CZ26156U1 - Detection system of prosthetic replacement collisions - Google Patents

Description

Prosthetic prosthesis collision detection system

Technical field

The technical solution relates to a prosthetic replacement collision detection system for sensing the intensity of a prosthetic replacement collision or an assistive robotic manipulator with objects around the prosthetic replacement. The prosthesis replacement collision detection system is intended for medical use. It is intended for application to prosthetic restorations after an injury in the rehabilitation process, or for permanent prosthetic restorations.

BACKGROUND OF THE INVENTION

Prosthesis replacement collision detection systems and assistive robotic manipulators are currently only camera systems designed to study patient coordination and motor skills training in artificial arm control. CCTV systems used in medical practice are used during the process of rehabilitation and training of patients in the control of prosthetic replacements or assistive robotic manipulators. CCTV systems are used to monitor the movement of contrast marks placed on specific predefined points in the design of artificial arm prosthetic replacements or assistive robotic manipulators. CCTV monitors the intensity of the artificial arm's collision with objects in the space that the prosthetic prosthesis or the assisted robotic manipulator controlled by the patient touches consciously or unconsciously. CCTV systems are located stationary in rooms for training and rehabilitation of patients using prosthetic restorations and assistive robotic manipulators. At present, however, a device that would allow continuous monitoring of collisions of prosthetic restorations and assistive robotic manipulators outside areas for rehabilitation is not used, and is used for training and rehabilitation of patients. At present, such a device is not used to monitor collisions of prosthetic prosthesis and assistive robotic manipulators after completion of the rehabilitation process or training in the use of prosthetic prosthesis and assistive robotic manipulators. Furthermore, no device is used to detect the intensity of collision of prosthetic prosthesis and assistive robotic manipulators and to distinguish safe states from those dangerous to which the artificial arm reaches the patient's intention or accidentally. They are also not used to detect collision intensity of prosthetic restorations and assistive robotic manipulators other than camera systems.

In the industrial field, strain gauges are also used to detect the intensity of collision states of robotic arms after the impact of the robotic arm with surrounding objects. Strain gauge sensors, however, are not used to detect the intensity of collision of prosthetic prosthesis and assist robotic manipulators with objects in their vicinity. Currently, gyro or accelerometer sensors mounted on prosthetic restorations and assistive robotic manipulators are used only to detect their position or orientation in the two-dimensional space of the selected anatomical plane of the body or the three-dimensional space.

The essence of the technical solution

These deficiencies are solved by a system of detecting prosthetic prosthesis collisions with a unit of gyro and accelerometer, whose importance lies in the appropriate use of the gyro and accelerometer sensor and the signal bearing information about the instantaneous angle of rotation and instantaneous acceleration of the prosthesis, such as artificial arm. The gyro and accelerometer sensor unit, positioned and fixed by a metal prosthetic restraint holder, senses instantaneous angular values and acceleration of the prosthetic restoration. The gyro and accelerometer sensor unit is connected by a data cable to the unit for determining the intensity of the prosthesis replacement. The prosthesis collision intensity determination unit is positioned so as not to restrict the movement of the prosthesis. The prosthesis replacement collision determination unit determines the collision instant and the prosthesis replacement collision intensity with surrounding objects based on the magnitude of the instantaneous angular acceleration and deceleration values and the instantaneous translational acceleration and deceleration. The collision detection system of the prosthetic replacement thus makes it possible to determine by means of collision detection

Ul Prosthetic Prosthesis and Assistive Robotic Manipulator Patient Coordination Abilities in Prosthetic Prosthesis Management - Artificial Arms and Motor Skills Training.

The object of the present invention is therefore a prosthetic replacement collision detection system with a gyro and accelerometer sensor unit, and a unit for determining the intensity of a prosthetic arm or an assistive robotic manipulator. The system makes it possible to identify the intensity and direction of collision with surrounding objects using a gyro and accelerometer sensor.

Clarification of the figures in the drawings

The prosthesis replacement collision detection system of the present invention will be described in more detail with reference to the accompanying drawing, in which Fig. 1 is a schematic diagram of the prosthesis replacement collision detection system. Giant. 2 illustrates an exemplary use of a prosthetic prosthesis collision detection system on an assisted robotic manipulator.

Example of technical solution implementation

The prosthetic prosthesis collision detection system according to FIG. 1 consists of a gyroscopic and accelerometer sensor unit 1 connected by a data cable 2 to a prosthetic prosthesis collision evaluation unit 5, in this case an artificial arm. The gyro and accelerometer sensor unit 1 is positioned and fixedly attached by the holder 4 to the artificial arm. The artificial arm collision evaluation and determination unit 3 with the surrounding object 8 is attached by a band 6 to the user's body 7. The exemplary prosthetic prosthesis collision detection system of Fig. 1 acquires a signal bearing information about the instantaneous angle of rotation and instantaneous acceleration of the artificial arm using a gyroscope and accelerometer sensor unit. and USB interface. The gyro and accelerometer sensor unit 1 is positioned and fixed by a metal holder 4 on the artificial arm and senses at 110 Hz the instantaneous angular values and the acceleration of the artificial arm. The artificial arm structure shown in Fig. 1 consists of a metal structure and Lynxmotion AL5D robotic arm motors. The gyro and accelerometer sensor unit 1 is connected by a data cable 2 with a USB interface to the artificial arm evaluation and determination unit 3. The Artificial Arm Collision Evaluation and Evaluation Unit 3 is made up of a ZOTAC GOODX ID83 Barebone mini-computer and fastened by a strap 6 to the user's body 7 or the robotic manipulator frame, so as not to restrict the movement of the artificial arm. The artificial arm collision evaluation and determination unit 3 calculates the magnitudes and directions of angular acceleration and deceleration, and the magnitude and directions of translational acceleration and deceleration of the artificial arm movement to which the gyro and accelerometer sensor unit 1 is fixed. The artificial arm collision evaluation and determination unit 3, based on the angular acceleration and translational acceleration thresholds, determines whether the artificial arm collision has occurred with the surrounding object 8 in accordance with the user-patient intent or randomly. Furthermore, the artificial arm collision evaluation and determination unit 3 determines, based on the angular acceleration and translational acceleration values, what intensity the artificial arm collides with the surrounding object 8. Thus, the prosthesis replacement collision detection system 5 of the manipulator of FIG. Assist robotic manipulator to determine the coordination abilities of patients in the management of prosthetic prosthesis 5 - artificial arms and motor skills training.

The gyro and accelerometer sensor unit 1 is, according to FIG. 2, placed and fixedly fixed by a holder 4 for a prosthetic replacement 5 - an artificial arm. The gyroscopic and accelerometer sensor unit 1 is, according to FIG. 2, connected by a data cable 2 to the unit 3 for evaluation and determination of the intensity of the prosthesis replacement - artificial arm.

Industrial applicability

A prosthetic replacement collision detection system consisting of a gyro and accelerometer sensor unit connected by a data cable to the artificial arm collision intensity unit is designed to detect the moment and intensity of the prosthetic replacement collision and the assistive robotic manipulator with surrounding objects. The prosthetic prosthesis collision detection system is designed for:

-2EN 26156 Ul assessment of patient coordination ability in artificial arm management and motor skills training. The collision detection system of the prosthetic prosthesis and the assistive robotic manipulator is intended for medical applications in the field of prosthetic and assistive technologies, and rehabilitation, with the possibility of use in hospitals, surgeries, hospitals, spas, the army and the like.

Claims (3)

A prosthetic prosthesis collision detection system comprising a gyroscopic and accelerometer sensor unit (1) and a prosthetic prosthesis replacement (5) evaluation and determination unit (3), with a gyroscopic and accelerometer unit The sensor (1) is connected by a data cable (2) to the unit (3) for evaluation and determination of the collision intensity of the prosthesis (5). System according to claim 1, characterized in that the gyro and accelerometer sensor unit (1) is positioned and fixedly fixed by the holder (4) to the prosthetic prosthesis (5). System according to claim 1 or 2, characterized in that the evaluation and determination of the collision intensity of the prosthetic prosthesis (5) with the surrounding object (8) is fastened by a band (6) to the body (7) of the user.