CN211535460U

CN211535460U - Promotion type lower limb ankle and knee joint movement function rehabilitation training device

Info

Publication number: CN211535460U
Application number: CN201921760357.4U
Authority: CN
Inventors: 余永; 池申; 陈�峰
Original assignee: Nanjing Ruikefu Robot Technology Co ltd
Current assignee: Nanjing Ruikefu Robot Technology Co ltd
Priority date: 2019-10-20
Filing date: 2019-10-20
Publication date: 2020-09-22
Anticipated expiration: 2029-10-20

Abstract

The utility model discloses a general lower limb ankle knee joint movement function rehabilitation training device, which applies rapid acceleration passive plantar flexion based on the up-and-down rotation of the heel to the ankle joint of the sitting posture or supine posture front stretching micro knee flexion lower limb, so as to stretch the target dorsal stretching muscle (front tibialis muscle), immediately cause the dorsal stretching movement after the muscle tension is increased, and further induce the active target random dorsal stretching movement and knee flexion movement of the patient, thereby applying stimulation to the nerve circuit related to the dorsal stretching movement and achieving the effect of promoting the communication of the target nerve circuit through repeated training; the ankle joint back stretching movement and knee bending movement are induced by adopting the up-and-down rotation movement based on the heels, so that the rehabilitation effect of inducing the target random back stretching movement and knee bending movement and repeated training is achieved.

Description

Promotion type lower limb ankle and knee joint movement function rehabilitation training device

The technical field is as follows:

the utility model relates to a short general formula low limbs ankle knee joint motion function rehabilitation training device.

Background art:

the aggravation of social aging and the increase of the incidence rate of cerebral apoplexy make the cerebral apoplexy become the leading cause of the limb disability of the old. The central nervous system is damaged, and the stroke patient is accompanied with sequelae such as hemiplegia and motor function loss after an acute period, so that the patient is subjected to heavy burden on individuals, families and society. Clinical practice of rehabilitation medicine shows that due to the existence of neural plasticity, limb function rehabilitation is carried out as early as possible after the state of an illness is stable, and related neural circuits can be promoted to be reconstructed through repeated training, so that the motor function rehabilitation degree of a patient is obviously improved. Therefore, rehabilitation becomes an important link in the treatment process of stroke patients.

The traditional rehabilitation therapy mainly uses a therapist to perform one-to-one training on a patient manually, the method is time-consuming and labor-consuming, and the training effect is easily influenced by subjective factors of the therapist. At present, the rehabilitation medical resources which are very short in China are difficult to meet the treatment requirements of a large number of patients. The robot technology is applied to the field of rehabilitation, the rehabilitation robot is used for carrying out auxiliary treatment, the potential of improving the rehabilitation training efficiency and the rehabilitation effect is achieved, and the contradiction of shortage of rehabilitation medical resources is expected to be effectively relieved.

Lokomat developed by Federal science of science and technology of Zurich, Switzerland is a typical representative example of a lower limb rehabilitation robot, which is an exoskeleton robot system and is widely applied to clinical rehabilitation. Although Lokoma may provide natural, repetitive, motivational gait training for a patient via mechanical leg actuation, it is expensive to manufacture and does not allow for rehabilitation training of a single joint. The distal lower limb rehabilitation robot of LokoHelp et al is relatively simple in structure, but still trained for the whole gait.

The current lower limb joint CPM (continuous Passive motion) rehabilitation device commonly used in clinic only achieves the effect of preventing joint adhesion, muscular atrophy and arthritis through the continuous Passive motion of a patient, and is lack of active participation of the patient. But rehabilitation clinical research indicates that rehabilitation training actively participated in by patients according to motor intentions can help neural circuit to promote pathway and motor function to recover.

Due to the complexity of walking gait, rehabilitation training of a single joint is an indispensable treatment link for stroke hemiplegia patients. At present, no lower limb ankle joint rehabilitation training device and method which enable patients to actively participate and are beneficial to nerve circuit reconstruction exist, and the clinical rehabilitation requirements can be met.

The invention content is as follows:

the utility model provides a rehabilitation training device for the motion function of the ankle and knee joint of the lower limb, which aims to solve the problems in the prior art.

The utility model discloses the technical scheme who adopts has:

a general promotion type rehabilitation training device for motion functions of lower limb ankles and knee joints comprises a training platform host, a controller and system software, wherein the training platform host is electrically connected with the controller, and the system software is matched with the controller;

the training platform host comprises a base, a pedal rotation angle limiting mechanism and a driving shaft provided with a torque sensor, the pedal with the heel as a rotation center is fixed on the driving shaft, the driving shaft is connected with a driving motor fixed on the base, the driving motor drives the driving shaft to rotate, so that the pedal can rotate back and forth around the heel rotation center, and the pedal rotation angle limiting mechanism is connected on the base and limits the rotation angle of the pedal.

Furthermore, the driving motor on the base is a servo motor, and an encoder is installed at the rear end of the servo motor.

Further, an LED lamp and a buzzer are mounted on the pedal.

Furthermore, the pedal and the shell in the base are both provided with stimulation interfaces, and a vibration stimulator or an electrical stimulation electrode fixed on the leg of the patient is connected with the controller through the stimulation interfaces.

Further, the controller comprises a computer, a power supply module, a main control circuit module and a motor driving module, wherein the computer runs the system software and provides an operation interface for a user through a touch screen; the main control circuit module is responsible for signal processing of the torque sensor, control of the vibration stimulator, control of the buzzer and control of the LED lamp; the power module and the motor driving module respectively provide a driving power supply and rotation speed control for the motor correspondingly.

Further, the system software comprises two functions of driving shaft motion control and user operation interactive interface.

Further, the driving shaft motion control means controlling the rotation direction and speed of the driving shaft according to a set control algorithm based on the training mode and the detection information of the torque sensor.

Further, the user operation interface comprises patient information input and management, training mode and parameter setting, motion analysis and evaluation and control parameter setting.

The utility model discloses following beneficial effect has:

1) the hemiplegic patient of apoplexy, especially early patient, almost totally loses the function of initiative ankle joint back extension, is difficult to actively generate the back extension action according to own will and participate in the rehabilitation training;

the utility model discloses passive plantarflexion and back stretch function have: the external rotation motion around the heel is applied to the hemiplegic ankle joint of the slightly-knee-flexed lower limb which is stretched in the sitting posture or the supine posture, so that the hemiplegic ankle joint is passively subjected to plantarflexion or dorsiflexion, and the active knee flexion of the knee joint is driven;

the utility model discloses the motion that has the initiative back of the body and stretches promotes to lead to amazing function: applying a stimulation for inducing active movement to the hemiplegic ankle joint of the slightly-extended knee-flexed lower limb in the sitting posture or the supine posture so that the hemiplegic ankle joint can generate voluntarily-intended active dorsal extension; the active dorsal extension is to apply rapid acceleration passive plantarflexion movement from low external speed in a first stage low speed (first uniform speed zone) and high external speed in a second stage high speed (acceleration zone) to the hemiplegia ankle joint to perform stimulation so as to induce the hemiplegia ankle joint to generate voluntary active dorsal extension and drive the active knee flexion of the knee joint.

The utility model discloses have the active supplementary initiative back of the body and stretch the motion and the initiative function of bending the knee of moving, judge the torsion change of running-board reciprocating motion in-process and then learn hemiplegia ankle joint's initiative motion intention through torque sensor. If the torque of the torque sensor is increased, the active consciousness of the hemiplegia ankle joint is strong, the acting force of the driving motor is increased, active power assisting assistance for the independent dorsal extension movement of the hemiplegia ankle joint is implemented, and active knee bending of the knee joint is assisted to be driven.

2) The angle limiting unit in the utility model is realized by mechanical mutual linkage, the structure is convenient to adjust, and the adjustment of the angle limiting units at the upper swing limit position and the lower swing limit position of the pedal plate are mutually independent units, the use is flexible, the control can be independently adjusted, and the use is extremely convenient;

different disabled degrees and different recovered trainees in stage of causing, the ankle joint activity degree is different, and the ankle joint back of the body bends and the toe angle of bending promptly differently, in order to avoid the program out of control to cause excessive rotation, sets up the angle limiting unit, and the trainee's ankle joint activity degree of measurement before the training, through the angle of limitation of moving the slider position adjustment spacing arm, the rotation angle restriction of spacing arm with the rotor arm is in certain extent.

3) The sole in the running-board is detachable structure, when using, can tie up the sole of separation in trainee's foot in advance, avoids directly accomplishing in the device that trainee's foot is fixed, reduces patient's misery.

Description of the drawings:

fig. 1 is a structural diagram of the present invention.

Fig. 2, 3, 4, 5 and 6 are views of angle limiting structures for limiting the foot board beyond a set range of motion in the structure of fig. 1.

Fig. 7 and 8 are operation diagrams of the angle limiting structure for limiting the pedal from exceeding the set movement range according to the present invention.

Fig. 9, 10 and 11 are structural views illustrating the separation of the foot pedal in the structure of fig. 1.

The specific implementation mode is as follows:

the present invention will be further described with reference to the accompanying drawings.

Example 1:

the utility model relates to a short general formula low limbs ankle knee joint motion function rehabilitation training device, including training platform host computer, controller and system software, training platform host computer and controller electric connection, system software and controller cooperation.

The driving motor on the base is a servo motor, an encoder is installed at the rear end of the servo motor, and an LED lamp and a buzzer are installed on the pedal plate.

The pedal and the shell in the base are both provided with stimulation interfaces, and a vibration stimulator or an electrical stimulation electrode fixed on the leg of the patient is connected with the controller through the stimulation interfaces.

The controller comprises a computer, a power supply module, a main control circuit module and a motor driving module, wherein the computer runs the system software and provides an operation interface for a user through a touch screen; the main control circuit module is responsible for signal processing of the torque sensor, control of the vibration stimulator, control of the buzzer and control of the LED lamp; the power module and the motor driving module respectively provide a driving power supply and rotation speed control for the motor correspondingly.

The system software comprises two functions of driving shaft motion control and user operation interactive interface. Wherein:

the driving shaft motion control means controlling the rotating direction and speed of the driving shaft according to a set control algorithm according to a training mode and detection information of the torque sensor. The user operation interactive interface comprises patient information input and management, training mode and parameter setting, motion analysis and evaluation and control parameter setting.

The utility model discloses rehabilitation device's training method as follows, include:

passive flexion and extension of ankle and knee joints: the external rotation motion with the heel as the rotation center is applied to the hemiplegic ankle joint of the sitting posture or the supine posture, stretching the slightly knee and bending the lower limb forwards to enable the hemiplegic ankle joint to be subjected to passive plantarflexion or dorsiflexion, and the stretching or bending of the knee joint is driven.

Movement stimulation of active dorsal extension and active knee flexion: the activating stimulation for inducing active movement is applied to the hemiplegic ankle joint of the slightly bent lower limb of the slightly extended knee in the sitting posture or the supine posture, so that the hemiplegic ankle joint can generate voluntarily involuntarily abduct, and drive the voluntarily bending knee of the knee joint.

The process of actively bending knees is as follows: the passive plantar flexion movement is accelerated from low to high at the external rotation speed from low in the first stage and high in the second stage by taking the heel as the rotation center to the hemiplegia ankle of the trainee, so that the stimulation is performed to induce the hemiplegia ankle to generate voluntary active dorsal extension and active knee flexion of the knee joint.

The active auxiliary back stretching and active knee bending movement is achieved, active power assisting to the active back stretching movement of the hemiplegia ankle joint is achieved by sensing the active movement intention of the hemiplegia ankle joint, and the active knee bending movement of the knee joint is assisted.

The active movement intention of the hemiplegia ankle joint is known by judging the torque change in the reciprocating process of the pedal plate through the torque sensor. If the torque of the torque sensor is increased, the active consciousness of the hemiplegia ankle joint is strong, the acting force of the driving motor 12 is increased, and active power-assisted assistance for the independent dorsal extension movement of the hemiplegia ankle joint is implemented.

Example 2:

the utility model provides a concrete mechanical structure realizes the action execution of each function in the trainer, and this concrete structure is described below.

As shown in fig. 1 and fig. 2, the utility model relates to a promote formula low limbs ankle knee joint movement function rehabilitation training device, including running-board 21, driving motor 12 and the drive shaft 13 that is equipped with torque sensor 14, driving motor 12 links to each other with drive shaft 13, and drive shaft 13 links to each other with running-board 21, and driving motor 12 drive running-board 21 reciprocating motion to help the trainee to use the trainee heel to do down, the reciprocal swing of top direction as the rotation center.

The pedal rotation angle limiting mechanism 2 includes a limiting shaft 31, a slider 34, a sliding table 35, a connecting block 36, a rotating arm 32 provided with a rotating surface 321, and a limiting arm 33 provided with a limiting surface 331.

Two fixing frames 110 are arranged on the base 11, the driving shaft 13 and the limiting shaft 31 are correspondingly and rotatably connected to the two fixing frames 110 through bearings, the driving shaft 13 and the limiting shaft 31 are horizontally and coaxially arranged, and the driving shaft 13 and the limiting shaft 31 rotate around an axis 200 in the axis direction when working.

The driving shaft 13 and the limiting shaft 31 are respectively disposed at both sides of the pedal 21 and connected to the pedal 21, the two rotating arms 32 are fixed at both ends of the limiting shaft 31, and the rotating surfaces 321 on the two rotating arms 32 are arranged in a staggered manner. The two limiting arms 33 are respectively arranged at the inner side of a rotating arm 32, and the two limiting arms 33 are rotatably connected to the limiting shaft 31 through bearings. The stopper surface 331 of the stopper arm 33 is located on the rotation path of the rotation surface 321 of the corresponding side rotation arm 32 about the axis 200.

The sliding table 35 is fixed on the fixed frame 110 and horizontally arranged below the limiting shaft 31, the sliding table 35 is located between the two limiting arms 33, the two sliding blocks 34 are arranged in parallel, the two sliding blocks 34 are fixed on different positions of the sliding table 35 along the sliding direction through sliding, the two connecting blocks 36 are respectively connected with one limiting arm 33 in a sliding mode, and the two connecting blocks 36 are respectively hinged with the sliding blocks 34 on the corresponding side correspondingly.

The two sliding blocks 34 at different positions of the sliding table 35 in the sliding direction are respectively driven by the connecting block 36 and the limiting arm 33 at the corresponding side, so that the limiting surface 331 on the limiting arm 33 is at different circumferential positions when the rotating surface 321 rotates, the driving motor 12 drives the driving shaft 13 to rotate, and the driving shaft 13 drives the pedal 21 to swing around the axis 200 within the range of the two different circumferential positions.

With reference to fig. 3 to fig. 6, two rails 351 arranged in parallel are disposed on the sliding table 35, the two rails 351 realize the sliding of the two sliders 34, and the direction of the rails 351 is the sliding direction of the sliders 34.

The track 351 is perpendicular to the axis of the limiting shaft 31, the two sliders 34 are correspondingly connected to the two tracks 351 in a sliding manner, and the sliders 34 are fixed on different positions of the track 351 in a sliding manner.

After the slider 34 slides to suitable position, in order to fix the position of slider 34, a latch segment 343 is inserted on the slider 34, the latch segment 343 is "H" shape structure, the draw-in groove of the upper end of the latch segment 343 and the slider 34 are mutually clamped, the draw-in groove of the lower end of the latch segment 343 is slidably connected on the track 351, a locking screw 344 is connected on the slider 34 in a threaded manner, and the locking screw 344 penetrates through the slider 34 and is abutted on the latch segment 343, and is abutted on the track 351. The position of the slider 34 on the track 351 can be adjusted by loosening the locking screw 344.

To facilitate mounting of the connecting blocks 36, a fixing plate 345 is fixed to an outer side surface of each slider 34, the fixing plate 345 is vertically disposed, and the connecting blocks 36 are hinged to outer end surfaces of the fixing plates 345.

The connecting block 36 is provided with a sliding groove 368, the limiting arm 33 is provided with a sliding rib 338, and the sliding rib 338 is inserted in the sliding groove 368, so that the sliding connection between the limiting arm 33 and the connecting block 36 is realized.

The rotating arm 32 has a circular block structure, and a fixing hole is formed in the rotating arm 32 in the circular direction, and the fixing hole is fixedly connected to the stopper shaft 31. A rectangular projection 320 is provided on the outer circumferential wall of the rotating arm 32, and a rotating surface 321 is formed on one end surface of the projection 320. After the two rotating arms 32 are fixed on the limiting shaft 31, the lugs 320 on the two rotating arms 32 are arranged in a staggered mode.

The limiting arm 33 is of a strip plate structure, a limiting block 330 perpendicular to the limiting arm 33 is arranged on the limiting arm 33, the limiting block 330 is of a rectangular structure, and a side surface of the limiting block 330 opposite to the rotating surface 321 in the bump 320 is a limiting surface 331.

The utility model discloses when using, drive shaft 13 and spacing axle 31 can be directly through two holder 52 and running-board 21 fixed connection, and drive shaft 13 directly links to each other with running-board 21 through holder 52, and during running-board 21 reciprocating motion, trainee's heel is coaxial with running-board 21 rotation center, through applying to trainee's hemiplegia ankle joint and making it bend passively plantarfledly or back-stretch with the heel for rotation center's outside rotary motion to drive stretching knee or bending knee of knee joint.

The utility model discloses in transfer arm 32 and spacing arm 33 constitute the angle limiting unit 300 in the utility model jointly, two angle limiting unit 300 form a spacing region, and angle limiting unit 300 plays the safety protection effect, avoids running-board 21 to surpass spacing region, causes patient's secondary injury.

As fig. 7 and 8, the utility model provides an angle limiting unit 300 is realized using mechanical mutual linkage, when needs adjust the upper hem or the lower hem extreme position of running-board promptly, only need slide the slider 34 that corresponds the position, and slider 34 slides the in-process and drives connecting block 36 and rotate, and connecting block 36 rotates the in-process and drives spacing arm 33 and rotate, finally realizes the position change of spacing face 331 on the spacing arm 33. The angle limiting units 300 at the upper swing limit position and the lower swing limit position are adjusted to be mutually independent units, so that the use is flexible, the independent adjustment and control can be realized, and the use is extremely convenient.

Example 3

As shown in fig. 9-11, this embodiment provides a structure of the detachable footboard in the device. The pedal 21 includes a bottom plate 211, a foot plate 212, and a latch 213, the bottom plate 211 is fixed on the upper end surface of the lower clamp plate 522 by a screw, a slot is formed between the upper end surface of the bottom plate 211 and the lower end surface of the upper clamp plate 521, the latch 213 is fixed on the top end of the upper end surface of the bottom plate 211, the foot plate 212 is inserted into the slot, and the foot plate 212 is fixed on the bottom plate 211 by the latch 213.

The foot plate 212 of the foot plate 21 is a separable structure, and when in use, the foot plate 212 is fixed on the upper surface of the foot plate 212 by a hook and loop fastener or the like, then the foot plate 212 is pushed into a fixed position, and the foot plate 212 is fixed on the base plate 211 by the upper clamping plates 521 (the upper clamping plates and the foot plate are fixed by screws) on both sides and the top end of the snap lock 213. The latch 213 may be released by manually pressing a button. The foot plate 212 can be separated and tied to the foot of the trainee in advance, so that the foot of the trainee can be prevented from being fixed in the device directly, and the pain of a patient is reduced.

The utility model provides a padlock 213 structure does: the locking mechanism comprises a shell 2131, a locking rod 2132, a pressing block 2133 and a spring, wherein the shell 2131 is of a rectangular structure, two insertion holes are formed in the upper end face of the shell 2131, the bottom ends of the insertion holes extend to the lower end face of the shell 2131, switch holes are formed in the left end face and the right end face of the shell 2131, and each switch hole is communicated with one insertion hole.

The locking rod 2132 is inserted into the jack, and the lower end of the locking rod 2132 extends out of the shell 2131. The locking rod 2132 is provided with a step surface, the spring is sleeved on the locking rod 2132, the upper end surface of the spring is abutted against the inner wall of the insertion hole, and the lower end surface of the spring is abutted against the step surface of the locking rod 2132.

The locking rod 2132 is provided with a toggle groove 2134, the pressing block 2133 is provided with a wedge surface 2135, the pressing block 2133 is inserted into the switch hole, the wedge surface 2135 on the pressing block 2133 correspondingly extends into the toggle groove 2134, the pressing block 2133 is pressed inwards, the locking rod 2132 moves upwards, and the lower end of the locking rod 2132 is accommodated in the insertion hole.

In order to position the pressing block 2133 in the switch hole, a waist-shaped groove is formed in the pressing block 2133, a limit pin is arranged in the switch hole, and the limit pin is inserted into the waist-shaped groove.

The latch 213 is fixed to the bottom plate 211 by an angle steel, a lock hole is provided on the foot plate 212, and the lock rod 2132 of the latch 213 is inserted into the lock hole.

To better support the trainee's foot, a heel support block 214 is provided at the bottom end of the upper end surface of the footboard 212.

Example 4:

one support shaft 61 is provided on each of the rear sides of the drive shaft 13 and the stopper shaft 31, and the two support shafts 61 are provided coaxially and at the same height as the drive shaft 13 and the stopper shaft 31.

When the training gap is required to support the footboard 21, the two support shafts 61 are extended, and the top end of the footboard 21 is supported on the support shafts 61 for supporting the footboard 21. The support shaft 61 can share the torque of the weight of the foot on the drive motor 12, preventing the dorsiflexors of the ankle joint of the trainee from being constantly in a stretched state.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications can be made without departing from the principle of the present invention, and these modifications should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a promote general formula low limbs ankle knee joint motion function rehabilitation training device which characterized in that: the training platform comprises a training platform host, a controller and system software, wherein the training platform host is electrically connected with the controller, and the system software is matched with the controller;

2. The rehabilitation training device for promoting motor function of lower limb ankle and knee joint according to claim 1, characterized in that: the drive motor on the base is a servo motor, and an encoder is installed at the rear end of the servo motor.

3. The rehabilitation training device for promoting motor function of lower limb ankle and knee joint according to claim 1, characterized in that: and the pedal is provided with an LED lamp and a buzzer.

4. The rehabilitation training device for promoting motor function of lower limb ankle and knee joint according to claim 3, characterized in that: the pedal and the shell in the base are both provided with stimulation interfaces, and a vibration stimulator or an electrical stimulation electrode fixed on the leg of the patient is connected with the controller through the stimulation interfaces.

5. The rehabilitation training device for promoting motor function of lower limb ankle and knee joint according to claim 4, characterized in that: the controller comprises a computer, a power supply module, a main control circuit module and a motor driving module, wherein the computer runs the system software and provides an operation interface for a user through a touch screen; the main control circuit module is responsible for signal processing of the torque sensor, control of the vibration stimulator, control of the buzzer and control of the LED lamp; the power module and the motor driving module respectively provide a driving power supply and rotation speed control for the motor correspondingly.

6. The rehabilitation training device for promoting motor function of lower limb ankle and knee joint according to claim 1, characterized in that: the system software comprises two functions of driving shaft motion control and user operation interactive interface.

7. The rehabilitation training device for promoting motor function of lower limb ankle and knee joint according to claim 6, characterized in that: the driving shaft motion control means controlling the rotating direction and speed of the driving shaft according to a set control algorithm according to a training mode and detection information of the torque sensor.

8. The rehabilitation training device for promoting motor function of lower limb ankle and knee joint according to claim 6, characterized in that: the user operation interactive interface comprises patient information input and management, training mode and parameter setting, motion analysis and evaluation and control parameter setting.