JP2018531676A - 褥中患者のためのリハビリテーション機構 - Google Patents
褥中患者のためのリハビリテーション機構 Download PDFInfo
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- JP2018531676A JP2018531676A JP2018515301A JP2018515301A JP2018531676A JP 2018531676 A JP2018531676 A JP 2018531676A JP 2018515301 A JP2018515301 A JP 2018515301A JP 2018515301 A JP2018515301 A JP 2018515301A JP 2018531676 A JP2018531676 A JP 2018531676A
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- extension arm
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Abstract
Description
整形外科的活動制限のリハビリテーション
−寝たきりの患者の膝関節に動作可能なように接続されることができる膝モジュール、および
−膝モジュールを用いて少なくとも寝たきりの患者の脚の関節、筋肉および腱の計画されたリハビリテーション動作を制御するための制御モジュールを備える。
−寝たきりの患者の膝関節を収容する膝装具;
−好ましくは関節式の方法で、膝装具に接続される接続要素;
−好ましくは硬く、または少なくとも硬くされることができるように接続要素が固定される延長アーム、および
−制御モジュールを用いて作動することができ、かつ延長アームおよび接続要素経由で、この脚の関節、筋肉および腱が、膝装具内に収容される寝たきりの患者の膝関節経由で計画されたリハビリテーション動作を実行するように定められた力(N)を膝装具に導入する機械的装置。
−膝装具51に対しておよび/または延長アーム53に対して接続要素52によってとられる角度(φ)が、少なくとも1台の角度センサ55を用いて監視され;および/または
−延長アーム53および接続要素52経由で膝装具51に導入される力(N)が、力センサ56を用いて監視され、
そこにおいて可変に所定の要求された角度閾値(φ_desired)を越えるかまたは届かない、および/または可変に所定の要求された力閾値を越えるかまたは届かない場合、制御モジュール60が、実際の角度(φ_actual)および/または実際の力(N)が、越えた閾値より下のまたは届かなかった閾値より上の、要求された角度閾値(φ_desired)および/または要求された力閾値まで、偏心器63および64またはそれの偏心ディスク632、642の調節によって、戻されるように機械的装置61を作動させる。
−1つの可能性は、ファイ(φ_desired)を常に90度に維持することである。
−更なる可能性は、角度アルファおよびベータ経由で延長アーム53の位置を計算し、かつそれによって延長アーム53と装具51との間の接続要素52が、マットレス20に対して常に垂直であるようにアルファおよびベータに従って角度ファイ要求(φ_desired)を常に確定することである。
−第3の可能性は、延長アーム53と膝装具51との間の接続要素52が円形の経路、すなわち膝関節93が股関節回転点のまわりに描く股関節のまわりの円形の軌跡Tに常に接するように、角度φ_desiredを制御することである。このようにして、φ_desiredは偏心器63および64の所定の角度組合せ対(数2)に時間依存しており、かつφ_desired(t)と指定される。
11 ベッドフレーム
12 縦側部
13 横側部
14 縦防壁
15 横防壁
16 キャスター
20 マットレス
21 マットレスフレーム
30 リハビリテーション機構
32 ベッドフレーム11またはマットレスフレーム21に固締可能な、リハビリテーション機構30のための支持板
40 足モジュール
41 固定手段
42 踏板面
43 固定ストラップ
50 膝モジュール
51 膝装具
52 接続要素
53 延長アーム
531 延長アーム53の遠位部分
532 延長アーム53の近位部分
533 延長アーム53の中央部分
54 受入点
55 角度センサ
56 力センサ
57 蝶ナット
60 制御モジュール
61 機械的装置
62 電動モータ
63 第1の偏心器
631 第1の偏心器63の偏心軸
632 第1の偏心器63の偏心ディスク
633 第1の偏心器63の制御ピン
64 第2の偏心器
641 第2の偏心器64の偏心軸
642 第2の偏心器64の偏心ディスク
643 第2の偏心器64の制御ピン
65 ラジアル軸受
66 滑り軸受
67 スライダ
70 調整機構
80 安定化機構
90 患者
91 胸部−心臓/肺
92 脚
93 膝関節
94 足
95 足裏
N 力
T 軌跡
Claims (12)
- 寝たきりの患者(90)の脚(92)の少なくとも関節、筋肉および腱の計画された、自動化されたリハビリテーションに適しているように設計されているリハビリテーション機構(30)であって、少なくとも:
−前記寝たきりの患者(90)の膝関節(93)に動作可能なように接続されることができる膝モジュール(50)、および
−前記膝モジュール(50)を用いて少なくとも前記寝たきりの患者(90)の前記脚(92)の前記関節、筋肉および腱の計画されたリハビリテーション動作を制御するための制御モジュール(60)を備え;
−前記膝モジュール(50)が、前記患者(90)およびマットレス(20)より上に配置されることができるモジュールとして設計され、かつベッドフレーム(11)またはマットレスフレーム(21)に直接または間接的に支持され、かつ少なくとも:
−前記寝たきりの患者(90)の膝関節(93)を収容する膝装具(51);
−前記膝装具(51)へ接続される接続要素(52);
−前記接続要素(52)が固定される延長アーム(53)、および
−前記制御モジュール(60)を用いて作動されることができ、かつ前記延長アーム(53)および前記接続要素(52)を経由して、この脚(92)の前記関節、筋肉および腱が前記膝装具(51)内に収容される前記寝たきりの患者(90)の膝関節(93)経由で計画されたリハビリテーション動作を実行するように、定められた力(N)を前記膝装具(51)に導入する機械的装置(61)を備えることを特徴とするリハビリテーション機構(30)。 - 前記機械的装置(61)が、偏心軸(631、641)上に装着され、かつ中央点がいずれの場合においても軸中心線の外側に位置する偏心ディスク(632、642)によって各々形成される2台の偏心器(63、64)を備えることを特徴とする請求項1に記載のリハビリテーション機構(30)。
- 前記偏心軸(631、641)が、電動モータ(62)によって駆動されることを特徴とする請求項2に記載のリハビリテーション機構(30)。
- 前記延長アーム(53)の遠位部分(531)が、ラジアル軸受(65)経由で前記第1の偏心ディスク(632)の制御ピン(633)に動作可能なように接続され、かつすべり軸受(66)経由で前記第2の偏心ディスク(642)の制御ピン(643)に動作可能なように接続され、前記すべり軸受(66)が前記第2の偏心器(64)の前記制御ピン(643)に回転可能に接続されるスライダ(67)によって好ましくは形成されていることを特徴とする請求項2または3に記載のリハビリテーション機構(30)。
- 請求項1−4のうちいずれか一項に記載のリハビリテーション機構(30)であって、さらに
−前記膝装具(51)に対しておよび/または前記延長アーム(53)に対して前記接続要素(52)によってとられる角度を監視する少なくとも1台の角度センサ(56);および/または
−前記延長アーム(53)および前記接続要素(52)経由で前記膝装具(51)に導入される前記力(N)を監視する力センサ(57)を備えるリハビリテーション機構(30)。 - 前記延長アーム(53)が、前記接続要素(52)を関節式の方法で装着するための複数の受入点(54)を有し、前記受入点(54)が、好ましくは規則的な間隔で、お互いに離れて間隔をあけられていることを特徴とする請求項1−5のうちいずれか一項に記載のリハビリテーション機構(30)。
- 前記延長アーム(53)が、前記脚(92)の足(94)のまわりに係合する凹部(55)を有することを特徴とする請求項1−6のうちいずれか一項に記載のリハビリテーション機構(30)。
- 請求項1−7のうちいずれか一項に記載のリハビリテーション機構(30)であって、さらに
−前記寝たきりの患者(90)の前記足(94)および/または足裏(95)に動作可能なように接続されることができる足モジュール(40)を備えるリハビリテーション機構(30)。 - 前記足モジュール(40)が、前記患者(90)のリハビリテーション動作中に前記患者(90)の前記足関節にトルクが印加されるように設計されていることを特徴とする請求項8に記載のリハビリテーション機構(30)。
- 請求項1−9のうちいずれか一項に記載のリハビリテーション機構(30)を少なくとも備える、寝たきりの患者(90)のためのベッド(10)。
- 請求項1−10のうちいずれか一項に記載のリハビリテーション機構(30)を作動させるための方法であって、その方法において
−前記膝装具(51)に対しておよび/または前記延長アーム(53)に対して前記接続要素(52)によってとられる角度(φ)が、少なくとも1台の角度センサ(55)を用いて監視され;および/または
−前記延長アーム(53)および前記接続要素(52)経由で前記膝装具(51)に導入される前記力(N)が、力センサ(56)を用いて監視され、
そこにおいて、可変に所定の要求された角度閾値(φ_desired)を越えるかまたは届かない、および/または可変に所定の要求された力閾値を越えるかまたは届かない場合、前記制御モジュール(60)が、前記偏心ディスク(632、642)の調節によって、前記越えた閾値より下の、または前記届かなかった閾値より上の、前記要求された角度閾値(φ_desired)および/または前記要求された力閾値まで、実際の角度(φ_actual)および/または実際の力(N)が戻されるように、前記機械的装置(61)を作動させることを特徴とする方法。 - 前記偏心ディスク(632、642)の調節が、実行される計画されたリハビリテーション動作に対して逐次的にまたは同時に遂行されることを特徴とする請求項11に記載の方法。
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Cited By (2)
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JP2020527963A (ja) * | 2017-06-27 | 2020-09-17 | リアクティブ ロボティックス ゲーエムベーハー | 寝たきり患者の下肢の長さ条件、位置および/または動作半径を決定するための測定方法ならびに装置 |
JP7156710B2 (ja) | 2017-06-27 | 2022-10-19 | リアクティブ ロボティックス ゲーエムベーハー | 寝たきり患者の下肢の長さ条件、位置および/または動作半径を決定するための測定方法ならびに装置 |
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DE102015117596B3 (de) | 2016-08-11 |
KR20180067540A (ko) | 2018-06-20 |
JP6894644B2 (ja) | 2021-06-30 |
WO2017063639A1 (de) | 2017-04-20 |
CN108289781B (zh) | 2020-06-23 |
HK1251446A1 (zh) | 2019-02-01 |
EP3362023A1 (de) | 2018-08-22 |
US20180303696A1 (en) | 2018-10-25 |
CA3000863A1 (en) | 2017-04-20 |
US10893997B2 (en) | 2021-01-19 |
AU2016339551A1 (en) | 2018-04-26 |
AU2016339551B2 (en) | 2020-10-22 |
CN108289781A (zh) | 2018-07-17 |
EP3362023B1 (de) | 2022-07-13 |
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