JP7181801B2 - 心臓リハビリテーション支援装置及びその制御プログラム - Google Patents
心臓リハビリテーション支援装置及びその制御プログラム Download PDFInfo
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- JP7181801B2 JP7181801B2 JP2019014243A JP2019014243A JP7181801B2 JP 7181801 B2 JP7181801 B2 JP 7181801B2 JP 2019014243 A JP2019014243 A JP 2019014243A JP 2019014243 A JP2019014243 A JP 2019014243A JP 7181801 B2 JP7181801 B2 JP 7181801B2
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- A63B2230/40—Measuring physiological parameters of the user respiratory characteristics
- A63B2230/405—Measuring physiological parameters of the user respiratory characteristics used as a control parameter for the apparatus
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/40—Measuring physiological parameters of the user respiratory characteristics
- A63B2230/42—Measuring physiological parameters of the user respiratory characteristics rate
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/40—Measuring physiological parameters of the user respiratory characteristics
- A63B2230/43—Composition of exhaled air
- A63B2230/433—Composition of exhaled air partial CO2 value
- A63B2230/435—Composition of exhaled air partial CO2 value used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
- A63B2230/605—Measuring physiological parameters of the user muscle strain, i.e. measured on the user used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- Molecular Biology (AREA)
- Surgery (AREA)
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- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
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Description
図1は全体として本実施の形態による心臓リハビリテーション支援装置1を示し、着座状態にある被験者のペダル漕ぎ動作に応じて任意の運動負荷を付与するリカンベント式の自転車エルゴメータ2と、被験者の生体活動を検出する生体活動検出ユニット3と、被験者のペダル漕ぎ動作を補助する動作補助ユニット4とを用いて、心血管疾患治療後における被験者の心臓の機能回復を支援するようになされている。
本実施形態による動作補助ユニット4の制御系システムは、本願発明者による特登4178187号に記載された内容と軌を一にし、かつ同一原理を用いている。
図4に示すように、生体活動検出ユニット3は、被験者の生体情報を検出する手段として、心電図センサ及び呼吸センサとしての複数の生体用電極群40と、SpO2センサとしてのパスルオキシメータ41とを備える。複数の生体用電極群40は、被験者の左右の手首、左の足首及び前胸部に装着され、当該装着部位における被験者の心起電力が電気信号として心電信号生成部42に入力される。
以上の構成において、本実施の形態による心臓リハビリテーション支援装置1では、被験者が自転車エルゴメータ2を用いて着座状態にてペダル漕ぎ動作を行いながら、動作補助ユニット4は、被験者の意思に従ったクランク7の回転トルク及び回転速度を発生させるように駆動部8の負荷トルクを随意制御するとともに、クランク7の回転角度に基づいて、被験者のペダル漕ぎ動作のアシスト動力を発生させるように駆動部8の負荷トルクを自律制御する。
なお上述の実施の形態においては、生体活動検出ユニット3を図4に示す構成のものを適用した場合について述べたが、本発明はこれに限らず、被験者の呼気ガスに含まれる二酸化炭素濃度を検出して、当該検出結果を随意制御と自律制御とのハイブリッド率の調整に加えるようにしても良い。
Claims (8)
- 着座状態にある被験者のペダル漕ぎ動作に応じて任意の運動負荷を付与する器具を用いて、心血管疾患治療後における前記被験者の心臓の機能回復を支援する心臓リハビリテーション支援装置において、
前記器具における前記被験者が踏み込むペダルが取り付けられたクランクの回転時に前記運動負荷としての負荷トルクを付与する駆動部と、
前記被験者の下肢部位から生体信号を検出する生体信号検出部と、
前記生体信号検出部により検出された生体信号に基づいて、前記被験者の意思に従った前記クランクの回転トルク及び回転速度を発生させるように前記駆動部の負荷トルクを随意制御する随意制御部と、
前記クランクの回転角度に基づいて、前記被験者のペダル漕ぎ動作のアシスト動力を発生させるように前記駆動部の負荷トルクを自律制御する自律制御部と、
前記被験者の心拍数及び心電図変化を検出する心臓状態検出部と、
前記被験者の脈拍数及び血中酸素飽和度を測定する動脈血測定部と、
前記心臓状態検出部及び前記動脈血測定部による検出及び測定結果に基づいて、前記随意制御部による随意制御と前記自律制御部による自律制御とのハイブリッド率を調整する最適トルク調整部と
を備えることを特徴とする心臓リハビリテーション支援装置。 - 前記被験者の呼気ガスに含まれる二酸化炭素濃度を検出する呼気検出部をさらに備え、
前記最適トルク調整部は、前記心臓状態検出部、前記動脈血測定部及び前記呼気検出部による検出及び測定結果に基づいて、前記随意制御部による随意制御と前記自律制御部による自律制御とのハイブリッド率を調整する
ことを特徴とする請求項1に記載の心臓リハビリテーション支援装置。 - 前記随意制御部及び前記自律制御部は、前記被験者の心拍数が適切な範囲内に常に維持するように、それぞれ前記駆動部の負荷トルクを制御する
ことを特徴とする請求項1又は2に記載の心臓リハビリテーション支援装置。 - 前記器具に着座状態にある前記被験者の視界内に設けられ、当該被験者のペダル漕ぎ動作に同期して変遷する映像を表示する同期映像表示部をさらに備える
ことを特徴とする請求項1乃至3のいずれか一項に記載の心臓リハビリテーション支援装置。 - 着座状態にある被験者のペダル漕ぎ動作に応じて任意の運動負荷を付与する器具を用いて、心血管疾患治療後における前記被験者の心臓の機能回復を支援する心臓リハビリテーション支援装置の制御プログラムにおいて、
前記心臓リハビリテーション支援装置の制御部に、
前記器具における前記被験者が踏み込むペダルが取り付けられたクランクの回転時に駆動部が前記運動負荷としての負荷トルクを付与する状態で、前記被験者の下肢部位から検出される生体信号に基づいて、前記被験者の意思に従った前記クランクの回転トルク及び回転速度を発生させるように前記駆動部の負荷トルクを随意制御するとともに、前記クランクの回転角度に基づいて、前記被験者のペダル漕ぎ動作のアシスト動力を発生させるように前記駆動部の負荷トルクを自律制御しながら、前記被験者の心拍数及び心電図変化の検出結果、及び前記被験者の脈拍数及び血中酸素飽和度の測定結果に基づいて、前記随意制御と前記自律制御とのハイブリッド率を調整する処理を実行させる制御プログラム。 - 前記心臓リハビリテーション支援装置の前記制御部に、
前記被験者の呼気ガスに含まれる二酸化炭素濃度の検出結果と、前記被験者の心拍数及び心電図変化の検出結果と、前記被験者の脈拍数及び血中酸素飽和度の測定結果とに基づいて、前記随意制御と前記自律制御とのハイブリッド率を調整する処理を実行させる
ことを特徴とする請求項5に記載の制御プログラム。 - 前記心臓リハビリテーション支援装置の前記制御部に、
前記被験者の心拍数が適切な範囲内に常に維持するように、前記駆動部の負荷トルクを随意制御及び自律制御する処理を実行させる
ことを特徴とする請求項5又は6に記載の制御プログラム。 - 前記心臓リハビリテーション支援装置の前記制御部に、
前記器具に着座状態にある前記被験者の視界内にて、当該被験者のペダル漕ぎ動作に同期して変遷する映像を表示させる
ことを特徴とする請求項5乃至7のいずれか一項に記載の制御プログラム。
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US11915816B2 (en) | 2019-10-03 | 2024-02-27 | Rom Technologies, Inc. | Systems and methods of using artificial intelligence and machine learning in a telemedical environment to predict user disease states |
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US11830601B2 (en) | 2019-10-03 | 2023-11-28 | Rom Technologies, Inc. | System and method for facilitating cardiac rehabilitation among eligible users |
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