliding gasket, 12a. split pin.
The specific embodiment
The process of rehabilitation training is as shown in Figure 1: the patient at first is admitted to the rehabilitation training exercise data and gathers in the chamber 1, and lie low on rehabilitation training bed 2 by the orientation that limits, the physiatrician carries out the rehabilitation training campaign with wrist portion or the ankle part that hands grips patient's affected limb, form one and overlap complete, rational rehabilitation training action formula, simultaneously, three-dimensional motion capture system 3 is gathered the rehabilitation training exercise data; After data acquisition was finished, the patient was gone in the rehabilitation training chamber 5, and the rehabilitation training exercise data is transferred into and carries out date processing in the computer 4, and the rehabilitation training exercise data after the Computer Processing is sent to the industrial robot 6 or 8 or n in the rehabilitation training chamber 5. Industrial robot 6 or 8 or after n receives the rehabilitation training exercise data will carry out coordinate transform, each movable joint kinematic parameter of industrial robot is found the solution; After the paralytic enters rehabilitation training chamber 5, by orientation requirements that limits lie low in refreshment practice beds 79 or n+1 on.Industrial robot drives patient's affected limb and carries out repetition training by the requirement of rehabilitation training exercise data by airbag holder clamping patient's wrist portion or ankle part, until the timing termination of once training.
Computer data is handled main program flow as shown in Figure 2.The date processing content is that data transaction, abnormity point elimination, curve and attitude match, exercise data extract, the coordinate transform of exercise data.
Industrial robot data processor flow process as shown in Figure 3.The date processing content is that coordinate transform, each movable joint kinematic parameter of industrial robot are found the solution.
As shown in Figure 4, airbag holder is made up of manual inflation poly-bag 1a, control valve 2a, turning circle 3a, support ring 4a, air bag 5a, conduit 6a, screw-nut 7a, fulcrum post 8a, clamping bar 9a, nut 10a, sliding gasket 11a and split pin 12a.Wherein manually inflate poly-bag 1a and be used to offer the certain pressure of airbag holder, finish inflation by artificial suitably pressurization, and be full of in 4 air bag 5a by conduit 6a, so that with certain pressure and be that air bag 5a is clamped on the arm or ankle at body-care position, control air valve 2a is used to control airbag holder and keeps certain pressure limit, and air bag 5a is bonded on the circular support ring 4a inner periphery; Support ring 4a is made by the Teflon material, is shaped on groove on the outer cylinder surface, has installed in the groove to have opening edge and by the fastening turning circle 3a of screw-nut 7a, leave certain clearance between turning circle 3a and the support ring 4a, can do coaxial rotating motion freely; Turning circle 3a is connected with fulcrum post 8a with clamping bar 9a on opening edge, is installed with split pin 12a on the fulcrum post 8a, prevents fulcrum post 8a axial motion, and 8a does gyration but turning circle 3a drive support ring 4a and air bag 5a wraparound are shipped and resell on another market; The cervical region of clamping bar 9a (sliding gasket 11a is with the lower part) is done the gap clamping by the end effector of industrial robot, and sliding gasket 11a and nut 12a mating reaction prevent that clamping from coming off, and makes clamping bar 9a do gyration around its neck axis.Airbag holder has three rotational freedoms, when clamping patient limb motion, prevents from patient's limbs are sprained.
Claims (1)
1. the assistive device of paralytic's early rehabilitation training is characterized in that:
One airbag holder, its inside is by the air bag of distribution symmetrically or asymmetrically distributed manual inflation pressurization, pressure release more than three;
Be communicated with by inflating catheter between the air bag, and be bonded on the circular support ring inner periphery;
Be shaped on groove on the outer cylinder surface of support ring, installed in the groove and have opening edge and by screw, the fastening turning circle of nut, support ring is made by the Teflon material;
Leave the gap that to do free coaxial rotating motion between turning circle and the support ring;
Turning circle is connected with the single-revolution pin with clamping bar on opening edge, but the gyration perpendicular to the turning circle axis is done in turning circle drive support ring and air bag wraparound rotating shaft;
The cervical region of clamping bar is by the end effector clamping of industrial robot, and can do gyration around neck axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020176771 CN201734905U (en) | 2010-04-01 | 2010-04-01 | Auxiliary instrument for early recovery training of paralytic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020176771 CN201734905U (en) | 2010-04-01 | 2010-04-01 | Auxiliary instrument for early recovery training of paralytic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201734905U true CN201734905U (en) | 2011-02-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201020176771 Expired - Lifetime CN201734905U (en) | 2010-04-01 | 2010-04-01 | Auxiliary instrument for early recovery training of paralytic |
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| Country | Link |
|---|---|
| CN (1) | CN201734905U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101822605A (en) * | 2010-04-01 | 2010-09-08 | 长春大学 | Auxiliary instrument and method of early rehabilitation training of palsied patient |
-
2010
- 2010-04-01 CN CN 201020176771 patent/CN201734905U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101822605A (en) * | 2010-04-01 | 2010-09-08 | 长春大学 | Auxiliary instrument and method of early rehabilitation training of palsied patient |
| CN101822605B (en) * | 2010-04-01 | 2011-11-09 | 长春大学 | Auxiliary instrument of early rehabilitation training of palsied patient |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110209 Effective date of abandoning: 20111109 |