CN203355129U

CN203355129U - Multichannel synchronous walking assisting therapeutic apparatus

Info

Publication number: CN203355129U
Application number: CN 201320154769
Authority: CN
Inventors: 燕铁斌
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-03-21
Filing date: 2013-03-21
Publication date: 2013-12-25
Anticipated expiration: 2023-03-21

Abstract

The utility model relates to a multifunctional synchronous walking assisting therapeutic apparatus, which comprises a host, a trigger and an electrode, wherein the host is internally provided with a stimulator and a synchronous controller, the stimulator is connected to the electrode, and the synchronous controller is connected to the trigger, thereby forming an electrical stimulation closed-loop control circuit tracking limb gait actions. In the host, a plurality of time sequence operational control modules of a synchronous controller are in nested connection, the synchronous controller is plugged into two foot control triggering elements through wiring harnesses so as to alternatively switch operations of walking time sequences and synchronously control stimulation pulse sequences outputted by the stimulator. The stimulator is provided with a low-frequency pulse circuit module and a stimulation pulse power driving circuit module, and the stimulator is plugged into four groups of electrodes A, B, C and D through wiring harnesses, thereby stimulating a limb to act. A main controller comprises an operation interface, a memory, a singlechip and a control program thereof. The synchronous walking assisting therapeutic apparatus not only can stimulate the limb to get off the ground to practice the gait actions, but also can assist a patient to walk on the ground. The multifunctional synchronous walking assisting therapeutic apparatus not only can be applied in a single machine mode to stimulate the limb at one side, but also applied in a double machine linkage mode to stimulate the limbs at both sides to act cooperatively in a mutually alternative mode.

Description

Multi-channel synchronous walk help therapeutic instrument

Technical field

This utility model belongs to the rehabilitation medicine equipment field, is specifically related to the synchronous walk help therapeutic instrument of a kind of functional low-frequency electrostimulating based on walking mode.

background technology

Functional low-frequency electrostimulating (FES) auxiliary walking device comprises stimulator, electrode, trigger, when the pulse of stimulator output low frequency, through the electrode stimulating suffering limb, while bringing out the walking action, controls stimulating current by trigger and keeps synchronizeing with the suffering limb action.Typical implanted FES pedestrian system is provided with the also implant electrode of correspondence of 24～32 tunnel electricity irritation passages, can accurately stimulate suffering limb to realize that meticulous gait action, auxiliary paralytic stand and walk, but the structure of implant system and use complicated operation are not yet practical at present.Portable mono commonly used (two) passage FES foot drop walking assisting instrument, utilize the break-make of vola on-off control stimulating current, in suffering limb, swings to bring out mutually the ankle dorsiflex, proofread and correct foot drop gait.Single channel walk help instrument is simple and practical, but can only the indivedual muscle groups of discrete stimulus, bring out single action.Small multi-channel FES walking aid device based on walking mode, several road electricity irritation passages are set, and many groups muscle group that can Walk Simulation sequential unilateral stimulation suffering limb, can bring out the liftoff exercise gait action of suffering limb, also can assist the patient to land and walk about, take into account walk help function and Clinical practicability.The electricity irritation process of the auxiliary walking that lands of multichannel FES walking aid device, should meet the walking sequential again needs and patient's gait keep synchronizeing, problem is that different patients' gait and normal walking step state have very large difference, adopt the complicated Synchronization Control patterns such as myoelectricity or brain electricity feedback, do not meet the practicality requirement of small-sized FES walking aid device, and the triggering mode of common vola switch, cadence that again can only the easy detection suffering limb changes, regulate break time and the repetition period of single channel electricity irritation, can't meet Continuous Tracking suffering limb course of action, the control requirement that the synchronization modulation Multi-path electricity stimulates, Practical Performance and the clinical practice of the auxiliary walking of small multi-channel FES walking aid device have been restricted.

summary of the invention

Deficiency for small multi-channel FES walking aid device, this utility model provides the synchronous walk help therapeutic instrument of a kind of multichannel FES based on walking mode, not only can stimulate the liftoff Walk Simulation action of suffering limb, can also follow the tracks of patient the land course of action, the process of Synchronization Control electricity irritation of walking, adapt to different patients' gait feature.

The scheme that this utility model solves its technical problem is: synchronous walk help therapeutic instrument is comprised of main frame, trigger, electrode.At main frame, isochronous controller is set and is connected to trigger, stimulator is set is connected to electrode, formation can be followed the tracks of patient's walking process, be detected the switching action that suffering limb is liftoff and land, the close loop control circuit of adjusted in concert electricity irritation process.Four tunnel electricity irritation passages are set in the stimulator of main frame and are connected to four groups of electrodes, stimulate respectively the forward and backward muscle group of suffering limb thigh and shank, bring out the walking actions such as suffering limb is stretched knee joint, gone down on one's knees, ankle dorsiflex, the frequency of electric stimulation pulse, pulsewidth, waveform and stimulating current can be regulated, set.Isochronous controller in described main frame, by operation the time switch mutually, the sequential operation control modules such as modulation timing generation, loop cycle control form, the mutually nested connection of each module, the modulation timing of low-frequency pulse the time is divided into to four control times mutually according to operation, with the gait switching action of suffering limb, synchronize switch, operation piecemeal.Take releasable connection between isochronous controller and trigger, when both separate, isochronous controller automatically switches, moves continuously and circulate with stored program control system, the applicable liftoff exercise action of suffering limb.After isochronous controller connects trigger and sets walk help pre-control parameter, the gait switching action, the keying switching isochronous controller that are detected the both sides suffering limb by trigger element move piecemeal: when patient's gait is slow or plant oneself, pre-control that switching action lags behind setting is during the time, the electricity irritation of phase while continuing this, wait for switching action; When suffering limb action is leading, switching action is early than the time of setting, and carries out keying switching, the lower phase for the moment of operation in advance, main controller " memory " back course of action, automatically revises next step pre-control parameter.Described trigger comprises left and right two-way trigger element, and the two-way trigger element is separately positioned on patient's both sides lower limb, follows the tracks of the walking process of suffering limb, the liftoff and switching action that lands that the detection left and right replaces; The two-way trigger element of trigger is can also be left right-alternative is connected to two main frames simultaneously, control the dual-machine linkage switching, stimulates that patient both sides lower limb cooperatively interact, alternating movement.Main frame at synchronous walk help therapeutic instrument arranges main controller and primary control program, the FES prescribed parameters such as frequency, pulsewidth, waveform and treatment time of editor, access electricity irritation, and default electricity irritation operational parameter control, start, move treatment procedure, therapeutic intervention process.

The beneficial effects of the utility model are, structure and the synchronisation control means of synchronous walk help therapeutic instrument are simple and practical, reliable, can with patient motion slowly, long, the left and right lower limb of both legs stand up time moves asymmetric gait and keeps synchronizeing, the state that also can plant oneself with the patient keeps synchronizeing, and guarantees the safety of auxiliary walking process.

The accompanying drawing explanation

Below in conjunction with drawings and Examples, this utility model is described further.

Fig. 1 is the system block diagram of a kind of embodiment of this utility model.

Fig. 2 is the trigger connection layout of this utility model dual-machine linkage

Fig. 3 is that schematic diagram is synchronously switched, moved to Fig. 1 embodiment electric stimulation pulse sequence.

Fig. 4 is the control sequence flow chart that Fig. 3 electric stimulation pulse sequence is synchronously switched, moved.

In figure, 01. left side main frame, 02. shares trigger, 03. right side main frame, 04. portable main machine, 05. strong limb trigger element, 06. suffering limb trigger element.

The specific embodiment

In Fig. 1, the nested connection of a plurality of sequential operation control modules that main frame arranges at isochronous controller, the two-way foot that is plugged into trigger through wire harness is controlled trigger element, the stimulating pulsatile series of the alternately operation of switching walking sequential, the output of Synchronization Control stimulator.Stimulator arranges low-frequency pulse circuit module and boost pulse power driving circuit module, by wire harness, is plugged into A, B, C, tetra-groups of electrodes of D, is stimulated the suffering limb action.Main controller comprises operation interface, memorizer, single-chip microcomputer and control sequence thereof.

In Fig. 2, share the trigger left main frame 01 of 02 interconnection and right main frame 03.When liftoff, the left trigger element upset of left lower limb, left main frame 01 stimulates left lower limb swaying legs action, right main frame 03 to stimulate right lower limb support part, and both legs coordinate takes a step; When left lower limb lands, during the trigger element wraparound, left main frame 01 stimulates left lower limb to protract to stand, right main frame 03 stimulates after right lower limb to stretch and stands.Standing activities is later alternately for right lower limb when liftoff, and the both sides main frame exchanges interlock stimulates action.

The first half in Fig. 3, adopt the wire harness (not shown) to be connected between portable main machine 04 and suffering limb trigger element 06, strong limb trigger element 05.A (a '), b, c, d are that patient both sides lower limb alternately land, liftoff switching action, phase while being respectively four gaits in sequential cycle (T) between switching action.In figure second, four road electric stimulation pulse group sequences of A, B, C, D representative simulation walking sequential, the thick line section is that electricity irritation period, fine rule section stimulate the period for stopping: when suffering limb lands the trigger element 06 of action a upset Ipsilateral of (finish swing), electricity irritation be switched to protract stand phase, bring out the suffering limb standing activities of protracting; When the trigger element 05 of side is good in the action b upset that the both legs process of standing finishes, strong limb is liftoff, electricity irritation is switched to single lower limb and supports phase, brings out the single lower limb support part of suffering limb; When strong limb swing finish land action C again during the trigger element 05 of the strong side of wraparound, stretch the phase of standing after electricity irritation is switched to, stretch standing activities after bringing out suffering limb; When the trigger element 06 of the action d upset Ipsilateral that the both legs process of standing finishes, suffering limb is liftoff, electricity irritation is switched to and swings phase, bring out suffering limb swings forward.The action a ' that lands that suffering limb swing to finish complete electricity irritation cycle of operation, start next step course of action.

Fig. 4 is the flow chart that Fig. 2 embodiment synchronously triggers control.Before the liftoff action of any side lower limb, control sequence does not start, does not move the electricity irritation of single lower limb support or swinging kick, and in the period that stimulates single lower limb to support, swing, also nonintervention, non-interrupt action process, avoid suffering limb action disorder, guarantee walking safety.

Claims

1. a multi-channel synchronous walk help therapeutic instrument comprises main frame, trigger, electrode, it is characterized in that: at main frame, stimulator is set and is connected to electrode, isochronous controller is set is connected to trigger, formation can be followed the tracks of the close loop control circuit of suffering limb gait process, adjusted in concert electricity irritation process.

2. multi-channel synchronous walk help therapeutic instrument according to claim 1, it is characterized in that: comprise the two-way trigger element in described trigger, be separately positioned on patient's both sides lower limb, detect the left and right foot replace liftoff action with landing, follow the tracks of sequential in the suffering limb walking process circulate with the time switching of moving mutually.

3. multi-channel synchronous walk help therapeutic instrument according to claim 1, it is characterized in that: the isochronous controller in described main frame, by nested the connecting to form of a plurality of sequential operation control modules, the modulation timing of low-frequency pulse is divided into to four control times, synchronizes with the switching action of suffering limb and switch, move piecemeal.

4. multi-channel synchronous walk help therapeutic instrument according to claim 1, it is characterized in that: between described trigger and isochronous controller, take detachable being connected, when trigger is connected to isochronous controller, isochronous controller is with the passive switching of the mode of trigger keying, synchronous operation piecemeal; After trigger is separated, isochronous controller automatically switches, moves continuously and circulate with stored program control system.

5. multi-channel synchronous walk help therapeutic instrument according to claim 1, it is characterized in that: the two-way trigger element of described trigger is can be left right-alternative is connected to two main frames simultaneously, control the dual-machine linkage switching, stimulates that patient both sides lower limb cooperatively interact, alternating movement.