JP2002315793A - Joint bending and stretching exercise device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a joint bending and stretching exercise device that helps make a joint bending and stretching exercise and simultaneously promote the soundness of the central nervous system and peripheral nervous system by combining the will of a patient with bending and stretching and rotation exercises. SOLUTION: In a joint bending and stretching device provided with arms 2 and 3 bending with the bending and stretching of joints to which it is attached, a bending angle indication means indicating an optional angle of bending of the arms 2 and 3, a recognized angle input means to input the angle of bending of the arms that a patient sensually recognizes an angle measurement means measuring the angel of bending of the arms when input is made by the recognized angle input means, a judgment means comparing the angle recognized inputted by the recognized angle input means with the measured angle measured by the angle measurement means and judging whether the recognized angle is approximate to the measured angle, and a visual notification means informing a patient of indication of the bending angle and the result of judgment by a virtual reality image are provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint bending and stretching exercise device suitable for use in rehabilitation of a patient, for example, after surgery on a joint or the like.

[0002]

2. Description of the Related Art Conventionally, rehabilitation of a patient's joint is performed after surgery such as osteoarthritis of the knee or osteoarthritis of the knee. This rehabilitation is performed to maintain or improve the range of motion of the joint. A joint bending and stretching exercise device is used. This joint bending and stretching movement device passively performs a bending and stretching movement of a joint by attaching an arm provided to bend by a driving means such as a motor to the joint.

[0003]

However, in the above-mentioned conventional articulating and stretching apparatus, the articulating and extending movement of the joint is continuously performed by passive force, and the articulation of the joint is not necessarily related to the intention of the patient. Although it is possible to perform specific muscle contraction training and maintain and improve the range of motion of joints simply by performing mechanically, active muscle contraction training and joint flexion training at the will of the patient, or kinesthetic sense Could not retrain.

The present invention has been made in view of the above-mentioned problems of the conventional articulating and bending exercise apparatus, and combines the intention of the patient with the articulation and rotation of the joint to simultaneously exercise the articulation of the central nervous system and peripheral nerves. An object of the present invention is to provide a joint flexion / extension exercise device that can improve the soundness of the system (proprietary sense system).

[0005]

In order to achieve the above object, the present invention provides a joint bending and stretching exercise device having an arm which bends with the bending and extension of an attached joint. Bending angle instructing means for instructing the bending angle of the arm, recognition angle input means for inputting the bending angle of the arm sensuously recognized by the patient, and an arm angle when the input is performed by the recognition angle input means. Angle measuring means for measuring the bending angle, and comparing the recognition angle input by the recognition angle input means and the measurement angle measured by the angle measurement means, and determining means for determining whether the recognition angle is close to the measurement angle. And a visual notifying unit for notifying the patient of the instruction of the bending angle and the determination result using a virtual reality image.

In this joint bending and stretching exercise apparatus, the bending angle of the joint that is sensuously recognized is determined by comparing it with the actual angle via the arm, and the folding is performed while assuming a game or real life using a virtual reality image. Since the instruction of the bending angle and the notification of the determination result are made, compared to the conventional monotonous repetitive bending and stretching movement, the patient will concentrate on the central nervous system and the peripheral nervous system in determining the joint angle, Thereby, re-education training of the kinesthetic sensation of the sensory nervous system and peripheral nervous system based on the bending and extension of the joint and the action of the central nervous system can be performed.

[0007] In this case, the visual notifying means includes goggles and a headphone having a built-in display, and can notify a virtual reality image together with a sound.

[0008] Thus, it is possible to perform re-educational training of kinesthetic sensation while assuming virtual reality more realistically.

Further, it is preferable that switching means is provided for selectively switching between a state in which the arm is connected to the driving means and the bending and extension movement is passively performed, and a state in which the arm is separated from the driving means and the bending and extension movement is actively performed. it can.

[0010] With this, it is possible to carry out active flexion and extension training at will of the patient himself, as well as passive muscle contraction training and exercise for maintaining and improving the range of motion of joints. Can be effectively implemented in a short period of time.

[0011] The virtual reality image of the visual notifying means may be an instruction of a bending angle and a result of the determination as a body diagram of a joint.

[0012] Thus, it is possible to perform re-educational training of the kinesthetic sensation while confirming the current situation by the concrete virtual reality.

Further, the virtual reality image of the visual notifying means may be a game in which a bending angle instruction and a determination result are shown by a game.

[0014] Thus, re-education training of the kinesthetic sense can be performed while enjoying the game as an entertaining one.

[0015] The virtual reality image of the visual notifying means may be an instruction of a bending angle and a result of the determination by a real life behavior pattern.

[0016] Thus, re-education training for kinesthetic sensation can be performed while assuming real life after returning.

Further, when the recognition angle is input to the recognition angle input means, a tactile sensation such as compression or resistance can be given to the patient's joint.

[0018] Thus, re-educational training of the kinetic sensation can be performed while assuming a virtual reality in addition to a tactile sensation other than audiovisual.

[0019]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a joint bending and stretching exercise device according to an embodiment of the present invention.

FIGS. 1 to 7 show an embodiment of a joint bending and stretching exercise device according to the present invention. This joint bending and stretching exercise device 1 is shown in FIGS.
As shown in FIG. 2, there are provided arms 2 and 3 which bend in accordance with the bending and extension of the attached joint, bending angle indicating means for instructing the patient to set an arbitrary bending angle of the arms 2 and 3, Recognition angle input means for inputting the bending angle of the arm sensuously recognized, angle measurement means for measuring the bending angle of the arm when the input is performed by the recognition angle input means, and recognition angle input means. The control unit 42 of the control panel 20 includes a determination unit that compares the input recognition angle with the measurement angle measured by the angle measurement unit and determines whether the recognition angle is close to the measurement angle.

The control unit 42 includes a statistical processing means for statistically processing the determination result of the determining means, a storage means for storing the statistical processing result of the statistical processing means, and the arms 2 and 3.
Keyboard 10 for setting the range of motion, display, and instructions
Are provided. Further, the recognition angle input means is provided with a push button switch 13 which is operated when the patient recognizes the bending angle of the arms 2 and 3 as a predetermined angle.

In this joint bending and stretching exercise apparatus, the control device 42 is provided with a visual notifying means for notifying the instruction of the bending angle and the judgment result of the judging means by an image of virtual reality (virtual reality). . This visual notification means is constituted by, for example, goggles 11 and headphones 12 with a built-in display, and a monitor screen 40 of the control panel 20, and can notify a patient of a virtual reality image together with a voice.

As the image of the virtual reality by the visual notifying means, for example, as shown in FIGS. The notification of the determination result can be indicated by a specific joint body diagram. Further, as another virtual reality image, the instruction of the bending angle and the determination result can be shown by a real life behavior pattern such as climbing up and down stairs.

Further, as another virtual reality image, the instruction of the bending angle and the determination result can be shown by a game having an entertaining property. Specifically, in a virtual reality image, the goal of a soccer or basket, or a dangerous cliff, an obstacle, or the like is displayed at the screen position corresponding to the designated angle, and the determination result is displayed by the goal, score, avoidance, or the like. The active bending and stretching movement is provided with a game.

In this case, when the patient inputs the bending angle of the joint (arm) sensuously recognized, the joint is given a certain tactile sensation such as compression or resistance.
Thereby, re-education training of the kinetic sensation can be performed while assuming a virtual reality in addition to a tactile sensation other than audiovisual. As this device, for example, a device (not shown) for applying a brake to the movement of the arm when the patient presses the switch of the recognition angle input means, or the like can be considered.

On the other hand, this joint bending and stretching exercise device has
As shown in FIG. 2, a state in which the arms 2 and 3 are connected to the driving means to perform the bending and stretching movement passively, and a state in which the arms 2 and 3 are separated from the driving means and the patient actively performs the bending and stretching movement. A switching device 45 for selectively switching, and a load device 2 for applying a load to the arms 2 and 3 in a state where the bending and extension movements are actively performed
7 are provided. The driving means is composed of a motor 22 and the like, and the arms 2 and 3 provided so as to be bent around the shaft 26 are attached to, for example, a knee joint, so that the knee joint can bend and extend. . The arms 2 and 3 are provided with ball screws 43 driven by the motor 22.
And a slider (nut) 25 screwed to the drive shaft 24 of the ball screw 43 and a link mechanism 44 interposed between the arms 2 and 3 to bend or extend.

In the present embodiment, the switching means 45 is configured to selectively connect the drive lever 46 of the link mechanism 44 to the slider 25 of the ball screw 43 and the fixed part 28 of the load device 27. A lever receiving portion 48 to which a driving lever 46 is pivotally mounted, a pin holding lid 47 pivotally mounted to the lever receiving portion 48, and a fixing of the slider 25 or the load device 27 through the lever receiving portion 48. And a pin 49 that engages the portion 28. Load device 27
Comprises a tension balancer or the like incorporating a coil spring, and the strength of the load can be changed according to the degree of recovery of the patient by adjusting the strength of the spring, such as winding the axis of the coil spring.

In the drawings, reference numeral 4 denotes a foot plate, 5, 6, 7
Denotes a foot fixing device, 14 denotes a guide, 21 denotes a bed, and 23 denotes a potentiometer.

With reference to FIG. 3, a control method of the joint bending and stretching exercise apparatus according to the present embodiment will be described. Here, in the figure, 31
Is a main power switch, 32 is a start / stop switch, 33 is a floppy driver, 34 is a speed switching knob,
Reference numeral 35 denotes an extension angle setting knob, 36 denotes a bending angle setting knob, 37 denotes a timer setting knob, 38 denotes an emergency stop switch, 39 denotes a lamp, 40 denotes a monitor screen, 41 denotes a speaker, and 42 denotes a control device. These members constitute a control panel 20, and this control panel 20 is connected to the motor 22 and the push button switch 13 by wiring.

The start / stop switch 32 functions as a start switch for operation when pressed once, and functions as a stop switch when pressed again. The floppy driver 33 reads and writes the operation specifications unique to the patient, the judgment result of the judging means, or the statistical processing result of the statistical processing means on a floppy disk. Speed switching knob 34
Is a knob for changing the rotation speed of the motor 22, and an extension angle setting knob 35 is a knob for setting the maximum value of the bending angle θ formed by the arms 2 and 3. The bending angle setting knob 36 is a knob for setting the minimum value of the angle θ formed by the arms 2 and 3, and the timer setting knob 37 is a time from when the start / stop switch 32 is pressed to when it is automatically stopped. Is a knob for setting. Further, the emergency stop switch 38 is a button that, when pressed, causes the joint flexion / extension movement device to stop emergency.

Next, the operation of the joint bending and stretching movement device of the present embodiment will be described by taking as an example a case where the bending and stretching movement is performed passively.
Patients requiring joint flexion / extension lie on the bed 21 so that their knees are above the axis 26. And
Fix the shin side to the fixture 5 so that the foot does not come off the bending and stretching device 1.
, The thigh side is fixed to the arm 3 by the fixing device 6, and the instep is fixed to the foot plate 4 by the fixing device 7. It is preferable to use a hook-and-loop fastener or the like so that the fixtures 5 to 7 can be easily attached and detached.

The motor 22 is connected to a link mechanism 44 of the arms 2 and 3 via a drive shaft 24 of a ball screw and a slider 25, and moves the slider 25 to the left as shown in FIGS. The legs are extended when moved, and flexed when moved to the right. Therefore, by repeating these operations, it becomes possible to continuously perform the flexion and extension of the muscle on the knee of the patient's foot. Further, these exercises can be performed by changing the adduction and abduction angle of the foot plate.

On the other hand, the operation of the joint bending and stretching movement device of the present embodiment will be described by taking as an example a case where the bending and stretching movement is actively performed.

During the passive movement by the motor 22, the drive lever 46 of the link mechanism 44 is fixed to the slider 25 of the ball screw 43 by the pin 49 as shown in FIGS. The drive lever 46 can be fixed to the load device 27 by pulling out the 49 and inserting it into the fixing portion 28 of the load device 27 indicated by the one-dot chain line. As described above, the fixing and releasing of the driving lever 46 to the load device 27 and the fixing and releasing of the driving lever 46 to the slider 25 are performed at the base point of the driving lever 46 by the pin 49.
Can be easily performed by replacing and replacing the pins 49 and fixing the pins 49 with the pin pressing lid 47.
In this case, the strength of the load of the load device 27 can be changed according to the degree of recovery. However, the drive lever 46 can be used without load by simply removing the drive lever 46 from the slider 25 and not connecting to the load device 27. it can.

The operation of training using the virtual reality image of the soccer game during the active exercise will be described with reference to FIG. As shown in FIG. 6A, the ball corresponding to the bending angle is displayed in color, number, or the like by the visual notification means. Next, a ball corresponding to the designated bending angle is designated by a color, a number or the like by the bending angle designating means. The patient presses the start switch to enter the training operation. When the patient sensuously recognizes the bending angle of the joint (arm) as the instructed angle, the patient presses the switch 13 of the recognition angle input means (input of the recognition angle). Then, the angle measuring means measures the actual bending angle of the arm, and the judging means judges whether the recognition angle is close to the measurement angle. FIG. 6 ( As shown in b), the determination result is notified by the kicked-off ball being scored or missed. Also, as shown in FIG. 6C, the evaluation is notified by displaying different scores depending on the degree to which the recognition angle approximates the measurement angle. In this case, depending on the recovery level, the width of the goal can be changed to correspond to the error width. In addition, the image actually displays the movement of the ball and the like by computer graphics and the like. Note that actual measured values that are not based on images are separately recorded and statistically recorded as data.

FIG. 7 is a flowchart showing the operation when training is performed using such a virtual reality image. In this flowchart, only the essential points of the operation are described, and details are partially omitted.

As described above, in the joint bending and stretching movement device of the present embodiment, the bending angles of the joints, which are sensuously recognized, are changed by the arms 2 and 3.
Is determined by comparing with the actual angle via the virtual reality image, and the bending angle is instructed and the determination result is notified while assuming a game or real life using the image of the virtual reality. In order to increase the number of successes, I will concentrate all the central nervous system and peripheral nervous system on the determination of the angle of the knee joint. Training to raise the
In other words, it becomes possible to conduct retraining training on the kinesthetic senses of the sensory nervous system and peripheral nervous system based on the bending and extension of the knee joint and the action of the central nervous system. As a result, at the same time as muscle contraction training and training in maintaining and improving the range of motion of joints, training on contraction of muscles and flexion and extension of joints by the patient himself, that is, retraining training on the sensory nervous system and peripheral nervous system, This makes it possible to carry out effective training such as walking in the future effectively and in a short period of time.

In the joint bending and stretching exercise device of this embodiment,
Switching means 45 is provided for selectively switching between a state in which the arms 2 and 3 are connected to the driving means to perform the bending and stretching movement passively, and a state in which the arms 2 and 3 are separated from the driving means to perform the bending and stretching movement actively. As a result, in addition to passive muscle contraction training and exercises to maintain and improve the range of motion of joints, active muscle contraction training and joint flexion training at the patient's own will be conducted, which will lead to future walking, etc. Can be effectively implemented in a short period of time. In addition, by providing the load device 27 that applies a load to the arm in a state of actively performing the bending and stretching movement, the bending and stretching training can be performed while applying a load at the time of bending and stretching. Is further improved, and the transition to walking training in the future can be performed in a short time.

[0039]

According to the joint bending and stretching exercise apparatus of the present invention, the flexion angle of the joint perceived sensuously is determined by comparing it with the actual angle via the arm. Since the bend angle is instructed and the judgment result is notified assuming life, the patient can use the central nervous system and peripheral nervous system to judge the joint angle compared to the conventional monotonous repetitive bending and stretching movements. In this way, re-education training of the kinesthetic sensation of the sensory nervous system and peripheral nervous system based on the flexion and extension of the joint and the action of the central nervous system can be performed.

Further, the visual notifying means is provided with goggles and headphones incorporating a display, and by notifying the image of the virtual reality together with the sound, the kinetic sensation can be recreated while assuming the virtual reality more realistically. Can provide education and training.

Further, by providing switching means for selectively switching between a state in which the arm is connected to the driving means and the bending and extension movement is passively performed and a state in which the arm is separated from the driving means and the bending and extension movement is actively performed. In addition to active flexion / extension training based on the patient's own intentions, passive muscle contraction training and maintenance / improvement training of the range of motion of joints can be performed. It becomes possible to implement it.

Further, the virtual reality image of the visual notifying means is indicated by a body diagram of the joint with the instruction of the bending angle and the determination result, so that the current situation can be confirmed by the specific virtual reality, Re-education training can be provided.

Further, the virtual reality image of the visual notification means is indicated by a game with an instruction of a bending angle and a determination result, so that re-educational training of kinesthetic sensation is performed while having fun as a game having an entertaining property. Can be.

Then, the virtual reality image of the visual notifying means is indicated by a bending angle instruction and a judgment result by a real life behavior pattern, so that the kinesthetic sensation can be recreated while assuming the real life after returning. Can provide education and training.

In addition, when a recognition angle is input to the recognition angle input means, a tactile sensation such as compression or resistance is given to the patient's joint, so that a tactile sensation other than audiovisual is added. In addition, re-educational training of kinesthetic sensation can be performed while assuming virtual reality more realistically.

[Brief description of the drawings]

FIG. 1 is a partially sectional side view showing one embodiment of a joint bending and stretching exercise device of the present invention.

2A and 2B show the joint bending and stretching movement device of the embodiment, wherein FIG. 2A is a plan view omitting an upper portion, and FIG. 2B is a cross-sectional view in a direction perpendicular to an axis.

FIG. 3 is a front view showing a control panel of the joint bending and stretching exercise device of the embodiment.

FIG. 4 is an explanatory diagram showing a virtual reality image based on a body diagram of a joint;

FIG. 5 is an explanatory diagram showing a predetermined bending angle of an arm and an angle range that is an approximate value of the bending angle in association with a number.

FIG. 6 is an explanatory diagram showing a virtual reality image from a soccer game.

FIG. 7 is a flowchart showing an operation of the control device of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Bending and stretching apparatus 2 Arm 3 Arm 4 Foot plate 5, 6, 7 Fixture 10 Keyboard 11 Goggles 12 Headphones 13 Push button switch 14 Guide 20 Control board 21 Bed 22 Motor 23 Potentiometer 24 Drive axis (ball screw axis) 25 Slider 26 Axis 27 Load device 28 Fixed part 31 Main power switch 32 Start stop switch 33 Floppy driver 34 Speed switching knob 35 Extension angle setting knob 36 Bend angle setting knob 37 Timer setting knob 38 Emergency stop switch 39 Lamp 40 Monitor screen 41 Speaker 42 Control device 43 Ball screw 44 link mechanism 45 switching means 46 drive lever 47 pin holding lid 48 lever receiving part 49 pin

Claims (7)

[Claims] 1. A joint bending and stretching exercise device having an arm that bends with bending and stretching of an attached joint, a bending angle indicating means for indicating an arbitrary bending angle of the arm to a patient, and the patient sensuously recognizes the bending angle. Recognition angle input means for inputting the bending angle of the arm, and angle measuring means for measuring the bending angle of the arm when the input is performed by the recognition angle input means,
Comparing the recognition angle input by the recognition angle input means and the measurement angle measured by the angle measurement means, and determining means for determining whether or not the recognition angle is close to the measurement angle, and indicating the bending angle and A joint bending and stretching exercise device, comprising: a visual notification unit for notifying a patient of the determination result with a virtual reality image. 2. The apparatus according to claim 1, wherein the visual notifying means comprises goggles and headphones having a built-in display, and notifies a virtual reality image together with a voice. . 3. A switching means for selectively switching between a state in which the arm is connected to the driving means and the bending and extension movement is passively performed, and a state in which the arm is separated from the driving means and the bending and extension movement is actively performed. The joint bending and stretching exercise device according to claim 1 or 2, wherein: 4. An image of a virtual reality of the visual notification means,
4. The joint bending and stretching exercise device according to claim 1, wherein the instruction of the bending angle and the determination result are indicated by a body diagram of the joint. 5. The image of a virtual reality of the visual notification means,
4. The apparatus according to claim 1, wherein the instruction of the bending angle and the determination result are indicated by a game. 6. An image of a virtual reality of the visual notification means,
4. The joint bending and stretching exercise device according to claim 1, wherein the instruction of the bending angle and the determination result are indicated by a real life behavior pattern. 7. The system according to claim 1, wherein a tactile sensation such as compression or resistance is given to a patient's joint when the recognition angle is input to the recognition angle input means.
7. The joint bending and stretching exercise device according to 4, 5, or 6.